WO2021056436A1 - 飞行器控制方法、控制终端及计算机可读存储介质 - Google Patents
飞行器控制方法、控制终端及计算机可读存储介质 Download PDFInfo
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- WO2021056436A1 WO2021056436A1 PCT/CN2019/108622 CN2019108622W WO2021056436A1 WO 2021056436 A1 WO2021056436 A1 WO 2021056436A1 CN 2019108622 W CN2019108622 W CN 2019108622W WO 2021056436 A1 WO2021056436 A1 WO 2021056436A1
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- aircraft
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000012549 training Methods 0.000 claims abstract description 180
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 90
- 238000013507 mapping Methods 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 14
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Definitions
- This application relates to the technical field of aircraft control, and in particular to an aircraft control method, a control terminal, and a computer-readable storage medium.
- Crossing machine also called unmanned racing machine, is a small drone with high speed and short endurance.
- the stunt mode is used in the operation control, that is, the self-stabilization of the drone and the angle protection of aerial photography are cancelled, and the user needs to continuously operate the joystick, but the stunt mode is on the user's operating level The requirements are high and it is not convenient for users who get started.
- a computer simulator can allow users to conduct flight training in aerobatic mode as close to the real environment as possible, but the simulated environment is different from the real environment, and the user can stably control the aircraft in aerobatic mode in the simulated environment , But after switching to the real environment, there are situations where the aircraft in aerobatic mode cannot be stably controlled, which may easily cause the aircraft to crash, the training effect is not good, and the safety of the aircraft cannot be guaranteed.
- the present application provides an aircraft control method, a control terminal, and a computer-readable storage medium, which are designed to stably control the aircraft, ensure the safety of the aircraft during the actual aircraft training process and the effect of the actual aircraft training, and improve the user experience.
- this application provides an aircraft control method, including:
- the target mode identifier of the aircraft and determine the remote control configuration information and flight control configuration information of the aircraft according to the target mode identifier, wherein the target mode identifier corresponds to the flight training mode to be entered by the aircraft
- the pattern identifier
- the aircraft After the aircraft enters the flight training mode, determine whether the received remote control command is valid according to the remote control configuration information, and when the remote control command is valid, control the aircraft to perform corresponding operations according to the remote control command .
- the present application also provides a control terminal, the control terminal includes a memory and a processor; the memory is used to store a computer program;
- the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
- the target mode identifier of the aircraft and determine the remote control configuration information and flight control configuration information of the aircraft according to the target mode identifier, wherein the target mode identifier corresponds to the flight training mode to be entered by the aircraft
- the pattern identifier
- the remote control configuration information it is determined whether the received remote control instruction is valid, and when the remote control instruction is valid, the aircraft is controlled to perform a corresponding operation according to the remote control instruction.
- the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the above-mentioned aircraft control Method steps.
- the embodiments of the application provide an aircraft control method, a control terminal, and a computer-readable storage medium.
- the aircraft Through remote control configuration information and flight control configuration information, the aircraft is controlled to be in a corresponding flight training mode, so that the flight controller can correspond to the flight control configuration information.
- the flight control logic controls the aircraft to ensure the stable flight of the aircraft.
- the validity of the remote control command is verified through the remote control configuration information.
- the aircraft in the flight training mode is controlled to perform the corresponding operation based on the remote control command.
- FIG. 1 is a schematic flowchart of steps of an aircraft control method provided by an embodiment of the present application
- Fig. 2 is a schematic flowchart of sub-steps of the aircraft control method in Fig. 1;
- FIG. 3 is a schematic diagram of a scene of an aircraft control method in an embodiment of the present application.
- FIG. 4 is a schematic flowchart of steps of another aircraft control method provided by an embodiment of the present application.
- FIG. 5 is a schematic flowchart of steps of yet another aircraft control method provided by an embodiment of the present application.
- FIG. 6 is a schematic block diagram of the structure of a control terminal according to an embodiment of the present application.
- FIG. 1 is a schematic flowchart of steps of an aircraft control method according to an embodiment of the present application.
- the aircraft control method can be applied in a control terminal for controlling the aircraft.
- Control terminals include remote controls, ground control platforms, mobile phones, tablets, laptops, and PC computers.
- Aircraft include rotary-wing drones, such as quad-rotor drones, hexa-rotor drones, and octo-rotor drones. It can also be a fixed-wing UAV, or a combination of a rotary-wing type and a fixed-wing UAV, which is not limited here.
- the aircraft control method includes steps S101 to S103.
- the remote control terminal obtains the target mode identifier of the aircraft, that is, obtains the default mode identifier, and uses the default mode identifier as the target mode identifier of the aircraft; according to the target mode identifier, the remote control configuration information of the aircraft is determined And flight control configuration information.
- the target mode identifier is the mode identifier corresponding to the flight training mode to be entered by the aircraft
- the mode identifier is used to uniquely identify the flight training mode
- the remote control configuration information is used to set the remote control logic of the aircraft
- the flight control configuration information is used to set The flight control logic of the flight control system in the aircraft.
- the default mode identifier can be set based on actual conditions. This application does not specifically limit this.
- the flight training mode is obtained by disassembling the aerobatic mode. Different flight training modes correspond to different remote control configuration information. In addition to the flight control configuration information, the aircraft in aerobatic mode cancels the aircraft's self-stability and attitude angle protection in the operation control, and requires the user to continuously operate the joystick to keep the aircraft in stable flight.
- obtaining the target mode identifier of the aircraft in step S101 includes sub-steps S1011 to S1012.
- the remote control terminal After the remote control terminal is turned on, it detects the user's touch operation on the training mode control key.
- the training mode control key is used to control and switch the flight training mode of the aircraft.
- the training mode control key is the press control key, the joystick control key, One of the sliding control key and the click control key, and the touch operation is one of a pressing operation, a joystick operation, a sliding operation, and a clicking operation.
- the target mode identifier of the aircraft is obtained according to the detected user's touch operation on the training mode control key.
- the touch parameters include the touch direction, the number of touches, and the touch duration. It should be noted that the above-mentioned mapping relationship table between touch parameters and mode identifiers can be set based on actual conditions, which is not specifically limited in this application.
- determine the remote control configuration information and flight control configuration information of the aircraft that is, query the mapping relationship table, obtain the remote control configuration information and flight control configuration information corresponding to the target mode identifier, and obtain The received remote control configuration information and flight control configuration information are used as the remote control configuration information and flight control configuration information of the aircraft.
- mapping relationship table between the above-mentioned mode identifier and the remote control configuration information and the flight control configuration information can be set based on actual conditions, which is not specifically limited in this application. Through the mode identifier, the remote control configuration information and flight control configuration information of the aircraft can be quickly determined.
- control the aircraft According to the remote control configuration information and the flight control configuration information, control the aircraft to be in a flight training mode corresponding to the target mode identifier.
- the control terminal After determining the remote control configuration information and flight control configuration information of the aircraft, determine whether the control terminal and the aircraft are connected. If the control terminal is connected to the aircraft, the control terminal controls the aircraft in the target mode according to the remote control configuration information and flight control configuration information. If the control terminal is not connected to the aircraft in the flight training mode corresponding to the symbol, a prompt message is output, where the prompt information is used to remind the user that the control terminal is not connected to the aircraft.
