本論文透過Arduino平台為基礎，研究四旋翼無人機的姿態控制，將基礎自穩飛行所需的硬體設備整合，並由Arduino IDE編寫飛控程式，由Matlab將數據圖像化。
實驗使用NANO板做為四旋翼機的控制核心來控制無刷馬達，在平衡自穩方面，本實驗使用MPU-6050慣性測量感測元件，藉由量測到的數據減去設定的目標值，以誤差值透過PID控制法計算出四旋翼機姿態所需的補償值，再將補償值輸出給無刷馬達來完成姿態控制，實現穩定飛行的目的。遙控的部分則是使用2.4G的無線遙控接收模組進行飛行控制，將接收到的遙控值轉換成目標值，由此來控制四旋翼機的飛行方向。
This thesis uses the Arduino platform as the basis to study the attitude control of quadrotor, integrate the hardware required for self-balancing flight of basic, write the flight control code by Arduino IDE, and visualize the data by MATLAB.
The experiment uses the Arduino NANO as the flight controller of the quadrotor to control the brushless motor. In the respect of balance and stability, this experiment uses the MPU-6050 IMU, by subtracting the setpoint from the data, the error is used to calculate the feedback required for the attitude of the quadrotor through the PID controller. Then output the compensation to the brushless motor to complete the attitude control and achieve the purpose of stable flight. The remote control uses the 2.4G wireless remote control receiving module for flight control and converts the received remote control value into the setpoint, thereby controlling the quadrotor.
