Operation and control method of model aircraft with altitude setting function

Abstract

The present invention discloses a model airplane operation control method with a height setting function, including the following steps S1, start; power on the remote controller; step S2, determine whether the model airplane is powered off and stopped; if yes, execute step S5; otherwise, execute step S3; step S3, set parameters; after setting the parameters, execute step S4; step S4, execute, and return to step S2 to continue monitoring; step S5, end. Compared with the prior art, by setting multiple monitoring intervals and responding to corresponding action modes according to the monitoring results, the traditional model control method is retained to a great extent, while taking into account the benefits brought by the air pressure height setting function, the problem of the universality of the two operation modes is solved, so that the difficulty of operation control can be reduced; without increasing the hardware cost of sensors, the stability and accuracy of the hovering height at different heights are guaranteed.

Description

Technical Field

[0001] The invention relates to an electronic model product, in particular to a model aircraft operation control method with a height setting function in a model aircraft control system. Background Art

[0002] In the traditional model airplane operation and control method, the throttle stick of the remote controller does not have a spring. The throttle controls the propeller speed. When the throttle is at the lowest position, the propeller stops rotating. When the throttle is at the highest position, the propeller speed is the highest. That is, the greater the throttle amount, the faster the propeller speed.

[0003] At present, there are easy-to-control model airplanes on the market, which have a fixed altitude function. The throttle control method is that the throttle joystick of the controller adopts a joystick design that can automatically return to the center. When taking off, the model automatically takes off and climbs to a certain height by toggling the take-off button. When the throttle joystick is in a neutral position, the model is in a hovering state. When the joystick is pushed to the highest position (upward), the model rises, and when the joystick is pulled to the lowest position (downward), the model descends. When the landing button is toggled or the throttle joystick is continuously kept in the lowest position, the model lands. This operation control method is different from the traditional operation control method. The difference is that in the traditional operation control method, since the throttle control uses a non-automatic return to the center joystick, the output of the throttle joystick is the smallest when it is in the lowest position, and the output is the largest when it is in the highest position. When the throttle joystick is pushed from the lowest position to the highest position, the model rises; when the throttle joystick is pulled from the highest position to the lowest position, the model descends. Although the addition of an air pressure altitude setting function to model aircraft with an altitude setting function helps reduce the difficulty of operational control, reduces the possibility of damage to the model aircraft, and lowers the entry threshold, this operational control method is very different from the traditional model control method, and is very unfavorable for users to subsequently advance to using traditional control modes to operate model aircraft. Once the operational control habit is formed, it will be difficult to adapt to the traditional model control method, which is not conducive to the product's universality principle. Summary of the invention

[0004] The purpose of the present invention is to provide a model aircraft operation control method with an altitude setting function. The technical problem to be solved is to solve the problem of operational versatility while retaining the air pressure altitude setting function of the model aircraft and reduce the difficulty of operation control.

[0005] In order to solve the above problems, the present invention adopts the following technical solution: A model aircraft operation control method with a fixed altitude function comprises the following steps:

[0006] Step S1, start; power on the remote control;

[0007] Step S2, determine whether the model aircraft is powered off and stopped; if yes, execute step S5; otherwise, execute step S3;

[0008] Step S3, setting parameters; after setting the parameters, executing step S4;

[0009] Step S4: execute, and return to step S2 to continue monitoring;

[0010] Step S5, end.

[0011] Setting parameters in step S3 includes setting values ​​of each mode;

[0012] The values ​​of each mode include: throttle output range setting value, descent mode duration setting value; maximum takeoff speed setting value, hovering altitude setting value, hovering mode holding time setting value, maximum ascent speed, maximum descent speed;

[0013] The throttle output range is obtained by dividing the output stroke of the throttle stick from the lowest position to the highest position into multiple sections, each section corresponds to a throttle output range, and the output stroke of the throttle stick is divided into four sections. Four corresponding throttle output ranges are set, namely the first throttle output range, the second throttle output range, the third throttle output range, and the fourth throttle output range; the relationship between the set values ​​is: first throttle output range < second throttle output range < third throttle output range < fourth throttle output range.