- the control terminal sets the remote control logic of the aircraft according to the remote control configuration information; and sets the flight control logic of the flight control system in the aircraft according to the flight control configuration information so that the aircraft is in the flight training mode corresponding to the target mode identifier.
- the flight control system is a control system that can stabilize the flight attitude of the aircraft and control the autonomous or semi-autonomous flight of the aircraft.
- the remote control logic and flight control logic of the aircraft By setting the remote control logic and flight control logic of the aircraft, the aircraft can enter the corresponding flight training mode accurately and quickly.
- the remote control logic of the flight training mode of different types of aircraft is different and can be set based on the actual situation, which is not specifically limited in this application. The following is an explanation with the aircraft being a multi-rotor aircraft.
- the flight training modes include, but are not limited to, altitude flight training mode, attitude flight training mode, steering flight training mode, and aerobatic flight training mode, which are not specifically limited in this application.
- the remote control logic corresponding to the altitude flight training mode is that the throttle channel of the control terminal is valid, and the other channels are invalid.
- the flight control logic is for the flight control system to control the aircraft to maintain a horizontal position. The user can control the aircraft’s ascent and descent by operating the throttle channel of the control terminal. Allows users to experience the relationship between the throttle channel and the height of the aircraft, and achieve high-level flight training.
- the remote control logic corresponding to the attitude flight training mode is that the aileron channel is valid, and the other channels are invalid.
- the flight control logic is for the flight control system to control the aircraft to maintain altitude and limit the maximum attitude angle of the aircraft. The user can control the aircraft's attitude by operating the aileron channel The changes allow users to experience the relationship between the aileron channel and the attitude of the aircraft, and achieve attitude flight training.
- the remote control logic corresponding to the steering flight training mode is that the direction channel is valid, and the other channels are invalid.
- the flight control logic is the flight control system to control the aircraft's fixed altitude and speed.
- the user can control the steering of the aircraft by operating the direction channel, so that the user can experience the direction channel and The relationship between the steering of the aircraft to achieve steering flight training.
- the remote control logic corresponding to the aerobatic training mode is that each control channel of the control terminal is valid, and the flight control logic is that the flight control system is dormant, and the aircraft is not controlled semi-autonomously or autonomously, and each control channel is completely operated by the user.
- the user can control the aircraft through the control terminal. Specifically, the control terminal obtains the remote control command triggered by the user, and determines whether the received remote control command is valid according to the remote control configuration information. If the remote control command is valid, According to the remote control command, the aircraft is controlled to perform the corresponding operation. It can prevent the aircraft from crashing due to the user accidentally touching the joystick, effectively improving the safety of the aircraft and reducing losses.
- the method for determining whether the remote control command is valid is specifically: obtaining the remote control identifier from the received remote control command, and determining whether the remote control identifier exists in the remote control configuration information, and if the remote control identifier exists in the remote control configuration information, then determine the remote control identifier.
- the remote control command is valid. On the contrary, if there is no remote control identifier in the remote control configuration information, the remote control command is determined to be invalid.
- FIG. 3 is a schematic diagram of a scene of the aircraft control method in the embodiment of the application.
- the control terminal 200 is in communication connection with the aircraft 100, and the control terminal 200 controls the aircraft according to the remote control configuration information and the flight control configuration information.
- the aircraft 100 is in a corresponding flight training mode, and the control terminal 200 sends a valid remote control command to the aircraft 100 to control the aircraft 100 to perform corresponding operations.
- the aircraft control method provided in the above embodiments controls the aircraft in the corresponding flight training mode through remote control configuration information and flight control configuration information, so that the flight controller can control the aircraft according to the flight control logic corresponding to the flight control configuration information, which can ensure the stable flight of the aircraft.
- the validity of the remote control command is verified through the remote control configuration information.
- the aircraft is controlled to perform the corresponding operation based on the remote control command, which can prevent the aircraft from crashing due to the user accidentally touching the joystick. It can improve the safety of the aircraft, can ensure the stable flight of the aircraft when the user uses the aircraft for flight training, can improve the safety of the aircraft during the training process and the effect of real machine training, and enhance the user experience.
- FIG. 4 is a schematic flowchart of steps of another aircraft control method provided by an embodiment of the present application.
- the aircraft control method includes steps S201 to S205.
- the historical mode identifier of the aircraft is obtained, where the historical mode identifier is the mode identifier corresponding to the flight training mode that the aircraft was in when the aircraft was turned off last time, and the mode identifier is used to uniquely identify the flight training mode.
- Flight training modes include, but are not limited to, altitude flight training mode, attitude flight training mode, steering flight training mode, and aerobatic flight training mode, which are not specifically limited in this application.
- the flight training mode is obtained by disassembling the aerobatic mode. Different flight training modes correspond to different remote control configuration information and flight control configuration information.
- the aircraft in the aerobatic mode cancels the self-stability and attitude of the aircraft in the operation control. Angle protection requires the user to continuously operate the joystick to keep the aircraft flying stably.
- the historical mode identifier of the aircraft When the historical mode identifier of the aircraft is obtained, the historical mode identifier is used as the target mode identifier of the aircraft, where the target mode identifier is the mode identifier corresponding to the flight training mode to be entered by the aircraft. Further, when the historical mode identifier of the aircraft is acquired, the control terminal may output prompt information to prompt the user of the flight training mode to be entered by the aircraft. Within a preset time after the prompt information is output, if the user’s information is not detected The mode switching operation uses the historical mode identifier as the target mode identifier of the aircraft. It should be noted that the aforementioned preset time can be set based on actual conditions, which is not specifically limited in this application.
- the historical mode identifier of the aircraft when the historical mode identifier of the aircraft is obtained, it is determined whether the historical mode identifier is in the preset mode identifier set, and if the historical mode identifier is in the preset mode identifier set, the historical mode is identified
- the symbol is used as the target mode identifier of the aircraft.
- the preset mode identifier set can be set based on actual conditions, which is not specifically limited in this application.
- the preset mode identifier set is a mode identifier corresponding to a simple flight training mode.
- the remote control configuration information and flight control configuration information of the aircraft are determined according to the target mode identifier. Specifically: Obtain the pre-stored mode identifier and the mapping relationship table between the remote control configuration information and the flight control configuration information, where the mode identifier has a corresponding relationship with the remote control configuration information and the flight control configuration information; according to the target mode Identifier and mapping table to determine the remote control configuration information and flight control configuration information of the aircraft.
- control the aircraft According to the remote control configuration information and the flight control configuration information, control the aircraft to be in a flight training mode corresponding to the target mode identifier.
- the control terminal After determining the remote control configuration information and flight control configuration information of the aircraft, determine whether the control terminal and the aircraft are connected. If the control terminal is connected to the aircraft, the control terminal controls the aircraft in the target mode according to the remote control configuration information and flight control configuration information. If the control terminal is not connected to the aircraft in the flight training mode corresponding to the symbol, a prompt message is output, where the prompt information is used to remind the user that the control terminal is not connected to the aircraft.
