Flight control test system
By designing an automated flight control testing system, the problems of low efficiency, poor repeatability, and insufficient versatility in existing flight control testing have been solved. The system enables fully automated testing and data traceability, thereby improving the integrity and production efficiency of flight control performance verification.
Patent Information
- Application Number
- CN202511858055.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-10
- Publication Date
- 2026-04-07
AI Technical Summary
Existing flight control testing suffers from incomplete test coverage, high reliance on manual intervention, poor data traceability, insufficient versatility, and inability to meet the needs of batch testing. This results in low testing efficiency, poor repeatability, and difficulty in accurately reflecting the actual flight performance of the flight control system.
Design a flight control test system, including a test main control unit, a simulation test module, an interface test module, a power adapter module, and a data recording and analysis unit. Through collaborative work, it achieves automated testing, supports multiple sensor simulations, interface testing, and data storage, has automatic judgment function, adapts to the power supply requirements of different flight control models, and generates structured test reports.
It achieves fully automated testing, improves testing efficiency and coverage, reduces the risk of human error, supports mass production, ensures data traceability and the reliability of test results, and significantly reduces production line testing costs.
Smart Images
Figure CN121806793A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to a flight control testing system. Background Technology
[0002] Modern flight controllers generally integrate multiple sensors such as gyroscopes, accelerometers, magnetometers, and barometers, as well as a variety of interfaces such as UART, CAN, Ethernet, PWM, I²C, SPI, and USB. Some models also integrate OSD chips and temperature compensators, resulting in complex structures and diverse functions.
[0003] Currently, flight controller factory testing mainly relies on a combination of manual operation and semi-automated equipment, which has many prominent problems:
[0004] First, the test coverage is not comprehensive. Traditional tests only verify whether the sensor output exists and whether the interface is connected. They do not conduct dynamic tests on the attitude calculation results, nor do they carry out interface load tests and protocol integrity verification, which cannot truly reflect the actual flight performance of the flight control.
[0005] Secondly, it relies heavily on manual labor. The testing process requires operators to manually observe and judge through serial port logs, ground station tools, or oscilloscopes, which is inefficient, has poor repeatability, and carries a high risk of human error.
[0006] Third, the data traceability is poor. The test data is mostly manual screenshots or text records, lacking a standardized storage format, making it difficult to archive and trace in batches, which seriously affects the quality control of the production line and the location of after-sales problems.
[0007] Fourth, it lacks versatility. There are many flight controller models with different interface distributions, power supply methods, and communication standards. Most of the existing test tools are dedicated fixtures, and switching models requires redesigning the fixtures or test scripts.
[0008] Fifth, it cannot meet the needs of batch testing. Traditional testing is mainly based on one-to-one debugging and lacks the support of automated architecture, which limits the improvement of production testing capabilities. Summary of the Invention
[0009] The purpose of this invention is to provide a flight control testing system to solve the problems mentioned in the background art.
[0010] To achieve the above objectives, the present invention provides the following technical solution: a flight control testing system, comprising:
[0011] The test main control unit is used to output standardized test commands and collect response data of the flight controller under test;
[0012] The simulation test module is communicatively connected to the test main control unit and is used to generate various sensor simulation signals and inject them into the flight controller under test.
[0013] The interface testing module is connected to the test main control unit and the flight controller under test respectively, and is used to perform functional and performance tests on various communication interfaces of the flight controller under test.
[0014] The power adapter module is used to provide a suitable power supply voltage for the flight controller under test.
[0015] The data recording and analysis unit is communicatively connected to the test control unit and is used to store test data and automatically generate structured test reports;
[0016] The test control unit coordinates the simulation test module, interface test module, power adapter module, and data recording and analysis unit to achieve automated testing of different models of flight controllers under test.
[0017] Preferably, the simulation test module is used to generate at least one sensor simulation signal from a gyroscope, accelerometer, magnetometer, and barometer to provide input for flight control attitude calculation and testing;
[0018] The interface testing module is compatible with at least one of the following communication interfaces: UART, CAN, Ethernet, PWM, GPIO, I²C, SPI, and USB, to complete the functional verification and performance evaluation of the flight control interface.
[0019] Preferably, the power adapter module supports automatic switching of power supply voltage for 2S / 3S / 4S / 6S / 8S, which can match the power supply requirements of different flight controller models, and has overcurrent and short circuit protection functions to ensure power safety during the testing process.
