The invention relates to an unmanned aerial vehicle flight
control system and method capable of being upgraded in flight, a medium and equipment, the flight
control system comprises a
peripheral communication subsystem, a flight control subsystem and an execution subsystem,
firmware upgrading can be carried out in the normal
flight process, the whole flight control subsystem adopts a distributed three-redundancy design, and the flight control subsystem can carry out
firmware upgrading in the normal
flight process. The operation reliability of the flight
control system is synchronously improved, failure faults in the
flight process are avoided, the flight control
system has reliable
wireless upgrading capacity, the method can be applied to
algorithm updating and conventional flight of a large-scale unmanned aerial vehicle cluster, and the convenience, safety and reliability of the flight control
system can be improved. According to the invention, the flight control subsystem with the air
firmware upgrading capability based on three redundancies is arranged, so that the method has the capability of coping with the out-of-control risk under extreme abnormal conditions and the capability of reliably upgrading the flight control firmware of the unmanned aerial vehicle in the air.