- the user can control the aircraft through the control terminal. Specifically, the control terminal obtains the remote control command triggered by the user, and determines whether the received remote control command is valid according to the remote control configuration information. If the remote control command is valid, According to the remote control command, the aircraft is controlled to perform the corresponding operation. It can prevent the aircraft from crashing due to the user accidentally touching the joystick, effectively improving the safety of the aircraft and reducing losses.
- the mode identifier corresponding to the flight training mode when the aircraft was turned off last time is used as the target mode identifier, so that the aircraft can continue to be in the flight training mode it was in when it was turned off last time.
- the user switches again, which is convenient for the user to perform flight training in the last flight training mode, which can improve the training effect and user experience.
- FIG. 5 is a schematic flowchart of steps of another aircraft control method provided by an embodiment of the present application.
- the aircraft control method includes steps S301 to S306.
- the historical mode identifier of the aircraft is obtained, where the historical mode identifier is the mode identifier corresponding to the flight training mode that the aircraft was in when the aircraft was turned off last time, and the mode identifier is used to uniquely identify the flight training mode.
- Flight training modes include, but are not limited to, altitude flight training mode, attitude flight training mode, steering flight training mode, and aerobatic flight training mode, which are not specifically limited in this application.
- the flight training mode is obtained by disassembling the aerobatic mode. Different flight training modes correspond to different remote control configuration information and flight control configuration information.
- the aircraft in the aerobatic mode cancels the self-stability and attitude of the aircraft in the operation control. Angle protection requires the user to continuously operate the joystick to keep the aircraft flying stably.
- the corresponding mode prompt information is output according to the historical mode identifier to prompt the user of the flight training mode to be entered by the aircraft.
- different mode identifiers correspond to different mode prompt information
- the mode prompt information corresponding to different mode identifiers can be set based on actual conditions, which is not specifically limited in this application.
- the output mode of the mode prompt information is specifically: according to the historical mode identifier, controlling the preset corresponding mode indicator to be in a lighted state to remind the user of the flight training mode to be entered by the aircraft; and/or according to the historical mode identifier, Broadcast the mode prompt voice corresponding to the historical mode identifier to prompt the user to enter the flight training mode of the aircraft.
- the user can conveniently prompt the user to enter the flight training mode of the aircraft.
- the historical mode identifier is used as the target mode identifier of the aircraft.
- the training mode control key is used to control and switch the flight training mode of the aircraft. It should be noted that the aforementioned preset duration can be set based on actual conditions, which is not specifically limited in this application.
- the aircraft when a user's touch operation on the training mode control key is detected within a preset time after the corresponding mode prompt information is output, the aircraft is acquired according to the detected user's touch operation on the training mode control key
- the target mode identifier is to obtain the touch parameters of the detected user's touch operation on the training mode control keys, and obtain the mapping relationship table of the pre-stored touch parameters and the mode identifier, and then according to the touch operation of the touch operation Parameters and mapping relationship table to obtain the target mode identifier of the aircraft.
- the remote control configuration information and flight control configuration information of the aircraft are determined according to the target mode identifier. Specifically: Obtain the pre-stored mode identifier and the mapping relationship table between the remote control configuration information and the flight control configuration information, where the mode identifier has a corresponding relationship with the remote control configuration information and the flight control configuration information; according to the target mode Identifier and mapping table to determine the remote control configuration information and flight control configuration information of the aircraft.
- control the aircraft According to the remote control configuration information and the flight control configuration information, control the aircraft to be in a flight training mode corresponding to the target mode identifier.
- the control terminal After determining the remote control configuration information and flight control configuration information of the aircraft, determine whether the control terminal and the aircraft are connected. If the control terminal is connected to the aircraft, the control terminal controls the aircraft in the target mode according to the remote control configuration information and flight control configuration information. If the control terminal is not connected to the aircraft in the flight training mode corresponding to the symbol, a prompt message is output, where the prompt information is used to remind the user that the control terminal is not connected to the aircraft.
- the user can control the aircraft through the control terminal. Specifically, the control terminal obtains the remote control command triggered by the user, and determines whether the received remote control command is valid according to the remote control configuration information. If the remote control command is valid, According to the remote control command, the aircraft is controlled to perform the corresponding operation. It can prevent the aircraft from crashing due to the user accidentally touching the joystick, effectively improving the safety of the aircraft and reducing losses.
- the aircraft control method provided by the foregoing embodiment outputs corresponding mode prompt information according to the historical mode identifier to prompt the user of the flight training mode to be entered by the aircraft.
- the user does not control the training mode for a period of time after the mode prompt information is output. If the operation is performed, the user has confirmed by default. Therefore, control the aircraft to continue in the flight training mode it was in the last time it was shut down, without the need for the user to switch again, which is convenient for the user to perform flight training in the last flight training mode, which can improve the training effect and user experience.
- FIG. 6 is a schematic block diagram of a control terminal according to an embodiment of the present application.
- the control terminal includes, but is not limited to, a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and the like.
- control terminal 400 includes a processor 401 and a memory 402, and the processor 401 and the memory 402 are connected by a bus 403.
- the bus 403 is, for example, an I2C (Inter-integrated Circuit) bus.
- the processor 401 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
- MCU micro-controller unit
- CPU central processing unit
- DSP Digital Signal Processor
- the memory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
- the processor 401 is configured to run a computer program stored in the memory 402, and implement the following steps when the computer program is executed:
- the target mode identifier of the aircraft and determine the remote control configuration information and flight control configuration information of the aircraft according to the target mode identifier, wherein the target mode identifier corresponds to the flight training mode to be entered by the aircraft
- the pattern identifier
- the aircraft After the aircraft enters the flight training mode, determine whether the received remote control command is valid according to the remote control configuration information, and when the remote control command is valid, control the aircraft to perform corresponding operations according to the remote control command .
- the processor when the processor implements the acquisition of the target mode identifier of the aircraft, it is used to implement:
- Detecting a user's touch operation on a training mode control key where the training mode control key is used to control switching the flight training mode of the aircraft;
- the target mode identifier of the aircraft is obtained.
- the processor when used to obtain the target mode identifier of the aircraft according to the detected user's touch operation on the training mode control key, it is used to achieve:
- the training mode control key is one of a pressing control key, a joystick control key, a sliding control key, and a click control key;
- the touch operation is a pressing operation, a joystick operation, a sliding operation, and a click operation One of them.
- the processor when the processor implements the acquisition of the target mode identifier of the aircraft, it is used to implement:
- the historical mode identifier is used as the target mode identifier of the aircraft, where the target mode identifier is a mode identifier corresponding to the flight training mode to be entered by the aircraft.
- the processor realizes that the historical mode identifier is used as the target mode identifier of the aircraft, it is further used to realize:
- the historical mode identifier is in the preset mode identifier set, the historical mode identifier is used as the target mode identifier of the aircraft.
- the processor realizes that the historical mode identifier is used as the target mode identifier of the aircraft, it is further used to realize:
- the historical mode identifier is used as the target mode identifier of the aircraft.