[0020] Preferably, the data recording and analysis unit binds and stores the test data with the unique identifier of the flight controller under test. The test data includes at least one of attitude calculation results, sensor data streams, interface communication logs, and power supply parameters, and is stored in a unified format such as JSON / CSV / binary, supporting long-term archiving and traceability query.
[0021] Preferably, it also includes an automatic judgment module, which is integrated into the test main control unit. The automatic judgment module automatically judges the key indicators such as attitude calculation accuracy, response delay, interface transmission rate and overheat protection function of the flight controller under test according to preset thresholds, and generates a structured test report.
[0022] Preferably, the simulation test module supports configuring noise models such as Gaussian white noise to simulate actual flight interference, and can simulate horizontal stationary, pitch rotation, and acceleration impact flight states. Specific parameter configurations are as follows:
[0023] Under horizontal static conditions, the angular velocity of the gyroscope is ≤0.1° / s, the acceleration of the accelerometer is ≤0.05g, the magnetic field strength fluctuation of the magnetometer is ≤1μT, and the air pressure stability of the barometer is ≤0.5Pa.
[0024] In pitch and rotation mode, the pitch angle range is -30° to +30°, the rotation speed is 5° / s to 50° / s, and the angular acceleration is ≤10° / s².
[0025] Under accelerated impact conditions, the axial acceleration is 1g~8g, the impact duration is 10ms~100ms, and the impact rise time is ≤5ms.
[0026] Preferably, the data recording and analysis unit has a built-in algorithm for comparing the attitude calculation results with the theoretical values, and the algorithm includes the following steps:
[0027] S1. Collect real-time attitude calculation data such as pitch angle, roll angle, and yaw angle output by the flight controller under test;
[0028] S2. Extract the theoretical reference attitude values under the corresponding flight conditions and establish a comparison dataset with timestamp synchronization;
[0029] S3. Calculate the root mean square error (RMS), maximum absolute deviation, and response delay within a single test cycle;
[0030] S4. Compare the calculation results with the preset threshold, generate the accuracy judgment result and write it into the test report.
[0031] Preferably, the simulation test module can load a custom flight state parameter configuration file through the test main control unit. The file contains parameters such as trajectory pitch angle, sideslip angle, angular velocity and acceleration change curves, and supports expanding the simulated flight scenario according to test requirements.
[0032] Preferably, the response delay is calculated by the time difference between the sensor analog signal injection time and the flight control attitude calculation result output time, with a timestamp accuracy of ≤10μs, to ensure the measurement accuracy of the delay data.
[0033] Preferably, the test main control unit can read or scan the code to obtain the model or serial number of the flight controller under test, automatically load the test template of the corresponding model, realize the automatic adaptation of sensor simulation parameters, interface electrical characteristics and protocol type, support multi-channel parallel test architecture, and meet the needs of mass production testing.
[0034] The technical effects and advantages of this invention are as follows: By coordinating the collaborative work of various modules through the test main control unit, a fully automated test architecture is constructed, which can complete multi-dimensional tests such as startup performance, attitude calculation accuracy, and interface functions without manual intervention, thus completely solving the problems of low efficiency and poor repeatability of traditional tests; the system is compatible with different models of flight controllers, breaking through the limitations of insufficient universality of dedicated tooling, and significantly reducing production line testing costs; the test coverage is comprehensive, realizing closed-loop testing from sensor simulation to limit protection, and improving the integrity of flight controller performance verification. Attached Figure Description
[0035] Figure 1 This is a diagram of the overall architecture of the present invention. Detailed Implementation
[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0037] This invention provides, for example Figure 1 The flight control test system shown includes:
[0038] The test main control unit is used to output standardized test commands and collect response data of the flight controller under test;
[0039] The simulation test module communicates with the test main control unit and is used to generate various sensor simulation signals and inject them into the flight controller under test.
[0040] The interface testing module is connected to the test main control unit and the flight controller under test respectively, and is used to perform functional and performance tests on various communication interfaces of the flight controller under test.
[0041] The power adapter module is used to provide a suitable power supply voltage for the flight controller under test.
[0042] The data recording and analysis unit communicates with the test control unit and is used to store test data and automatically generate structured test reports;
[0043] The test main control unit coordinates the simulation test module, interface test module, power adapter module, and data recording and analysis unit to achieve automated testing of different models of flight controllers under test.