[0014] Furthermore, the step S4 includes executing corresponding tasks according to the current state of the model aircraft.

[0015] Furthermore, the step S4 comprises:

[0016] Step S41, determine whether the model aircraft is unlocked, if yes, execute step S43; otherwise, execute step S42;

[0017] Step S42, delete the existing task and execute step S44;

[0018] Step S43, executing the task;

[0019] Step S44, execute the model aircraft landing action and return to step S41.

[0020] Furthermore, the step S43 includes:

[0021] Step S431, determine whether there is an existing task; if yes, execute step S432; otherwise, execute step S433;

[0022] Step S432, executing the task;

[0023] Step S433, after creating a new task, execute step S432;

[0024] The task is to execute the corresponding flight mode according to the throttle output range where the current throttle output value is located; the flight modes include: real-time mode, take-off mode, hovering altitude holding mode, constant speed descent mode, and constant speed ascent mode.

[0025] Furthermore, the step S432 includes:

[0026] Step S6, determine whether the current throttle output value has changed; if yes, execute step S7; otherwise, execute step S8;

[0027] Step S7, determining the throttle output range in which the throttle output value is located, and then executing the corresponding flight mode;

[0028] Step S8, maintain the current flight mode and return to step S6.

[0029] Furthermore, the step S7 comprises:

[0030] Step a, when the current throttle output value is in the first throttle output interval, execute the real-time mode or the uniform descent mode according to the task and then return to step S6; when the current throttle output value is not in the first throttle output interval, execute step b;

[0031] Step b, when the current throttle output value is in the second throttle output interval, executing the take-off mode if the flight mode is the real-time mode or executing the uniform descent mode if the flight mode is not the real-time mode, and then returning to step S6; when the current throttle output value is not in the second throttle output interval, executing step c;

[0032] Step c, when the current throttle output value is in the third throttle output interval, the take-off mode is executed under the premise that the flight mode is the real-time mode, or when the flight mode is not the real-time mode, the hovering altitude holding mode is executed and then the process returns to step S6, and when the current throttle output value is not in the third throttle output interval, step d is executed;

[0033] Step d: when the current throttle output value is in the fourth throttle output interval, execute the take-off mode if the flight mode is the real-time mode, or execute the uniform ascent mode if the flight mode is not the real-time mode, and then return to step S6; when the current throttle output value is not in the fourth throttle output interval, perform shutdown protection.

[0034] Furthermore, the step a comprises:

[0035] Step a-1, determining whether the current throttle output value is in the first throttle output range; if yes, executing step a-2; otherwise, executing step b;

[0036] Step a-2, further determining whether the task is a newly created task, if the task is a newly created task, executing step a-3; if the task is not a newly created task, executing step a-4;

[0037] Step a-3, sending a real-time mode instruction to the model aircraft, the model aircraft executes the real-time mode, and returns to step S6 to continue monitoring;

[0038] Step a-4, determining whether the current flight mode of the model aircraft is the real-time mode, if yes, executing step a-3, and returning to step S6 to continue monitoring; otherwise, sending a uniform descent mode instruction to the model aircraft (step a-5), and the model aircraft executes the uniform descent mode;

[0039] Step a-6, determine whether the running time of the uniform descent mode of the model aircraft exceeds the set value of the descent mode duration; if yes, execute step a-3 and return to step S6 to continue monitoring; otherwise, return to step S6 to continue monitoring after executing the uniform descent mode.

[0040] Furthermore, the step b comprises:

[0041] Step b-1, determining whether the current throttle output value is in the second throttle output range; if yes, executing step b-2, otherwise executing step c;

[0042] Step b-2, determining whether the current flight mode of the model aircraft is the real-time mode; when the current flight mode of the model aircraft is the real-time mode, executing step b-3, otherwise executing step b-5;

[0043] Step b-3, sending a take-off mode instruction to the model aircraft, and the model aircraft executes the take-off mode;

[0044] Step b-4, after the model aircraft executes the take-off mode, determining whether the current height of the model aircraft reaches the hovering height setting value; if yes, returning to step S6 to continue monitoring; otherwise, returning to step b-3 to continue monitoring the current height of the model aircraft;

[0045] Step b-5, sending a uniform descent mode instruction to the model aircraft, the model aircraft executes the uniform descent mode, and returns to step S6 to continue monitoring.