- the processor when the processor implements outputting corresponding mode prompt information according to the historical mode identifier to prompt the user of the flight training mode to be entered by the aircraft, it is used to implement:
- control the preset corresponding mode indicator to be in a lighted state to remind the user of the flight training mode to be entered by the aircraft;
- the mode prompt voice corresponding to the historical mode identifier to prompt the user of the flight training mode to be entered by the aircraft.
- the processor implements outputting corresponding mode prompt information according to the historical mode identifier to prompt the user of the flight training mode to be entered by the aircraft, it is further used to implement:
- the target mode identifier of the aircraft is obtained according to the detected user's touch operation on the training mode control key.
- the processor realizes the determination of remote control configuration information and flight control configuration information of the aircraft according to the target mode identifier, it is used to realize:
- the processor is configured to control the aircraft to be in the flight training mode corresponding to the target mode identifier according to the remote control configuration information and the flight control configuration information, to achieve:
- the flight control logic of the flight control system in the aircraft is set so that the aircraft is in the flight training mode corresponding to the target mode identifier.
- the processor determines whether the received remote control instruction is valid according to the remote control configuration information, it is used to implement:
- the remote control identifier exists in the remote control configuration information, it is determined that the remote control instruction is valid, and if the remote control identifier does not exist in the remote control configuration information, it is determined that the remote control instruction is invalid.
- the embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation Example provides the steps of the aircraft control method.
- the computer-readable storage medium may be the internal storage unit of the control terminal described in any of the foregoing embodiments, such as the hard disk or memory of the control terminal.
- the computer-readable storage medium may also be an external storage device of the control terminal, such as a plug-in hard disk equipped on the control terminal, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital, SD) ) Card, Flash Card, etc.
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Abstract
一种飞行器控制方法、控制终端及计算机可读存储介质,方法包括:获取飞行器的模式标识符(S101);根据模式标识符对应的遥控配置信息和飞控配置信息,控制飞行器处于对应的飞行训练模式(S102);在接收到的遥控指令有效时,根据遥控指令控制飞行器执行对应的操作(S103)。本方法提高飞行器的安全性。
Description
本申请涉及飞行器控制技术领域,尤其涉及一种飞行器控制方法、控制终端及计算机可读存储介质。
穿越机,也叫无人竞速机,属于高竞速,续航时间较短的小型无人机。为了让用户更加自由的控制无人机,在操作控制上使用特技模式,即取消了无人机的自稳和航拍的角度保护,需要用户不断的操作摇杆,但特技模式对用户的操作水平要求较高,不方便入门的用户使用。
目前,可以通过电脑模拟器让用户可以尽可能的在逼近真实环境下进行特技模式的飞行训练,但模拟的环境与真实环境存在差异,用户可以在模拟的环境中稳定的控制处于特技模式的飞行器,但转换到真实环境后,存在无法稳定的控制处于特技模式的飞行器的情况,容易导致飞行器坠毁,训练效果不佳,也无法保证飞行器的安全。
发明内容
基于此,本申请提供了一种飞行器控制方法、控制终端及计算机可读存储介质,旨在稳定的控制飞行器,保证真机训练过程中飞行器的安全以及真机训练的效果,提升用户体验。
第一方面,本申请提供了一种飞行器控制方法,包括:
获取飞行器的目标模式标识符,并根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符;
根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式;
当所述飞行器进入所述飞行训练模式后,根据所述遥控配置信息,确定接收到的遥控指令是否有效,并在所述遥控指令有效时,根据所述遥控指令控制所述飞行器执行对应的操作。
第二方面,本申请还提供了一种控制终端,所述控制终端包括存储器和处 理器;所述存储器用于存储计算机程序;
所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现如下步骤:
获取飞行器的目标模式标识符,并根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符;
根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式;
