Integrated flight control cloud development system

Abstract

The invention discloses an integrated flight control cloud development system, which comprises a ground station, a cloud development platform and a universal flight control hardware platform, and adopts an end-cloud collaborative overall architecture, so that a cloud end with high-performance computing resources can be utilized for compiling work, the cost of environment maintenance and hardware is reduced, and the development efficiency is improved by dynamically allocating the computing resources. The efficient and stable operation of the system is ensured, and the compiling speed and flight control development efficiency are improved. Moreover, unified control of different carriers can be realized through standardized and modularized software and hardware design by using a general flight control hardware platform, so that the design cost of the carrier controller is greatly saved, and the popularization and application of the unmanned carrier technology are accelerated.

Description

Technical Field

[0001] The present application relates to the application field of aircraft automatic control technology, and specifically to an integrated flight control cloud development system. Background Art

[0002] With the continuous advancement of science and technology, the intelligence of drones is constantly improving, and the application scenarios are constantly enriched. However, the technical barriers caused by professionalism are hindering the development of the industry, and people are increasingly eager to move towards the universal era of the Internet of Everything. Today, as my country vigorously develops the low-altitude economy, drones, and even unmanned vehicles, should also embrace the universal era, break through professional barriers, and realize the Internet of Everything through cross-domain technology sharing.

[0003] However, most flight control systems on the market are only for the control of drones and cannot be applied to other types of vehicles. However, there are similarities in the control logic of various vehicles. Through targeted software and hardware design, the design concept and algorithm of the flight control system can be extended to other vehicles to achieve a universal control system, thereby reducing the R&D cost of vehicle controllers and accelerating the promotion and application of related technologies.

[0004] In addition, as the core component of the drone, the flight control system is responsible for controlling and monitoring the stable operation of the entire aircraft system. However, the development of the flight control system is an extremely complex process, which usually involves multiple aspects such as embedded software, communication protocols, and data processing. When setting up the development environment, developers select the appropriate compilation tool chain according to the local operating system and programming language, install the corresponding integrated development environment (IDE), and configure the connection between the development computer and the flight control hardware. For example, for some mainstream flight control hardware (such as Pixhawk and APM), developers need to install specific development environments and driver modules, including GCC compilers, MavLink communication libraries, etc. The Windows operating system also needs to install Cygwin64 to support GCC, so as to ensure the stable operation of data transmission and communication with the flight control board. During the configuration process, network and system settings are also a key consideration. Since the flight control development process usually requires downloading a large amount of software and data, a slow or unstable network connection may cause download failures or delays. In addition, some development tools have high requirements for computer hardware, and it is necessary to ensure that the hardware performance can meet the needs of flight control development. For inexperienced flight control developers, the cumbersome configuration and compilation process has a high learning cost and risk of failure. It requires consulting a large amount of technical documentation and online help, and the efficiency of problem solving is low. This not only wastes time and energy, but may also make beginners lose confidence in flight control development.

[0005] Therefore, in order to improve the development efficiency of the control system, it is of far-reaching significance to provide a cloud development platform for general flight control, which not only supports a variety of unmanned vehicles, but also simplifies the environment configuration and code compilation process. Summary of the invention

[0006] The technical problem solved by this application is: how to improve the development efficiency of aircraft general control systems. To solve the above problem, this application provides an integrated flight control cloud development system.

[0007] In one embodiment of the present application, an integrated flight control cloud development system is provided, including a ground station, a cloud development platform and a universal flight control hardware platform; the ground station is used to edit and debug the flight control algorithm to obtain a control code, and upload the control code to the cloud development platform; the cloud development platform is used to perform cloud-compilation on the uploaded control code to generate control firmware, and return the control firmware to the ground station; the ground station is also used to perform simulation tests on the received control firmware, and when the simulation test passes, burn the control firmware to the universal control hardware platform and configure initial control parameters; the universal flight control hardware platform is used to perform motion control of the unmanned aerial vehicle based on the burned control firmware and the control parameters.