[0046] Furthermore, the step c comprises:

[0047] Step c-1, determining whether the current throttle output value is in the third throttle output interval; if yes, executing step c-2; otherwise, executing step d;

[0048] Step c-2, determining whether the current flight mode of the model aircraft is the real-time mode; if yes, executing step c-3, otherwise executing step c-5;

[0049] Step c-3, the model aircraft sends a take-off mode instruction, and the model aircraft executes the take-off mode;

[0050] Step c-4, after the model aircraft executes the take-off mode, determine whether the current height of the model aircraft reaches the hovering height setting value; if yes, return to step S6 to continue monitoring; otherwise, return to step c-3 to continue monitoring the current height of the model aircraft;

[0051] Step c-5, sending a hovering altitude holding mode to the model aircraft, the model aircraft executes the hovering altitude holding mode, and returns to step S6 to continue monitoring.

[0052] Further, the step d comprises:

[0053] Step d-1, determining whether the current throttle output value is in the fourth throttle output interval; if yes, executing step d-2; otherwise executing step d-6, downtime protection, the downtime protection is to turn off the motor of the model aircraft, so that the propeller of the model aircraft stops;

[0054] Step d-2, determining whether the current flight mode of the model aircraft is the real-time mode; if yes, executing step d-3; otherwise, executing step d-5;

[0055] Step d-3, sending a takeoff mode instruction to the model aircraft, and the model aircraft executes the takeoff mode;

[0056] Step d-4, after the model aircraft executes the take-off mode, determine whether the current height of the model aircraft reaches the hovering height setting value, if yes, return to step S6 to continue monitoring, otherwise return to step d-3 to continue monitoring the current height of the model aircraft;

[0057] Step d-5, sending a uniform ascent mode to the model aircraft, the model aircraft executes the uniform ascent mode, and returns to step S6 to continue monitoring.

[0058] Compared with the prior art, the present invention retains the traditional model control method to a great extent by setting multiple monitoring intervals and responding to corresponding action modes according to the monitoring results. While taking into account the benefits brought by the air pressure height setting function, it solves the problem of the universality of the two operating modes, which can reduce the difficulty of operation control; without increasing the cost of hardware such as sensors, the stability and accuracy of the hovering height at different heights are guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is the main flow chart of the present invention.

[0060] Figure 2 This is a flow chart of step S4 of the present invention.

[0061] Figure 3This is a flow chart of step S7 of the present invention.

[0062] Figure 4 It is a flow chart of step a of the present invention.

[0063] Figure 5 It is a flow chart of step b of the present invention.

[0064] Figure 6 It is a flow chart of step c of the present invention.

[0065] Figure 7 It is a flow chart of step d of the present invention. DETAILED DESCRIPTION

[0066] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0067] like Figure 1 As shown, the present invention discloses a model aircraft operation control method with a fixed altitude function, including a remote controller, a throttle stick on the remote controller adopts a non-automatic return to center structure, and the non-automatic return to center structure means that the throttle stick is at the position at the last operation without touching the throttle stick. The model aircraft operation control method includes the following steps:

[0068] Step S1, start; power on the remote control.

[0069] Step S2, determine whether the model aircraft is powered off and stopped; if yes, execute step S5 and end; otherwise, execute step S3;

[0070] Step S3, set parameters; after setting the parameters, execute step S4, execute, and return to step S2 to continue monitoring.

[0071] Setting parameters in step S3 includes setting the values ​​of each mode.

[0072] The values ​​of each mode include: throttle output range setting value, descent mode duration setting value; maximum take-off speed setting value, hovering altitude setting value, hovering mode holding time setting value, maximum ascent speed, and maximum descent speed.