根据所述遥控配置信息,确定接收到的遥控指令是否有效,并在所述遥控指令有效时,根据所述遥控指令控制所述飞行器执行对应的操作。
第三方面,本申请还提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现如上所述的飞行器控制方法的步骤。
本申请实施例提供了一种飞行器控制方法、控制终端及计算机可读存储介质,通过遥控配置信息和飞控配置信息,控制飞行器处于对应的飞行训练模式,使得飞控可以按照飞控配置信息对应的飞控逻辑控制飞行器,可以保证飞行器稳定飞行,同时通过遥控配置信息对遥控指令的有效性校验,当遥控指令有效时,基于该遥控指令控制处于飞行训练模式的飞行器执行对应的操作,可以防止由于用户误触摇杆,而导致飞行器坠毁的情况发生,有效的提高飞行器的安全,能够在用户使用飞行器进行飞行训练时,保证飞行器的稳定飞行,可以提高训练过程中飞行器的安全性以及真机训练的效果,提升用户体验。
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本申请。
为了更清楚地说明本申请实施例技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本申请一实施例提供的一种飞行器控制方法的步骤示意流程图;
图2是图1中的飞行器控制方法的子步骤示意流程图;
图3是本申请实施例中飞行器控制方法的一场景示意图;
图4是本申请一实施例提供的另一种飞行器控制方法的步骤示意流程图;
图5是本申请一实施例提供的又一种飞行器控制方法的步骤示意流程图;
图6是本申请一实施例提供的一种控制终端的结构示意性框图。
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。
附图中所示的流程图仅是示例说明,不是必须包括所有的内容和操作/步骤,也不是必须按所描述的顺序执行。例如,有的操作/步骤还可以分解、组合或部分合并,因此实际执行的顺序有可能根据实际情况改变。
下面结合附图,对本申请的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
请参阅图1,图1是本申请一实施例提供的一种飞行器控制方法的步骤示意流程图。该飞行器控制方法可以应用在控制终端中,用于控制飞行器。其中控制终端包括遥控器、地面控制平台、手机、平板电脑、笔记本电脑和PC电脑等,飞行器包括旋翼型无人机,例如四旋翼无人机、六旋翼无人机、八旋翼无人机,也可以是固定翼无人机,还可以是旋翼型与固定翼无人机的组合,在此不作限定。
具体地,如图1所示,该飞行器控制方法包括步骤S101至步骤S103。
S101、获取飞行器的目标模式标识符,并根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符。
遥控终端在开机过程中,获取飞行器的目标模式标识符,即获取默认的模式标识符,并将默认的模式标识符作为飞行器的目标模式标识符;根据目标模式标识符,确定飞行器的遥控配置信息和飞控配置信息。其中,该目标模式标识符为飞行器待进入的飞行训练模式对应的模式标识符,模式标识符用于唯一标识飞行训练模式,遥控配置信息用于设置飞行器的遥控逻辑,飞控配置信息用于设置飞行器中飞控***的飞控逻辑。
需要说明的是,默认的模式标识符可基于实际情况进行设置,本申请对此不作具体限定,飞行训练模式是通过对特技模式进行拆解得到的,不同的飞行 训练模式对应不同的遥控配置信息和飞控配置信息,处于特技模式下的飞行器,在操作控制上取消了飞行器的自稳和姿态角度保护,需要用户不断的操作摇杆,使得飞行器保持稳定飞行。
在一实施例中,如图2所示,步骤S101中的获取飞行器的目标模式标识符包括子步骤步骤S1011至步骤S1012。
S1011、检测用户对训练模式控制键的触控操作,其中,所述训练模式控制键用于控制切换飞行器的飞行训练模式。
遥控终端开机完成后,检测用户对训练模式控制键的触控操作,其中,训练模式控制键用于控制切换飞行器的飞行训练模式,其中,训练模式控制键为按压控键、摇杆控键、滑动控键和点击控键中的一种,触控操作为按压操作、摇杆操作、滑动操作和点击操作中的一种。
S1012、根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符。
在检测到用户对训练模式控制键的触控操作时,根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符。通过设置训练模式控制键,可以方便用户快速设置飞行器的飞行训练模式。
具体地,获取检测到的用户对训练模式控制键的触控操作的触控参数,并获取预存的触控参数与模式标识符的映射关系表;根据触控操作的触控参数和映射关系表,获取飞行器的目标模式标识符,即查询该映射关系表,获取触控操作的触控参数对应的模式标识符,并将获取到的模式标识符作为飞行器的目标模式标识符。其中,触控参数包括触控方向、触控次数和触控时长。需要说明的是,上述触控参数与模式标识符之间的映射关系表可基于实际情况进行设置,本申请对此不作具体限定。
在一实施例中,获取预存的模式标识符,与遥控配置信息和飞控配置信息之间的映射关系表,其中,模式标识符,与遥控配置信息和飞控配置信息之间存在对应关系;根据目标模式标识符和映射关系表,确定飞行器的遥控配置信息和飞控配置信息,即查询该映射关系表,获取与该目标模式标识符对应的遥控配置信息和飞控配置信息,并将获取到的遥控配置信息和飞控配置信息作为飞行器的遥控配置信息和飞控配置信息。需要说明的是,上述模式标识符,与遥控配置信息和飞控配置信息之间的映射关系表可基于实际情况进行设置,本申请对此不作具体限定。通过模式标识符,可以快速的确定飞行器的遥控配置信息和飞控配置信息。
S102、根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式。
在确定飞行器的遥控配置信息和飞控配置信息之后,确定控制终端与飞行器是否已连接,如果控制终端与飞行器已连接,则控制终端根据遥控配置信息和飞控配置信息,控制飞行器处于目标模式标识符对应的飞行训练模式,如果控制终端与飞行器未连接,则输出提示信息,其中,该提示信息用于提醒用户控制终端与飞行器未连接。
具体地,控制终端根据该遥控配置信息,设置飞行器的遥控逻辑;以及根据该飞控配置信息,设置飞行器中飞控***的飞控逻辑,以使飞行器处于目标模式标识符对应的飞行训练模式。其中,飞控***为能够稳定飞行器的飞行姿态,并能控制飞行器自主或半自主飞行的控制***。通过设置飞行器的遥控逻辑和飞控逻辑,使得飞行器可以准确且快速的进入对应的飞行训练模式。需要说明的是,不同类型飞行器的飞行训练模式的遥控逻辑不同,可基于实际情况进行设置,本申请对此不作具体限定。以下以飞行器为多旋翼飞行器进行解释说明。
飞行器为多旋翼飞行器时,飞行训练模式包括但不限于高度飞行训练模式、姿态飞行训练模式、转向飞行训练模式和特技飞行训练模式,本申请对此不作具体限定。高度飞行训练模式对应的遥控逻辑为控制终端的油门通道有效,其余通道失效,而飞控逻辑为飞控***控制飞行器保持水平位置,用户通过操作控制终端的油门通道可以控制飞行器的上升与下降,使得用户可以体验油门通道与飞行器高度之间的关系,实现高度飞行训练。
姿态飞行训练模式对应的遥控逻辑为副翼通道有效,其余通道失效,而飞控逻辑为飞控***控制飞行器保持高度,且限制飞行器的最大姿态角,用户通过操作副翼通道可以控制飞行器的姿态变化,使得用户可以体验副翼通道与飞行器姿态之间的关系,实现姿态飞行训练。转向飞行训练模式对应的遥控逻辑为方向通道有效,其余通道无效,而飞控逻辑为飞控***控制飞行器固定高度和速度,用户通过操作方向通道可以控制飞行器的转向,使得用户可以体验方向通道与飞行器转向之间的关系,实现转向飞行训练。特技飞行训练模式对应的遥控逻辑为控制终端的各个控制通道均有效,飞控逻辑为飞控***休眠,不对飞行器进行半自主或者自主控制,完全由用户操作各个控制通道。
S103、当所述飞行器进入所述飞行训练模式后,根据所述遥控配置信息,确定接收到的遥控指令是否有效,并在所述遥控指令有效时,根据所述遥控指 令控制所述飞行器执行对应的操作。
在飞行器进入飞行训练模式后,用户可以通过控制终端控制飞行器,具体地,控制终端获取用户触发的遥控指令,并根据该遥控配置信息,确定接收到的遥控指令是否有效,如果该遥控指令有效,则根据该遥控指令控制飞行器执行对应的操作。可以防止由于用户误触摇杆,而导致飞行器坠毁的情况发生,有效的提高飞行器的安全,减少损失。
其中,确定遥控指令是否有效的方式具体为:从接收到的遥控指令中获取遥控标识符,并确定遥控配置信息中是否存在遥控标识符,如果该遥控配置信息中存在遥控标识符,则确定该遥控指令有效,反之,如果该遥控配置信息中不存在遥控标识符,则确定遥控指令无效。