[0044] The test main control unit integrates a multi-channel scheduling algorithm to support resource allocation and synchronous control during parallel testing of multiple flight control units, with a synchronization accuracy of ≤10ms. The six-degree-of-freedom motion simulation platform and the simulation test module adopt a timestamp-based signal synchronization protocol. Through a delay compensation algorithm, the mechanical motion and sensor simulation signals are accurately aligned with each other, with a compensation error of ≤5μs. The platform and the test main control unit communicate via an Ethernet interface. The control command format adopts a JSON structure, which includes motion parameter configuration and status feedback fields.
[0045] By coordinating the work of various modules through the test master control unit, a fully automated test architecture is constructed. It can complete multi-dimensional tests such as startup performance, attitude calculation accuracy, and interface functions without manual intervention, completely solving the problems of low efficiency and poor repeatability of traditional testing. The system is compatible with different models of flight controllers, overcomes the limitations of insufficient universality of dedicated tooling, and significantly reduces production line testing costs. The test coverage is comprehensive, realizing closed-loop testing from sensor simulation to limit protection, and improving the integrity of flight controller performance verification.
[0046] Furthermore, the simulation test module is used to generate simulated signals from at least one of the following sensors: gyroscope, accelerometer, magnetometer, and barometer, to provide input for flight control attitude calculation and testing.
[0047] The interface testing module is compatible with at least one of the following communication interfaces: UART, CAN, Ethernet, PWM, GPIO, I²C, SPI, and USB, to complete the functional verification and performance evaluation of the flight control interface.
[0048] The stress test for the UART / CAN / Ethernet interface uses a fixed data packet format, with a data packet length of 512 bytes, including CRC32 checksum, and a continuous transmission duration of ≥30 minutes or a data packet count of ≥10. 6 The CAN bus error frame injection supports bit errors, CRC errors, and ACK errors, and the injection frequency can be configured to 1~10 times / second; the PWM signal jitter analysis adopts the sliding window sampling method, with a sampling point interval of 1μs, and the jitter threshold is determined by statistically analyzing the standard deviation of 3 test cycles.
[0049] Sensor analog signals provide standardized input for attitude calculation testing, and interface testing covers mainstream communication protocols, which can comprehensively verify the integrity of flight control hardware functions, avoid the shortcomings of traditional testing that emphasizes connectivity but neglects performance, and improve the reliability of test results.
[0050] Furthermore, the power adapter module supports automatic switching of power supply voltage for 2S / 3S / 4S / 6S / 8S, which can match the power supply requirements of different flight controller models, and has overcurrent and short circuit protection functions to ensure power safety during the testing process.
[0051] The power adapter module identifies the flight controller's power supply requirements through a dual approach: pre-configuration of the test template and detection of hardware pin voltages, with a voltage regulation accuracy of ≤0.01V. Overcurrent / short circuit protection adopts a graded response mechanism: minor anomalies (current exceeding the threshold by less than 10%) trigger current limiting protection, while severe anomalies (current exceeding the threshold by more than 30%) immediately cut off power, with a power-off delay of ≤100μs. Fault reset requires a reset command to be sent by the test main control unit.
[0052] It supports automatic switching of multiple power supply voltages, accurately matching the power supply requirements of different flight controller models, eliminating the need for manual adjustment of power supply parameters and improving test switching efficiency; overcurrent and short circuit protection functions can prevent damage to the flight controller or test equipment due to abnormal power supply during the test, ensuring the safety and stability of the test process and reducing test losses.
[0053] Furthermore, the data recording and analysis unit binds and stores the test data with the unique identifier of the flight controller under test. The test data includes at least one of the following: attitude calculation results, sensor data streams, interface communication logs, and power supply parameters. It is stored in a unified format such as JSON / CSV / binary and supports long-term archiving and traceability query.
[0054] The binding of test data with the unique identifier (SN / MCUID) of the flight controller is achieved using AES-128 encryption. During the binding process, CRC verification is used to ensure data integrity. The recording platform adopts a local SSD and cloud server synchronous storage architecture. The database table structure includes core fields such as flight controller identifier, test batch, module test results, and threshold comparison data. Data traceability uses an index optimization algorithm, supports fast retrieval by multiple conditions, and the retrieval response time is ≤1 second.
[0055] By binding and storing flight controller unique identifiers with test data, a full lifecycle traceability system is established, providing accurate data support for after-sales fault analysis and product iteration; unified format storage ensures standardized data archiving, supports quick retrieval by batch, model, and test date, solves the problem of traditional test data being scattered and untraceable, and strengthens the production line's quality control capabilities.