[0008] Furthermore, the ground station includes a flight control algorithm development module, an initial setting module, and a simulation module; the flight control algorithm development module is used for integrated processing of code editing and debugging of the flight control algorithm to obtain the control code, and upload the control code to the cloud development platform when communicating with the cloud development platform; the initial setting module is used to receive the compiled control firmware from the cloud development platform, and burn the control firmware to the general flight control hardware platform when communicating with the general flight control hardware platform; the simulation module is used to simulate the control firmware through the simulation environment corresponding to the control firmware, and feed back the results of the simulation test to the initial setting module; the simulation test is used to perform practical verification of the control firmware and logical optimization of the flight control algorithm.

[0009] Furthermore, the ground station also includes a flight planning module and a flight data module; the flight planning module is used to set a flight route for the unmanned aerial vehicle, and to send information about the flight route to the general flight control hardware platform when communicating with the general flight control hardware platform; the flight route information is used to be executed by the flight control hardware platform to achieve fixed-point automatic driving of the unmanned aerial vehicle; the flight data module is used to obtain flight log information of the unmanned aerial vehicle from the flight control hardware platform, and monitor the flight status of the unmanned aerial vehicle based on the flight log information.

[0010] Furthermore, the universal flight control hardware platform includes a sensor unit, a main processor unit, a slave processor unit and a log storage unit; the sensor unit includes a posture sensor, a position sensor and an altitude sensor, and the posture sensor, the position sensor and the altitude sensor are used to collect the posture data, position data and altitude data of the unmanned aerial vehicle respectively; the main processor unit communicates with the sensor unit to calculate the current posture information of the unmanned aerial vehicle according to the posture data, position data and altitude data collected by the sensor unit, and generate corresponding posture control instructions and position control instructions; the slave processor unit communicates with the main processor unit to generate a PWM signal for controlling the motor and the servo in the unmanned aerial vehicle according to the posture control instruction, the position control instruction and the remote control signal from the remote controller; the log storage unit communicates with the sensor unit to record the posture control instruction, the position control instruction and the PWM signal generated by the main processor unit, record the posture data, the position data and the altitude data from the sensor unit, and save the recorded information as a flight log.

[0011] Furthermore, the main processor unit includes an attitude calculation module, an attitude control module and a position control module; the attitude calculation module communicates with the sensor unit, and is used to calculate the current attitude information of the unmanned aerial vehicle based on the attitude data, the position data and the altitude data collected by the attitude sensor; the attitude control module communicates with the attitude calculation module, and is used to generate corresponding attitude control instructions based on the attitude information and the preset target attitude; the position control module communicates with the sensor unit, and is used to calculate the deviation between the current position of the unmanned aerial vehicle and the preset target position based on the position data and the altitude data collected by the sensor unit, and generate corresponding position control instructions.

[0012] Furthermore, the slave processor unit includes a remote control command processing module and a motor and servo control module; the remote control command processing module is used to process the remote control signal from the remote control and generate corresponding remote control commands; the motor and servo control module communicates with the main processor unit and the remote control command processing module, and is used to obtain the PWM signal for controlling the motor and the servo according to the attitude control command, the position control command generated by the main processor unit, and the remote control command generated by the remote control command processing module.

[0013] Furthermore, the log storage unit includes a data processing module and a storage medium module; the data processing module is used to record the attitude control instructions, the position control instructions and the PWM signals generated by the main processor unit, and record the attitude data, the position data and the altitude data from the sensor unit; the data processing module is also used to form the flight log based on the recorded information; the storage medium module communicates with the data processing module and is used to save the flight log in a medium-based manner.