请参阅图3,图3为本申请实施例中飞行器控制方法的一场景示意图,如图3所示,控制终端200与飞行器100通信连接,控制终端200根据遥控配置信息和飞控配置信息,控制飞行器100处于对应的飞行训练模式,控制终端200将有效的遥控指令发送至飞行器100,以控制飞行器100执行对应的操作。
上述实施例提供的飞行器控制方法,通过遥控配置信息和飞控配置信息,控制飞行器处于对应的飞行训练模式,使得飞控可以按照飞控配置信息对应的飞控逻辑控制飞行器,可以保证飞行器稳定飞行,同时通过遥控配置信息对遥控指令的有效性校验,当遥控指令有效时,基于该遥控指令控制飞行器执行对应的操作,可以防止由于用户误触摇杆,而导致飞行器坠毁的情况发生,有效的提高飞行器的安全,能够在用户使用飞行器进行飞行训练时,保证飞行器的稳定飞行,可以提高训练过程中飞行器的安全性以及真机训练的效果,提升用户体验。
请参阅图4,图4是本申请一实施例提供的另一种飞行器控制方法的步骤示意流程图。
具体地,如图4所示,该飞行器控制方法包括步骤S201至S205。
S201、获取飞行器的历史模式标识符,其中,所述历史模式标识符为所述飞行器上一次关机时所处的飞行训练模式对应的模式标识符。
遥控终端在开机过程中,获取飞行器的历史模式标识符,其中,历史模式标识符为飞行器上一次关机时所处的飞行训练模式对应的模式标识符,模式标识符用于唯一标识飞行训练模式。飞行训练模式包括但不限于高度飞行训练模式、姿态飞行训练模式、转向飞行训练模式和特技飞行训练模式,本申请对此不作具体限定。飞行训练模式是通过对特技模式进行拆解得到的,不同的飞行 训练模式对应不同的遥控配置信息和飞控配置信息,处于特技模式下的飞行器,在操作控制上取消了飞行器的自稳和姿态角度保护,需要用户不断的操作摇杆,使得飞行器保持稳定飞行。
S202、将所述历史模式标识符作为所述飞行器的目标模式标识符,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符。
在获取到飞行器的历史模式标识符时,将历史模式标识符作为飞行器的目标模式标识符,其中,目标模式标识符为飞行器待进入的飞行训练模式对应的模式标识符。进一步地,在获取到飞行器的历史模式标识符时,控制终端可以输出提示信息,用于提示用户飞行器待进入的飞行训练模式,在输出提示信息后的预设时间内,如果没有检测到用户的模式切换操作,则将历史模式标识符作为飞行器的目标模式标识符。需要说明的是,上述预设时间可基于实际情况进行设置,本申请对此不作具体限定。
在一实施例中,在获取到飞行器的历史模式标识符时,确定该历史模式标识符是否处于预设模式标识符集,如果历史模式标识符处于预设模式标识符集,则将历史模式标识符作为飞行器的目标模式标识符。需要说明的是,该预设模式标识符集可基于实际情况进行设置,本申请对此不作具体限定。可选地,该预设模式标识符集为简单的飞行训练模式对应的模式标识符。
S203、根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息。
在确定目标模式标识符后,根据目标模式标识符,确定飞行器的遥控配置信息和飞控配置信息。具体为:获取预存的模式标识符,与遥控配置信息和飞控配置信息之间的映射关系表,其中,模式标识符,与遥控配置信息和飞控配置信息之间存在对应关系;根据目标模式标识符和映射关系表,确定飞行器的遥控配置信息和飞控配置信息。
S204、根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式。
在确定飞行器的遥控配置信息和飞控配置信息之后,确定控制终端与飞行器是否已连接,如果控制终端与飞行器已连接,则控制终端根据遥控配置信息和飞控配置信息,控制飞行器处于目标模式标识符对应的飞行训练模式,如果控制终端与飞行器未连接,则输出提示信息,其中,该提示信息用于提醒用户控制终端与飞行器未连接。
S205、当所述飞行器进入所述飞行训练模式后,根据所述遥控配置信息, 确定接收到的遥控指令是否有效,并在所述遥控指令有效时,根据所述遥控指令控制所述飞行器执行对应的操作
在飞行器进入飞行训练模式后,用户可以通过控制终端控制飞行器,具体地,控制终端获取用户触发的遥控指令,并根据该遥控配置信息,确定接收到的遥控指令是否有效,如果该遥控指令有效,则根据该遥控指令控制飞行器执行对应的操作。可以防止由于用户误触摇杆,而导致飞行器坠毁的情况发生,有效的提高飞行器的安全,减少损失。
上述实施例提供的飞行器控制方法,将飞行器上一次关机时所处的飞行训练模式对应的模式标识符作为目标模式标识符,使得飞行器可以继续处于上一次关机时所处的飞行训练模式,不需要用户再次切换,便于用户在上一次的飞行训练模式下进行飞行训练,可以提高训练效果和用户体验。
请参阅图5,图5是本申请一实施例提供的另一种飞行器控制方法的步骤示意流程图。
具体地,如图5所示,该飞行器控制方法包括步骤S301至S306。
S301、获取飞行器的历史模式标识符,其中,所述历史模式标识符为所述飞行器上一次关机时所处的飞行训练模式对应的模式标识符。
遥控终端在开机过程中,获取飞行器的历史模式标识符,其中,历史模式标识符为飞行器上一次关机时所处的飞行训练模式对应的模式标识符,模式标识符用于唯一标识飞行训练模式。飞行训练模式包括但不限于高度飞行训练模式、姿态飞行训练模式、转向飞行训练模式和特技飞行训练模式,本申请对此不作具体限定。飞行训练模式是通过对特技模式进行拆解得到的,不同的飞行训练模式对应不同的遥控配置信息和飞控配置信息,处于特技模式下的飞行器,在操作控制上取消了飞行器的自稳和姿态角度保护,需要用户不断的操作摇杆,使得飞行器保持稳定飞行。
S302、根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式。
在获取到飞行器的历史模式标识符时,根据历史模式标识符,输出对应的模式提示信息,以提示用户飞行器待进入的飞行训练模式。其中,不同模式标识符对应不同的模式提示信息,不同模式标识符对应的模式提示信息可基于实际情况进行设置,本申请对此不作具体限定。
其中,模式提示信息的输出方式具体为:根据历史模式标识符,控制预置的对应模式指示灯处于点亮状态,以提示用户飞行器待进入的飞行训练模式; 和/或根据历史模式标识符,播报历史模式标识符对应的模式提示语音,以提示用户飞行器待进入的飞行训练模式。通过指示灯或提示语音,可以便利的提示用户飞行器待进入的飞行训练模式。
S303、在输出对应的模式提示信息后的预设时长内未检测到用户对训练模式控制键的触控操作时,将所述历史模式标识符作为所述飞行器的目标模式标识符。
在输出对应的模式提示信息后的预设时长内未检测到用户对训练模式控制键的触控操作时,将历史模式标识符作为飞行器的目标模式标识符。其中,训练模式控制键用于控制切换飞行器的飞行训练模式。需要说明的是,上述预设时长可基于实际情况进行设置,本申请对此不作具体限定。在输出模式提示信息后的预设时长内没有检测到用户对训练模式控制键的触控操作时,则默认用户确认飞行训练模式。
在一实施例中,在输出对应的模式提示信息后的预设时长内检测到用户对训练模式控制键的触控操作时,根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符,即获取检测到的用户对训练模式控制键的触控操作的触控参数,并获取预存的触控参数与模式标识符的映射关系表,然后根据触控操作的触控参数和映射关系表,获取飞行器的目标模式标识符。
S304、根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息。
在确定目标模式标识符后,根据目标模式标识符,确定飞行器的遥控配置信息和飞控配置信息。具体为:获取预存的模式标识符,与遥控配置信息和飞控配置信息之间的映射关系表,其中,模式标识符,与遥控配置信息和飞控配置信息之间存在对应关系;根据目标模式标识符和映射关系表,确定飞行器的遥控配置信息和飞控配置信息。
S305、根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式。
在确定飞行器的遥控配置信息和飞控配置信息之后,确定控制终端与飞行器是否已连接,如果控制终端与飞行器已连接,则控制终端根据遥控配置信息和飞控配置信息,控制飞行器处于目标模式标识符对应的飞行训练模式,如果控制终端与飞行器未连接,则输出提示信息,其中,该提示信息用于提醒用户控制终端与飞行器未连接。
S306、当所述飞行器进入所述飞行训练模式后,根据所述遥控配置信息, 确定接收到的遥控指令是否有效,并在所述遥控指令有效时,根据所述遥控指令控制所述飞行器执行对应的操作。