[0073] The throttle output range is obtained by dividing the output stroke of the throttle stick from the lowest position to the highest position into multiple sections, each section corresponds to a throttle output range, and the output stroke of the throttle stick is divided into four sections. Four corresponding throttle output ranges are set, namely the first throttle output range, the second throttle output range, the third throttle output range, and the fourth throttle output range; the relationship between the set values ​​is: first throttle output range < second throttle output range < third throttle output range < fourth throttle output range.

[0074] Step S4 includes executing corresponding tasks according to the current state of the model aircraft.

[0075] Specifically include:

[0076] like Figure 2 As shown, step S41, determining whether the model aircraft is unlocked, unlocking is determined by whether the ignition switch on the remote controller is turned on and whether the throttle is at the lowest value, and whether the throttle is at the lowest value is determined by whether the throttle stick is at the lowest position; if yes, execute step S43; otherwise, execute step S42;

[0077] Step S43: executing tasks, specifically including:

[0078] Step S431, determine whether there is an existing task; if yes, execute the task (step S432); otherwise, create a new task (step S433) and then execute step S432 to execute the task.

[0079] The task is to execute a corresponding flight mode according to the throttle output range in which the current throttle output value is located.

[0080] Step S42, delete the existing task and execute step S44;

[0081] Step S44, execute the model aircraft landing action and return to step S41.

[0082] The flight modes include: real-time mode, take-off mode, hovering altitude hold mode, constant descent mode, and constant ascent mode.

[0083] Real-time mode: The model aircraft receives real-time throttle data and responds.

[0084] Takeoff mode: Push the throttle stick from the lowest position to the highest position. After exceeding the first throttle output range, the model aircraft automatically rises to the set hovering height. During this process, the height and ascent speed of the model aircraft are not controlled by the throttle stick.

[0085] Hover altitude hold mode: The model aircraft receives throttle data and air pressure data fed back by the barometer at the same time, and adjusts the throttle data in real time according to the air pressure data to keep the altitude of the model aircraft stable.

[0086] Constant speed descent mode: Take the set maximum descent speed as the maximum speed and the throttle data change range as a reference, and adjust the descent speed according to the throttle data change ratio.

[0087] The throttle data is the throttle output value.

[0088] The change ratio of throttle data is: the speed corresponds linearly to the throttle data, which can be calculated using the following formula:

[0089] y=MaxSpeed / (MaxThr-MidThr)×x-MidThr×MaxSpeed / (MaxThr-MidThr)

[0090] Where x is the current throttle, y is the current model speed; when y>0, it indicates the aircraft's ascent speed, and when y<0, it indicates the aircraft's descent speed. The larger the absolute value of y, the faster the speed. MaxSpeed ​​is the model's maximum speed (user input), MaxThr is the maximum throttle value, and MidThr is the throttle midpoint value, i.e., the value when the throttle stick is at the center of the output stroke.

[0091] Uniform ascent mode: Take the set maximum ascent speed as the maximum speed and the throttle data change range as a reference, and adjust the ascent speed according to the throttle data change ratio.

[0092] like Figure 3 As shown, step S432 specifically includes:

[0093] Step S6, determine whether the current throttle output value has changed; if so, execute step S7, determine the throttle output range in which the throttle output value is located, and then execute the corresponding flight mode; otherwise, execute step S8, maintain the current flight mode and return to step S6.

[0094] Step S7 specifically includes the following judgments:

[0095] Step a( Figure 4 As shown), when the current throttle output value is in the first throttle output interval, according to the task, execute the real-time mode or the uniform descent mode and return to step S6; when the current throttle output value is not in the first throttle output interval, execute step b.