[0014] Furthermore, the cloud development platform includes a web page and a cloud server; the web page adopts a web user encapsulation interface to provide a direct access entrance to the cloud server to support user registration and login; the web page can confirm the user identity when communicating with the ground station, and receive the control code and cloud compilation request uploaded by the ground station; the cloud server communicates with the web page to receive the control code and the cloud compilation request forwarded by the web page, and starts the corresponding code compilation task according to the cloud compilation request, and compiles the control code into the control firmware through cloud compilation; the web page is also used to receive the compiled control firmware from the cloud server, and transmit the control firmware back to the ground station.

[0015] Furthermore, the cloud server adopts a separate server architecture, including a main server and a slave server; the main server is connected to the web page, and is used to provide a website operating environment to maintain the operation of the web page; the main server is also used to receive the control code and the cloud compilation request uploaded by the web page, and after confirming the request content in the cloud compilation request, generate corresponding compilation instructions and project packages and send them to the slave server; the slave server communicates with the main server, and is used to start the corresponding code compilation task according to the compilation instructions sent by the main server, obtain the control code from the project package and execute cloud compilation of the control code, generate the control firmware and return the control firmware to the main server; the main server is also used to return the control firmware compiled by the slave server to the web page.

[0016] Furthermore, the universal flight control hardware platform is also used to be compatible with other unmanned motion vehicles, and to perform motion control of the unmanned motion vehicles based on the burned vehicle control firmware and vehicle control parameters; the unmanned motion vehicles include one or more of unmanned vehicles, unmanned ships, micro tanks, and unmanned rockets; the vehicle control firmware is configured as firmware generated after the control code for the unmanned motion vehicle is compiled in the cloud; the vehicle control parameters are configured as initial control parameters for the unmanned motion vehicle.

[0017] The beneficial effects of this application are:

[0018] According to the integrated flight control cloud development system of the above-mentioned embodiment, due to the overall architecture of end-cloud collaboration, it can not only use the cloud with high-performance computing resources for compilation work, reducing the cost of environmental maintenance and hardware, but also ensure the efficient and stable operation of the system by dynamically allocating computing resources, thereby improving the compilation speed and flight control development efficiency. Moreover, the use of a general flight control hardware platform can achieve unified control of different vehicles through standardized and modular software and hardware design, which not only greatly saves the design cost of the vehicle controller, but also accelerates the promotion and application of unmanned vehicle technology. In addition, the cloud development platform can realize the general flight control development function based on the cloud server, avoiding complex local environment configuration, thereby simplifying the development process and greatly reducing the difficulty and learning threshold of flight control development. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall architecture of an integrated flight control cloud development system in one embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the workflow of the integrated flight control cloud development system in one embodiment of the present application;

[0021] Figure 3 This is a schematic diagram of the architecture of a universal flight control hardware platform of an integrated flight control cloud development system in one embodiment of the present application;

[0022] Figure 4 This is a schematic diagram of the architecture of a ground station of an integrated flight control cloud development system in an embodiment of the present application;

[0023] Figure 5 This is a schematic diagram of the architecture of a cloud development platform of an integrated flight control cloud development system in one embodiment of the present application. DETAILED DESCRIPTION

[0024] The present application is further described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0025] Please refer to Figure 1 , the present application discloses an integrated flight control cloud development system, which includes a ground station 104, a cloud development platform 101 and a universal flight control hardware platform 110, which are described below respectively.

[0026] The ground station 104 may be a computer device, which is used to edit and debug the flight control algorithm to obtain a control code, and upload the control code to the cloud development platform 101. It is understood that editing and debugging the flight control algorithm may be performed automatically by the computer device, or by a user operating the computer device.

[0027] The cloud development platform 101 may be a server device for performing cloud-based compilation of the uploaded control code to generate control firmware, and returning the control firmware to the ground station 104 .

[0028] The ground station 104 is also used to perform a simulation test on the received control firmware, and burn the control firmware to the universal control hardware platform 110 and configure initial control parameters when the simulation test passes.