[0056] Furthermore, it also includes an automatic judgment module, which is integrated into the test main control unit. Based on preset thresholds, the automatic judgment module automatically judges the pass / fail status of key indicators such as attitude calculation accuracy, response delay, interface transmission rate and overheat protection function of the flight controller under test, and generates a structured test report.
[0057] The fault classification criteria of the automatic judgment module include three categories: hardware faults, communication faults, and performance failures. The error code uses 8-bit binary encoding, with the first 3 bits indicating the fault type and the last 5 bits indicating the fault location.
[0058] The automatic judgment module uses preset thresholds to quantify key indicators, replacing subjective human judgment and reducing the risk of human error.
[0059] Furthermore, the simulation testing module supports configuring noise models such as Gaussian white noise to simulate actual flight disturbances. It can simulate horizontal stationary, pitch, rotation, and acceleration impact flight states. The specific parameter configurations are as follows:
[0060] Under horizontal static conditions, the angular velocity of the gyroscope is ≤0.1° / s, the acceleration of the accelerometer is ≤0.05g, the magnetic field strength fluctuation of the magnetometer is ≤1μT, and the air pressure stability of the barometer is ≤0.5Pa.
[0061] In pitch and rotation mode, the pitch angle range is -30° to +30°, the rotation speed is 5° / s to 50° / s, and the angular acceleration is ≤10° / s².
[0062] Under accelerated impact conditions, the axial acceleration is 1g~8g, the impact duration is 10ms~100ms, and the impact rise time is ≤5ms.
[0063] The mean of Gaussian white noise is 0, and the variance ranges from 0.01 to 0.1. It can be dynamically adjusted according to the flight status. The noise signal and the standard sensor signal are fused using a linear superposition algorithm. The mapping algorithm between the motion parameters of the six-degree-of-freedom platform and the sensor analog signal is based on the Euler angle transformation model, which converts the platform displacement and angular velocity into the corresponding sensor electrical signal output, with a conversion error ≤0.02%.
[0064] By combining noise models to simulate actual flight interference, the test environment becomes closer to real-world conditions, overcoming the shortcomings of traditional tests that cannot dynamically simulate flight states. Precise parameter range settings ensure the standardization and repeatability of the test, effectively distinguishing differences in flight control attitude calculation accuracy and improving the accuracy of performance screening.
[0065] Furthermore, the data recording and analysis unit incorporates an algorithm for comparing the attitude calculation results with theoretical values. This algorithm includes the following steps:
[0066] S1. Collect real-time attitude calculation data such as pitch angle, roll angle, and yaw angle output by the flight controller under test;
[0067] S2. Extract the theoretical reference attitude values under the corresponding flight conditions and establish a comparison dataset with timestamp synchronization;
[0068] S3. Calculate the root mean square error (RMS), maximum absolute deviation, and response delay within a single test cycle;
[0069] S4. Compare the calculation results with the preset threshold, generate the accuracy judgment result and write it into the test report.
[0070] Outlier removal for attitude data employs the 3σ criterion, which removes data points exceeding the mean ± 3 times the standard deviation. Timestamp synchronization uses a linear interpolation correction algorithm to compensate for the time deviation between flight control output data and theoretical values, with a correction accuracy ≤ 1 μs. The root mean square error (RMS) calculation sets weighting coefficients for pitch, roll, and yaw angles, with a weighting ratio of 1:1:0.8. These weighting coefficients can be adjusted using the test template.
[0071] By using a standardized comparison algorithm, the attitude calculation results are quantitatively analyzed against theoretical values, and key evaluation indicators such as root mean square error, maximum absolute deviation, and response delay are clarified, solving the problem that traditional testing cannot quantify attitude accuracy; ensuring the objectivity and consistency of test results, and providing a scientific basis for flight control performance grading.
[0072] Furthermore, the simulation test module can load a custom flight state parameter configuration file through the test main control unit. The file contains parameters such as trajectory pitch angle, sideslip angle, angular velocity and acceleration change curves, and supports expanding the simulated flight scenarios according to test requirements.
[0073] The custom flight status parameter configuration file adopts XML format. The field definition includes scenario name, parameter type, value range, change period, associated sensor type, etc. The configuration file supports version compatibility. Old version files can be automatically converted to the current version format through the test main control unit, and the core parameters remain unchanged during the conversion process.