[0096] Step a specifically includes:

[0097] Step a-1, determining whether the current throttle output value is in the first throttle output range; if yes, executing step a-2; otherwise, executing step b;

[0098] Step a-2, further determining whether the task is a newly created task, if the task is a newly created task, executing step a-3; if the task is not a newly created task, executing step a-4;

[0099] Step a-3, sending a real-time mode instruction to the model aircraft, the model aircraft executes the real-time mode, and returns to step S6 to continue monitoring;

[0100] Step a-4, determining whether the current flight mode of the model aircraft is the real-time mode, if yes, executing step a-3, and returning to step S6 to continue monitoring; otherwise, sending a uniform descent mode instruction to the model aircraft (step a-5), and the model aircraft executes the uniform descent mode;

[0101] Step a-6, determine whether the running time of the uniform descent mode of the model aircraft exceeds the set value of the descent mode duration; if yes, execute step a-3 and return to step S6 to continue monitoring; otherwise, return to step S6 to continue monitoring after executing the uniform descent mode.

[0102] Step b( Figure 5 As shown), when the current throttle output value is in the second throttle output interval, the take-off mode is executed under the premise that the flight mode is the real-time mode, or the uniform descent mode is executed when the flight mode is not the real-time mode, and then the step S6 is returned; when the current throttle output value is not in the second throttle output interval, step c is executed.

[0103] Step b specifically includes:

[0104] Step b-1, determining whether the current throttle output value is in the second throttle output range; if yes, executing step b-2, otherwise executing step c;

[0105] Step b-2, determining whether the current flight mode of the model aircraft is the real-time mode; when the current flight mode of the model aircraft is the real-time mode, executing step b-3, otherwise executing step b-5;

[0106] Step b-3, sending a take-off mode instruction to the model aircraft, and the model aircraft executes the take-off mode;

[0107] Step b-4, after the model aircraft executes the take-off mode, determining whether the current height of the model aircraft reaches the hovering height setting value; if yes, returning to step S6 to continue monitoring; otherwise, returning to step b-3 to continue monitoring the current height of the model aircraft;

[0108] Step b-5, sending a uniform descent mode instruction to the model aircraft, the model aircraft executes the uniform descent mode, and returns to step S6 to continue monitoring.

[0109] Step c( Figure 6 As shown), when the current throttle output value is in the third throttle output interval, the take-off mode is executed under the premise that the flight mode is the real-time mode, or when the flight mode is not the real-time mode, the hovering altitude holding mode is executed and then returns to step S6. When the current throttle output value is not in the third throttle output interval, step d is executed.

[0110] Step c specifically includes:

[0111] Step c-1, determining whether the current throttle output value is in the third throttle output interval; if yes, executing step c-2; otherwise, executing step d;

[0112] Step c-2, determining whether the current flight mode of the model aircraft is the real-time mode; if yes, executing step c-3, otherwise executing step c-5;

[0113] Step c-3, the model aircraft sends a take-off mode instruction, and the model aircraft executes the take-off mode;

[0114] Step c-4, after the model aircraft executes the take-off mode, determine whether the current height of the model aircraft reaches the hovering height setting value; if yes, return to step S6 to continue monitoring; otherwise, return to step c-3 to continue monitoring the current height of the model aircraft;

[0115] Step c-5, sending a hovering altitude holding mode to the model aircraft, the model aircraft executes the hovering altitude holding mode, and returns to step S6 to continue monitoring.

[0116] Step d( Figure 7 As shown), when the current throttle output value is in the fourth throttle output interval, the take-off mode is executed under the premise that the flight mode is the real-time mode, or the uniform ascent mode is executed when the flight mode is not the real-time mode, and then returns to step S6; when the current throttle output value is not in the fourth throttle output interval, downtime protection is performed.

[0117] Step d specifically includes:

[0118] Step d-1, determining whether the current throttle output value is in the fourth throttle output interval; if yes, executing step d-2; otherwise, performing downtime protection (step d-6), the downtime protection is to turn off the motor of the model aircraft, so that the propeller of the model aircraft stops;

[0119] Step d-2, determining whether the current flight mode of the model aircraft is the real-time mode; if yes, executing step d-3; otherwise, executing step d-5;

[0120] Step d-3, sending a takeoff mode instruction to the model aircraft, and the model aircraft executes the takeoff mode;

[0121] Step d-4, after the model aircraft executes the take-off mode, determine whether the current height of the model aircraft reaches the hovering height setting value, if yes, return to step S6 to continue monitoring, otherwise return to step d-3 to continue monitoring the current height of the model aircraft;

[0122] Step d-5, sending a uniform ascent mode to the model aircraft, the model aircraft executes the uniform ascent mode, and returns to step S6 to continue monitoring.