在飞行器进入飞行训练模式后,用户可以通过控制终端控制飞行器,具体地,控制终端获取用户触发的遥控指令,并根据该遥控配置信息,确定接收到的遥控指令是否有效,如果该遥控指令有效,则根据该遥控指令控制飞行器执行对应的操作。可以防止由于用户误触摇杆,而导致飞行器坠毁的情况发生,有效的提高飞行器的安全,减少损失。
上述实施例提供的飞行器控制方法,根据历史模式标识符,输出对应的模式提示信息,以提示用户飞行器待进入的飞行训练模式,在输出模式提示信息后的一段时间内用户没有对训练模式控制键进行操作,则默认用户已确认,因此控制飞行器继续处于上一次关机时所处的飞行训练模式,不需要用户再次切换,便于用户在上一次的飞行训练模式下进行飞行训练,可以提高训练效果和用户体验。
请参阅图6,图6是本申请一实施例提供的控制终端的示意性框图。在一种实施方式中,该控制终端包括但不限于遥控器、地面控制平台、手机、平板电脑、笔记本电脑和PC电脑等。
进一步地,该控制终端400包括处理器401和存储器402,处理器401和存储器402通过总线403连接,该总线403比如为I2C(Inter-integrated Circuit)总线。
具体地,处理器401可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。
具体地,存储器402可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中,所述处理器401用于运行存储在存储器402中的计算机程序,并在执行所述计算机程序时实现如下步骤:
获取飞行器的目标模式标识符,并根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符;
根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式;
当所述飞行器进入所述飞行训练模式后,根据所述遥控配置信息,确定接 收到的遥控指令是否有效,并在所述遥控指令有效时,根据所述遥控指令控制所述飞行器执行对应的操作。
可选地,所述处理器实现获取飞行器的目标模式标识符时,用于实现:
检测用户对训练模式控制键的触控操作,其中,所述训练模式控制键用于控制切换飞行器的飞行训练模式;
根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符。
可选地,所述处理器实现根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符时,用于实现:
获取检测到的用户对训练模式控制键的触控操作的触控参数,并获取预存的触控参数与模式标识符的映射关系表;
根据所述触控操作的触控参数和所述映射关系表,获取飞行器的目标模式标识符。
可选地,所述训练模式控制键为按压控键、摇杆控键、滑动控键和点击控键中的一种;所述触控操作为按压操作、摇杆操作、滑动操作和点击操作中的一种。
可选地,所述处理器实现获取飞行器的目标模式标识符时,用于实现:
获取飞行器的历史模式标识符,其中,所述历史模式标识符为所述飞行器上一次关机时所处的飞行训练模式对应的模式标识符;
将所述历史模式标识符作为所述飞行器的目标模式标识符,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符。
可选地,所述处理器实现将所述历史模式标识符作为所述飞行器的目标模式标识符之前,还用于实现:
确定所述历史模式标识符是否处于预设模式标识符集;
若所述历史模式标识符处于预设模式标识符集,则将所述历史模式标识符作为所述飞行器的目标模式标识符。
可选地,所述处理器实现将所述历史模式标识符作为所述飞行器的目标模式标识符之前,还用于实现:
根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式;
在输出对应的模式提示信息后的预设时长内未检测到用户对训练模式控制键的触控操作时,将所述历史模式标识符作为所述飞行器的目标模式标识符。
可选地,所述处理器实现根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式时,用于实现:
根据所述历史模式标识符,控制预置的对应模式指示灯处于点亮状态,以提示用户所述飞行器待进入的飞行训练模式;和/或
根据所述历史模式标识符,播报所述历史模式标识符对应的模式提示语音,以提示用户所述飞行器待进入的飞行训练模式。
可选地,所述处理器实现根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式之后,还用于实现:
在输出对应的模式提示信息后的预设时长内检测到用户对训练模式控制键的触控操作时,根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符。
可选地,所述处理器实现根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息时,用于实现:
获取预存的模式标识符,与遥控配置信息和飞控配置信息之间的映射关系表,所述模式标识符,与遥控配置信息和飞控配置信息之间存在对应关系;
根据所述目标模式标识符和所述映射关系表,确定所述飞行器的遥控配置信息和飞控配置信息。
可选地,所述处理器实现根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式时,用于实现:
根据所述遥控配置信息,设置所述飞行器的遥控逻辑;以及
根据所述飞控配置信息,设置所述飞行器中飞控***的飞控逻辑,以使所述飞行器处于所述目标模式标识符对应的飞行训练模式。
可选地,所述处理器实现根据所述遥控配置信息,确定接收到的遥控指令是否有效时,用于实现:
从接收到的遥控指令中获取遥控标识符,并确定所述遥控配置信息中是否存在所述遥控标识符;
若所述遥控配置信息中存在所述遥控标识符,则确定所述遥控指令有效,若所述遥控配置信息中不存在所述遥控标识符,则确定所述遥控指令无效。
需要说明的是,所属领域的技术人员可以清楚地了解到,为了描述的方便和简洁,上述描述的控制终端的具体工作过程,可以参考前述飞行器控制方法实施例中的对应过程,在此不再赘述。
本申请的实施例中还提供一种计算机可读存储介质,所述计算机可读存储 介质存储有计算机程序,所述计算机程序中包括程序指令,所述处理器执行所述程序指令,实现上述实施例提供的飞行器控制方法的步骤。
其中,所述计算机可读存储介质可以是前述任一实施例所述的控制终端的内部存储单元,例如所述控制终端的硬盘或内存。所述计算机可读存储介质也可以是所述控制终端的外部存储设备,例如所述控制终端上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。
应当理解,在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样,除非上下文清楚地指明其它情况,否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当理解,在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到各种等效的修改或替换,这些修改或替换都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以权利要求的保护范围为准。
Claims (25)
- 一种飞行器控制方法,其特征在于,包括:获取飞行器的目标模式标识符,并根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符;根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式;当所述飞行器进入所述飞行训练模式后,根据所述遥控配置信息,确定接收到的遥控指令是否有效,并在所述遥控指令有效时,根据所述遥控指令控制所述飞行器执行对应的操作。
- 根据权利要求1所述的飞行器控制方法,其特征在于,所述获取飞行器的目标模式标识符,包括:检测用户对训练模式控制键的触控操作,其中,所述训练模式控制键用于控制切换飞行器的飞行训练模式;根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符。
- 根据权利要求2所述的飞行器控制方法,其特征在于,所述根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符,包括:获取检测到的用户对训练模式控制键的触控操作的触控参数,并获取预存的触控参数与模式标识符的映射关系表;根据所述触控操作的触控参数和所述映射关系表,获取飞行器的目标模式标识符。
- 根据权利要求2所述的飞行器控制方法,其特征在于,所述训练模式控制键为按压控键、摇杆控键、滑动控键和点击控键中的一种;所述触控操作为按压操作、摇杆操作、滑动操作和点击操作中的一种。