[0029] The universal flight control hardware platform 110 may be a control panel of an unmanned aerial vehicle, and is used to perform motion control of the unmanned aerial vehicle based on the burned control firmware and control parameters.

[0030] In a specific embodiment, see Figure 1 The ground station 104 includes a flight control algorithm development module 105 , an initial setting module 106 , and a simulation module 107 .

[0031] The flight control algorithm development module 105 is used to perform integrated processing of code editing and debugging of the flight control algorithm, obtain the control code, and upload the control code to the cloud development platform 101 when communicating with the cloud development platform 101. Each module in the ground station 104 can communicate data with the cloud development platform 101 through a wired network or a wireless network.

[0032] The initial setting module 106 is used to receive the compiled control firmware from the cloud development platform 101, and burn the control firmware to the general flight control hardware platform 110 when communicating with the general flight control hardware platform 110. Each module in the ground station 104 can communicate data with the general flight control hardware platform 110 through data cables, wireless data transmission, etc.

[0033] Among them, the simulation module 107 is used to perform simulation testing on the control firmware through the simulation environment corresponding to the control firmware, and feed back the results of the simulation testing to the initial setting module 106; the simulation testing is used to perform practical verification on the control firmware and logical optimization on the flight control algorithm.

[0034] In a specific embodiment, see Figure 1 The ground station 104 also includes a flight planning module 108 and a flight data module 109 .

[0035] Among them, the flight planning module 108 is used to set a flight route for the unmanned aerial vehicle, and to send flight route information to the general flight control hardware platform 110 when communicating with the general flight control hardware platform 110; it can be understood that the flight route information is used to be executed by the flight control hardware platform 110 to achieve fixed-point automatic driving of the unmanned aerial vehicle.

[0036] The flight data module 109 is used to obtain the flight log information of the UAV from the flight control hardware platform 110 and monitor the flight status of the UAV based on the flight log information.

[0037] For an introduction to the functional modules of the ground station 104, see Figure 4 , the ground station 104 includes a flight control algorithm development module 105, an initial setting module 106, a simulation module 107, a flight plan module 108 and a flight data module 109. The flight control algorithm development module 105 communicates with the cloud development platform 101, and is used to edit the control code (i.e., the original development code of the flight control), and then upload the modified control code to the cloud development platform 101 for cloud compilation, and further debug and optimize the code according to the result returned by the compilation. The initial setting module 106 communicates with the cloud development platform 101, and is used to receive and download the compiled control firmware returned by the cloud development platform 101, and connect the general flight control hardware platform 110 with the ground station 104 through the Mavlink protocol, and ensure that the communication is smooth, and the control firmware can also be burned to the flight control hardware platform 110. The simulation module 107 is used to start the SITL in-loop simulation environment, provide drone models and sensor simulation, and test the basic functions of the control firmware without relying on hardware to ensure its normal operation. The flight planning module 108 is used to set the movement route and mission of the UAV vehicle, that is, to set the flight route, so as to achieve fixed-point flight. The flight data module 109 communicates with the general flight control hardware platform 110, monitors the movement state and sensor state of the UAV vehicle in real time, obtains data curves, and debugs the sensors, and ensures the stable operation of the UAV vehicle through flight control debugging.

[0038] In a specific embodiment, see Figure 1 and Figure 3 The general flight control hardware platform 110 includes a sensor unit 111, a main processor unit 112, a slave processor unit 113 and a log storage unit 114, which are described below.

[0039] The sensor unit 111 includes a posture sensor 301, a position sensor 302 and an altitude sensor 303. The posture sensor 301, the position sensor 302 and the altitude sensor 303 mentioned here are used to collect the posture data, the position data and the altitude data of the unmanned aerial vehicle respectively.

[0040] The main processor unit 112 communicates with the sensor unit 111 to calculate the current attitude information of the UAV according to the attitude data, position data and altitude data collected by the sensor unit 111, and to generate corresponding attitude control instructions and position control instructions.