[0123] The present invention has the following beneficial effects:

[0124] The traditional model control method is retained to a great extent (the throttle stick adopts a non-automatic return to center structure) to solve the problem of operational versatility;

[0125] Taking into account the benefits brought by the air pressure height setting function, it reduces the difficulty of operation and control, reduces the possibility of model damage, and lowers the entry threshold of model movement;

[0126] The operation control method is simple and easy to understand, which is conducive to beginners to get started and advance, and to adapt to the transmission model control method more quickly;

[0127] The operation process parameters can be adjusted according to different flight skill levels to achieve different control effects;

[0128] This control method can smoothly improve the flight operation level and skills without affecting the formation of flying habits and subsequent learning and progress;

[0129] It is conducive to the growth of beginners and model enthusiasts, expands the influence of model sports and model culture, and promotes the development of models, model sports, and model competition industries;

[0130] Without increasing hardware costs, the hovering stability and accuracy at different heights are greatly improved.

Claims

1. A method for controlling the operation of a model aircraft with a height setting function, characterized in that: The steps include: Step S1, start; power on the remote control; Step S2, determine whether the model aircraft is powered off and stopped; if yes, execute step S5; otherwise, execute step S3; Step S3, setting parameters; after setting the parameters, executing step S4; Step S4: execute, and return to step S2 to continue monitoring; Step S5, end; Setting parameters in step S3 includes setting values ​​of each mode; The values ​​of each mode include: throttle output range setting value, descent mode duration setting value; maximum takeoff speed setting value, hovering altitude setting value, hovering mode holding time setting value, maximum ascent speed, maximum descent speed; The throttle output interval is obtained by dividing the output stroke of the throttle stick from the lowest position to the highest position into multiple sections, each section corresponds to a throttle output interval, and the output stroke of the throttle stick is divided into four sections, and four corresponding throttle output intervals are set, namely the first throttle output interval, the second throttle output interval, the third throttle output interval, and the fourth throttle output interval; the relationship between the set values ​​is: the first throttle output interval < the second throttle output interval < the third throttle output interval < the fourth throttle output interval; The step S4 comprises: Step S41, determine whether the model aircraft is unlocked, if yes, execute step S43; otherwise, execute step S42; Step S42, delete the existing task and execute step S44; Step S43, executing the task, including: Step S431, determine whether there is an existing task; if yes, execute step S432; otherwise, execute step S433; Step S432, executing the task; Step S433, after creating a new task, execute step S432; The task is to execute the corresponding flight mode according to the throttle output interval where the current throttle output value is located; the flight modes include: real-time mode, take-off mode, hovering altitude holding mode, constant speed descent mode, and constant speed ascent mode; Step S44, execute the model aircraft landing action and return to step S41; The step S432 includes: Step S6, determine whether the current throttle output value has changed; if yes, execute step S7; otherwise, execute step S8; Step S7, determining the throttle output range in which the throttle output value is located, and then executing the corresponding flight mode, including: Step a, when the current throttle output value is in the first throttle output interval, execute the real-time mode or the uniform descent mode according to the task and then return to step S6; when the current throttle output value is not in the first throttle output interval, execute step b; Step b, when the current throttle output value is in the second throttle output interval, executing the take-off mode if the flight mode is the real-time mode or executing the uniform descent mode if the flight mode is not the real-time mode, and then returning to step S6; when the current throttle output value is not in the second throttle output interval, executing step c; Step c, when the current throttle output value is in the third throttle output interval, the take-off mode is executed under the premise that the flight mode is the real-time mode, or when the flight mode is not the real-time mode, the hovering altitude holding mode is executed and then the process returns to step S6, and when the current throttle output value is not in the third throttle output interval, step d is executed; Step d, when the current throttle output value is in the fourth throttle output interval, executing the take-off mode if the flight mode is the real-time mode, or executing the uniform ascent mode if the flight mode is not the real-time mode, and then returning to step S6; when the current throttle output value is not in the fourth throttle output interval, downtime protection; Step S8, maintain the current flight mode and return to step S6.