- 根据权利要求1所述的飞行器控制方法,其特征在于,所述获取飞行器的目标模式标识符,包括:获取飞行器的历史模式标识符,其中,所述历史模式标识符为所述飞行器上一次关机时所处的飞行训练模式对应的模式标识符;将所述历史模式标识符作为所述飞行器的目标模式标识符,其中,所述目 标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符。
- 根据权利要求5所述的飞行器控制方法,其特征在于,所述将所述历史模式标识符作为所述飞行器的目标模式标识符之前,还包括:确定所述历史模式标识符是否处于预设模式标识符集;若所述历史模式标识符处于预设模式标识符集,则将所述历史模式标识符作为所述飞行器的目标模式标识符。
- 根据权利要求5所述的飞行器控制方法,其特征在于,所述将所述历史模式标识符作为所述飞行器的目标模式标识符之前,还包括:根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式;在输出对应的模式提示信息后的预设时长内未检测到用户对训练模式控制键的触控操作时,将所述历史模式标识符作为所述飞行器的目标模式标识符。
- 根据权利要求7所述的飞行器控制方法,其特征在于,所述根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式,包括:根据所述历史模式标识符,控制预置的对应模式指示灯处于点亮状态,以提示用户所述飞行器待进入的飞行训练模式;和/或根据所述历史模式标识符,播报所述历史模式标识符对应的模式提示语音,以提示用户所述飞行器待进入的飞行训练模式。
- 根据权利要求7所述的飞行器控制方法,其特征在于,所述根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式之后,还包括:在输出对应的模式提示信息后的预设时长内检测到用户对训练模式控制键的触控操作时,根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符。
- 根据权利要求1至9中任一项所述的飞行器控制方法,其特征在于,所述根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息,包括:获取预存的模式标识符,与遥控配置信息和飞控配置信息之间的映射关系表,所述模式标识符,与遥控配置信息和飞控配置信息之间存在对应关系;根据所述目标模式标识符和所述映射关系表,确定所述飞行器的遥控配置信息和飞控配置信息。
- 根据权利要求1至9中任一项所述的飞行器控制方法,其特征在于,所述根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式,包括:根据所述遥控配置信息,设置所述飞行器的遥控逻辑;以及根据所述飞控配置信息,设置所述飞行器中飞控***的飞控逻辑,以使所述飞行器处于所述目标模式标识符对应的飞行训练模式。
- 根据权利要求1至9中任一项所述的飞行器控制方法,其特征在于,所述根据所述遥控配置信息,确定接收到的遥控指令是否有效,包括:从接收到的遥控指令中获取遥控标识符,并确定所述遥控配置信息中是否存在所述遥控标识符;若所述遥控配置信息中存在所述遥控标识符,则确定所述遥控指令有效,若所述遥控配置信息中不存在所述遥控标识符,则确定所述遥控指令无效。
- 一种控制终端,其特征在于,所述控制终端包括存储器和处理器;所述存储器用于存储计算机程序;所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现如下步骤:获取飞行器的目标模式标识符,并根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符;根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式;当所述飞行器进入所述飞行训练模式后,根据所述遥控配置信息,确定接收到的遥控指令是否有效,并在所述遥控指令有效时,根据所述遥控指令控制所述飞行器执行对应的操作。
- 根据权利要求13所述的控制终端,其特征在于,所述处理器实现获取飞行器的目标模式标识符时,用于实现:检测用户对训练模式控制键的触控操作,其中,所述训练模式控制键用于控制切换飞行器的飞行训练模式;根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符。
- 根据权利要求14所述的控制终端,其特征在于,所述处理器实现根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符时, 用于实现:获取检测到的用户对训练模式控制键的触控操作的触控参数,并获取预存的触控参数与模式标识符的映射关系表;根据所述触控操作的触控参数和所述映射关系表,获取飞行器的目标模式标识符。
- 根据权利要求14所述的控制终端,其特征在于,所述训练模式控制键为按压控键、摇杆控键、滑动控键和点击控键中的一种;所述触控操作为按压操作、摇杆操作、滑动操作和点击操作中的一种。
- 根据权利要求13所述的控制终端,其特征在于,所述处理器实现获取飞行器的目标模式标识符时,用于实现:获取飞行器的历史模式标识符,其中,所述历史模式标识符为所述飞行器上一次关机时所处的飞行训练模式对应的模式标识符;将所述历史模式标识符作为所述飞行器的目标模式标识符,其中,所述目标模式标识符为所述飞行器待进入的飞行训练模式对应的模式标识符。
- 根据权利要求17所述的控制终端,其特征在于,所述处理器实现将所述历史模式标识符作为所述飞行器的目标模式标识符之前,还用于实现:确定所述历史模式标识符是否处于预设模式标识符集;若所述历史模式标识符处于预设模式标识符集,则将所述历史模式标识符作为所述飞行器的目标模式标识符。
- 根据权利要求17所述的控制终端,其特征在于,所述处理器实现将所述历史模式标识符作为所述飞行器的目标模式标识符之前,还用于实现:根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式;在输出对应的模式提示信息后的预设时长内未检测到用户对训练模式控制键的触控操作时,将所述历史模式标识符作为所述飞行器的目标模式标识符。
- 根据权利要求19所述的控制终端,其特征在于,所述处理器实现根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式时,用于实现:根据所述历史模式标识符,控制预置的对应模式指示灯处于点亮状态,以提示用户所述飞行器待进入的飞行训练模式;和/或根据所述历史模式标识符,播报所述历史模式标识符对应的模式提示语音,以提示用户所述飞行器待进入的飞行训练模式。
- 根据权利要求19所述的控制终端,其特征在于,所述处理器实现根据所述历史模式标识符,输出对应的模式提示信息,以提示用户所述飞行器待进入的飞行训练模式之后,还用于实现:在输出对应的模式提示信息后的预设时长内检测到用户对训练模式控制键的触控操作时,根据检测到的用户对训练模式控制键的触控操作,获取飞行器的目标模式标识符。
- 根据权利要求13至21中任一项所述的控制终端,其特征在于,所述处理器实现根据所述目标模式标识符,确定所述飞行器的遥控配置信息和飞控配置信息时,用于实现:获取预存的模式标识符,与遥控配置信息和飞控配置信息之间的映射关系表,所述模式标识符,与遥控配置信息和飞控配置信息之间存在对应关系;根据所述目标模式标识符和所述映射关系表,确定所述飞行器的遥控配置信息和飞控配置信息。
- 根据权利要求13至21中任一项所述的控制终端,其特征在于,所述处理器实现根据所述遥控配置信息和所述飞控配置信息,控制所述飞行器处于所述目标模式标识符对应的飞行训练模式时,用于实现:根据所述遥控配置信息,设置所述飞行器的遥控逻辑;以及根据所述飞控配置信息,设置所述飞行器中飞控***的飞控逻辑,以使所述飞行器处于所述目标模式标识符对应的飞行训练模式。
- 根据权利要求13至21中任一项所述的控制终端,其特征在于,所述处理器实现根据所述遥控配置信息,确定接收到的遥控指令是否有效时,用于实现:从接收到的遥控指令中获取遥控标识符,并确定所述遥控配置信息中是否存在所述遥控标识符;若所述遥控配置信息中存在所述遥控标识符,则确定所述遥控指令有效,若所述遥控配置信息中不存在所述遥控标识符,则确定所述遥控指令无效。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现权利要求1至12中任一项所述的飞行器控制方法。
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