[0074] It supports loading custom flight status parameter configuration files, which can expand the simulation scenarios according to test requirements and break through the limitations of fixed test modes. The configuration file includes parameters such as trajectory pitch angle, sideslip angle, angular velocity and acceleration change curves, which can be adapted to the personalized test requirements of special UAV flight control and improve the system's applicability and flexibility.
[0075] Furthermore, the response delay is calculated by the time difference between the sensor analog signal injection time and the flight control attitude calculation result output time, with a timestamp accuracy of ≤10μs, to ensure the measurement accuracy of the delay data.
[0076] The timestamp is synchronized with the high-precision clock of the test main control unit. The time of sensor analog signal injection is recorded by hardware trigger. The time of flight control attitude calculation result output is extracted by the time field of the frame header of the interface data frame. The time difference between the two is calculated with the assistance of a hardware counter with a counting frequency of 100MHz, which further ensures the accuracy of delay measurement.
[0077] The response delay is calculated using high-precision timestamps with a measurement accuracy of 10μs, ensuring the accuracy and reliability of the delay data. Precise delay measurement can effectively identify flight control response speed defects, providing accurate data support for flight control algorithm optimization, and is especially suitable for UAV application scenarios with stringent response speed requirements.
[0078] Furthermore, the test main control unit can read or scan the code to obtain the model or serial number of the flight controller under test, automatically load the test template of the corresponding model, realize the automatic adaptation of sensor simulation parameters, interface electrical characteristics and protocol types, support multi-channel parallel test architecture, and meet the needs of mass production testing.
[0079] The test template adaptation rules are based on a parameter mapping table, which includes information such as flight controller model, sensor parameter range, interface protocol version, and test step sequence. Multi-channel parallel testing uses a time-division multiplexing mechanism to avoid data conflicts. Test data for each channel is stored in an independent buffer and then written to the recording platform in batches. The buffer capacity is ≥1GB and supports breakpoint resume functionality. The flight controller model / serial number reading interface supports RS232 serial port protocol (scanning module) and USBHID protocol (manual input device). After reading the data, MD5 verification is used to ensure accuracy.
[0080] By reading or scanning codes, the flight controller model and serial number can be automatically identified, enabling rapid loading of test templates and automatic parameter adaptation without manual configuration, significantly reducing model switching time. It supports a multi-channel parallel test architecture, which can test multiple flight controllers simultaneously, significantly improving the efficiency of mass production testing and meeting the needs of large-scale production testing in factories.
[0081] This flight control test system coordinates the orderly operation of each module through the test master control unit, and completes automated testing in the following steps:
[0082] Initialization phase: The system sequentially powers on the test main control unit, simulation test module, interface test module, power adapter module, and the flight controller under test; the test main control unit initializes each module and checks the communication status to ensure normal system operation; the model and serial number of the flight controller under test are obtained by reading or scanning the code and bound to the test task; the test template of the corresponding model is automatically loaded, and the sensor simulation parameters, interface electrical characteristics and protocol type are configured.
[0083] Startup test phase: The test main control unit sends a command to the flight controller to query the MCUID and firmware version; by monitoring the power current waveform, interface response signals and status light indications, it determines whether the flight controller has entered the working state normally; if the start fails, the system automatically records the error code and waveform data and terminates the test, while issuing a prompt.
[0084] Sensor simulation and attitude calculation testing phase: The simulation test module generates standard signals from gyroscopes, accelerometers, magnetometers, barometers, etc., with noise models, and injects them into the flight controller under test; it simulates common flight states such as horizontal stillness, pitch rotation, and acceleration impact, with parameters strictly following preset configurations; the test main control unit collects the attitude calculation data output by the flight controller, calculates the root mean square error, maximum absolute deviation, and response delay using the built-in comparison algorithm and theoretical reference values, and determines whether the accuracy requirements are met.
[0085] Interface Function and Performance Testing Phase: The interface testing module sequentially tests interfaces such as UART, CAN, Ethernet, USB, PWM, I²C, SPI, and GPIO; it evaluates indicators such as communication bandwidth, bit error rate, and latency by sending standard test data streams and collecting returned data; it analyzes the duty cycle, period, and jitter of PWM / OneShot / DShot signals to automatically determine whether each interface meets the design requirements.
[0086] Extreme and protection function testing phase: Simulate extreme conditions such as high load, high and low temperature, and long-term operation; monitor the triggering effectiveness of flight control overheat protection and overcooling insulation functions; test the flight control response speed and stability under extreme conditions to ensure no abnormal situations such as crashes or restarts.