[0041] The slave processor unit 113 communicates with the master processor unit 112 and is used to generate PWM signals for controlling motors and steering gears in the unmanned aerial vehicle according to attitude control instructions, position control instructions and remote control signals from a remote controller.

[0042] Among them, the log storage unit 114 communicates with the sensor unit 111, and is used to record the attitude control instructions, position control instructions generated by the main processor unit 112, and the PWM signal generated by the slave processor unit 113, record the attitude data, position data and altitude data from the sensor unit 111, and save the recorded information as a flight log.

[0043] In a specific embodiment, see Figure 3 The main processor unit 112 includes a posture solving module 304 , a posture control module 305 and a position control module 306 .

[0044] The attitude calculation module 304 communicates with the sensor unit 111 and is used to calculate the current attitude information of the UAV according to the attitude data, position data and altitude data collected by the attitude sensor 301 .

[0045] The posture control module 305 communicates with the posture solving module 304 and is used to generate corresponding posture control instructions according to the posture information generated by the posture solving module 304 and the preset target posture.

[0046] The position control module 306 communicates with the sensor unit 111 to calculate the deviation between the current position of the UAV and the preset target position according to the position data and altitude data collected by the sensor unit 111, and to generate corresponding position control instructions.

[0047] In a specific embodiment, the slave processor unit 113 includes a remote control instruction processing module 307 and a motor servo control module 308 .

[0048] The remote control command processing module 307 is used to process the remote control signal from the remote control and generate the corresponding remote control command. For example, the remote control signal from the remote control can be obtained by wireless communication.

[0049] The motor and servo control module 308 communicates with the main processor unit 112 and the remote control instruction processing module 307, and is used to obtain PWM signals for controlling the motor and the servo according to the attitude control instructions and position control instructions generated by the main processor unit 112 and the remote control instructions generated by the remote control instruction processing module 307. Since processing attitude control instructions, position control instructions and remote control instructions is a basic function of the unmanned aerial vehicle and belongs to the prior art, it will not be described in detail here.

[0050] In a specific embodiment, see Figure 3 , the log storage unit 114 includes a data processing module 309 and a storage medium module 310 .

[0051] Among them, the data processing module 309 is used to record the attitude control instructions, position control instructions generated by the main processor unit 112 and the PWM signals generated by the slave processor unit 113, as well as record the attitude data, position data and altitude data from the sensor unit 111; in addition, the data processing module 309 is also used to form a flight log based on the recorded information.

[0052] The storage medium module 310 communicates with the data processing module 309 and is used to store the flight log in a medium, for example, using a storage chip to store the data information of the flight log.

[0053] It should be noted that the sensor unit 111 can measure the acceleration, angle, longitude and latitude, altitude and other data of the unmanned aerial vehicle, and transmit them to the main processor unit 112 and the log storage unit 114, so as to determine the attitude, position and altitude information of the vehicle. The main processor unit 112 can estimate the flight state based on the measurement data of the sensor unit 111, and run the flight control algorithm to generate control instructions for the flight posture. The slave processor unit 113 is used to receive and process the remote control signal from the remote controller and generate corresponding remote control instructions; in addition, the slave processor unit 113 can also generate PWM signals for controlling the motor and the servo according to the remote control instructions and the control instructions from the main processor unit 112. The log storage unit 114 can generate and save the flight log based on the measurement data of the sensor unit 111.

[0054] For example, the main processor unit 112 estimates the attitude and position information of the unmanned aerial vehicle in real time based on the measurement data of the sensor unit 111, and generates control instructions for the flight attitude through a flight control algorithm; the slave processor unit 113 receives and processes the remote control signal from the remote controller and generates corresponding remote control instructions, and generates PWM signals for controlling the motor and the servo according to the remote control instructions and the control instructions generated by the main processor unit 112; the sensor unit 111 measures the acceleration, angle, longitude and latitude, altitude and other information of the aircraft, and transmits it to the main processor unit 112 and the log storage unit 114; the log storage unit 114 generates a flight log in real time by processing the measurement data of the sensor unit 111, and saves the flight log to the storage medium module 310.