2. The model aircraft operation control method with altitude setting function according to claim 1, characterized in that: The step a comprises: Step a-1, determining whether the current throttle output value is in the first throttle output range; if yes, executing step a-2; otherwise, executing step b; Step a-2, determining whether the task is a newly created task, if the task is a newly created task, executing step a-3; if the task is not a newly created task, executing step a-4; Step a-3, sending a real-time mode instruction to the model aircraft, the model aircraft executes the real-time mode, and returns to step S6 to continue monitoring; Step a-4, determining whether the current flight mode of the model aircraft is the real-time mode, if yes, executing step a-3, and returning to step S6 to continue monitoring; otherwise, sending a uniform descent mode instruction to the model aircraft, and the model aircraft executing step a-5, uniform descent mode; Step a-6, determine whether the running time of the uniform descent mode of the model aircraft exceeds the set value of the descent mode duration; if yes, execute step a-3 and return to step S6 to continue monitoring; otherwise, return to step S6 to continue monitoring after executing the uniform descent mode.

3. The model aircraft operation control method with altitude setting function according to claim 1, characterized in that: The step b comprises: Step b-1, determining whether the current throttle output value is in the second throttle output range; if yes, executing step b-2, otherwise executing step c; Step b-2, determining whether the current flight mode of the model aircraft is the real-time mode; when the current flight mode of the model aircraft is the real-time mode, executing step b-3, otherwise executing step b-5; Step b-3, sending a take-off mode instruction to the model aircraft, and the model aircraft executes the take-off mode; Step b-4, after the model aircraft executes the take-off mode, determining whether the current height of the model aircraft reaches the hovering height setting value; if yes, returning to step S6 to continue monitoring; otherwise, returning to step b-3 to continue monitoring the current height of the model aircraft; Step b-5, sending a uniform descent mode instruction to the model aircraft, the model aircraft executes the uniform descent mode, and returns to step S6 to continue monitoring.

4. The model aircraft operation control method with altitude setting function according to claim 1, characterized in that: The step c comprises: Step c-1, determining whether the current throttle output value is in the third throttle output interval; if yes, executing step c-2; otherwise, executing step d; Step c-2, determining whether the current flight mode of the model aircraft is the real-time mode; if yes, executing step c-3, otherwise executing step c-5; Step c-3, the model aircraft sends a take-off mode instruction, and the model aircraft executes the take-off mode; Step c-4, after the model aircraft executes the take-off mode, determine whether the current height of the model aircraft reaches the hovering height setting value; if yes, return to step S6 to continue monitoring; otherwise, return to step c-3 to continue monitoring the current height of the model aircraft; Step c-5, sending a hovering altitude holding mode to the model aircraft, the model aircraft executes the hovering altitude holding mode, and returns to step S6 to continue monitoring.

5. The model aircraft operation control method with altitude setting function according to claim 1, characterized in that: The step d comprises: Step d-1, determining whether the current throttle output value is in the fourth throttle output interval; if yes, executing step d-2; otherwise executing step d-6, downtime protection, the downtime protection is to turn off the motor of the model aircraft, so that the propeller of the model aircraft stops; Step d-2, determining whether the current flight mode of the model aircraft is the real-time mode; if yes, executing step d-3; otherwise, executing step d-5; Step d-3, sending a takeoff mode instruction to the model aircraft, and the model aircraft executes the takeoff mode; Step d-4, after the model aircraft executes the take-off mode, determine whether the current height of the model aircraft reaches the hovering height setting value, if yes, return to step S6 to continue monitoring, otherwise return to step d-3 to continue monitoring the current height of the model aircraft; Step d-5, sending a uniform ascent mode to the model aircraft, the model aircraft executes the uniform ascent mode, and returns to step S6 to continue monitoring.

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