[0087] Result Acquisition and Recording Phase: The automatic judgment module integrates data from each test phase and generates a structured test report containing waveform curves and error statistics tables; the data recording and analysis unit binds the test report to the flight controller's unique identifier and stores it in a unified format such as JSON / CSV / binary to the recording platform; it supports data traceability and querying by batch, model, and test date, completing the entire test loop.
[0088] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A flight control testing system, characterized in that, include: The test main control unit is used to output standardized test commands and collect response data of the flight controller under test; The simulation test module is communicatively connected to the test main control unit and is used to generate various sensor simulation signals and inject them into the flight controller under test. The interface testing module is connected to the test main control unit and the flight controller under test respectively, and is used to perform functional and performance tests on various communication interfaces of the flight controller under test. The power adapter module is used to provide a suitable power supply voltage for the flight controller under test. The data recording and analysis unit is communicatively connected to the test control unit and is used to store test data and automatically generate structured test reports; The test control unit coordinates the simulation test module, interface test module, power adapter module, and data recording and analysis unit to achieve automated testing of different models of flight controllers under test.
2. The flight control testing system according to claim 1, characterized in that, The simulation test module is used to generate simulated signals from at least one of the following sensors: gyroscope, accelerometer, magnetometer, and barometer, to provide input for flight control attitude calculation and testing. The interface testing module is compatible with at least one of the following communication interfaces: UART, CAN, Ethernet, PWM, GPIO, I²C, SPI, and USB, to complete the functional verification and performance evaluation of the flight control interface.
3. The flight control testing system according to claim 1, characterized in that, The power adapter module supports automatic switching of power supply voltage for 2S / 3S / 4S / 6S / 8S, which can match the power supply requirements of different flight controller models, and has overcurrent and short circuit protection functions.
4. The flight control testing system according to claim 1, characterized in that, The data recording and analysis unit binds and stores the test data with the unique identifier of the flight controller under test. The test data includes at least one of attitude calculation results, sensor data streams, interface communication logs, and power supply parameters, and is stored in a unified format such as JSON / CSV / binary.
5. The flight control test system according to claim 1, characterized in that, It also includes an automatic judgment module, which is integrated into the test main control unit. The automatic judgment module automatically judges the key indicators such as attitude calculation accuracy, response delay, interface transmission rate and overheat protection function of the flight controller under test according to preset thresholds, and generates a structured test report.
6. The flight control testing system according to claim 1, characterized in that, The simulation testing module supports configuring noise models such as Gaussian white noise to simulate actual flight interference. It can simulate horizontal stationary, pitch and rotation, and acceleration impact flight states. The specific parameter configuration is as follows: Under horizontal static conditions, the angular velocity of the gyroscope is ≤0.1° / s, the acceleration of the accelerometer is ≤0.05g, the magnetic field strength fluctuation of the magnetometer is ≤1μT, and the air pressure stability of the barometer is ≤0.5Pa. In pitch and rotation mode, the pitch angle range is -30° to +30°, the rotation speed is 5° / s to 50° / s, and the angular acceleration is ≤10° / s². Under accelerated impact conditions, the axial acceleration is 1g~8g, the impact duration is 10ms~100ms, and the impact rise time is ≤5ms.
7. The flight control testing system according to claim 1, characterized in that, The data recording and analysis unit has a built-in algorithm for comparing the attitude calculation results with the theoretical values. This algorithm includes the following steps: S1. Collect real-time attitude calculation data such as pitch angle, roll angle, and yaw angle output by the flight controller under test; S2. Extract the theoretical reference attitude values under the corresponding flight conditions and establish a comparison dataset with timestamp synchronization; S3. Calculate the root mean square error, maximum absolute deviation, and response delay within a single test cycle; S4. Compare the calculation results with the preset threshold, generate the accuracy judgment result and write it into the test report.
8. The flight control test system according to claim 1, characterized in that, The simulation test module can load a custom flight status parameter configuration file through the test main control unit. The file contains parameters such as trajectory pitch angle, sideslip angle, angular velocity, and acceleration change curves.
9. The flight control test system according to claim 1, characterized in that, The response delay is calculated by the time difference between the sensor analog signal injection time and the flight control attitude calculation result output time, with a timestamp accuracy of ≤10μs.
10. A flight control testing system according to claim 1, characterized in that, The test main control unit can read or scan the code to obtain the model or serial number of the flight controller under test, automatically load the test template of the corresponding model, and realize the automatic adaptation of sensor simulation parameters, interface electrical characteristics and protocol type.