[0055] For example, the attitude sensor 301 in the sensor unit 111 can use the sensor MPU6000 that integrates a three-axis accelerometer and a three-axis gyroscope to measure the acceleration and angular velocity of the vehicle relative to the ground, thereby determining the attitude angle of the vehicle, including the pitch angle, roll angle, and yaw angle. The position sensor 302 in the sensor unit 111 can use a GPS receiver to determine the longitude and latitude information of the vehicle. The altitude sensor 303 in the sensor unit 111 can use an MS5611 MEAS barometer to measure the atmospheric pressure and calculate the altitude information based on the atmospheric pressure value.

[0056] For example, the main processor unit 112 can adopt GD32F450VKT6, including an attitude solution module 304, an attitude control module 305 and a position control module 306. Then, the attitude solution module 304 runs the nonlinear extended Kalman attitude solution method to estimate the attitude information of the aircraft according to the measurement data of the attitude sensor 301 of the sensor unit 111. The attitude control module 305 runs the cascade PID control algorithm to generate an attitude adjustment instruction according to the calculated attitude information and the target attitude. The position control module 306 calculates the deviation between the current position and the target position according to the measurement data obtained by the position sensor 302 and the altitude sensor 303 of the sensor unit 111, and runs the cascade PID control algorithm to generate a position control instruction.

[0057] For example, the slave processor unit 113 may be GD32F103, including a remote control instruction processing module 307 and a motor servo control module 308. Then, the remote control instruction processing module 307 receives and processes the remote control signal from the remote controller, and generates a specific remote control instruction; the motor servo control module 308 communicates with the main processor unit 112, and generates a PWM signal for controlling components such as motors and servos according to the control instruction and the remote control instruction.

[0058] For example, the data processing module 309 in the log storage unit 114 communicates with the sensor unit 111 to process the measured data and generate a flight log; the storage medium module 310 in the log storage unit 114 communicates with the data processing module 309 to use a micro SD card to save the flight log.

[0059] In a specific embodiment, see Figure 1 and Figure 5 , the cloud development platform 101 includes a web page 102 and a cloud server 103 .

[0060] Among them, the web page terminal 102 adopts a web user encapsulation interface to provide a direct access entrance to the cloud server 103 to support user registration and login; the web page terminal 102 can confirm the user identity when communicating with the ground station 104, and receive the control code and cloud compilation request uploaded by the ground station.

[0061] The cloud server 103 communicates with the web page to receive the control code and cloud compilation request forwarded by the web page 102, and starts the corresponding code compilation task according to the cloud compilation request, and compiles the control code into control firmware through cloud compilation.

[0062] It can be understood that the web page 102 is also used to receive the compiled control firmware from the cloud server 103 and transmit the control firmware back to the ground station 104.

[0063] In a specific embodiment, see Figure 5 The cloud server 103 adopts a separate server architecture, including a master server 502 and a slave server 503.

[0064] Among them, the main server 502 is connected to the web page 102, and is used to provide a website operating environment to maintain the operation of the web page 102; the main server 502 is also used to receive the control code and cloud compilation request uploaded by the web page, and after confirming the request content in the cloud compilation request, generate the corresponding compilation instructions and project package and send them to the slave server 503.

[0065] Among them, the slave server 503 communicates with the main server 502, and is used to start the corresponding code compilation task according to the compilation instruction sent by the main server 502, obtain the control code from the project package and execute the cloud compilation of the control code, generate the control firmware and return the control firmware to the main server 502.

[0066] It can be understood that the main server 502 is also used to return the control firmware compiled by the slave server 503 to the web page 102.

[0067] For example, the web page 102 includes a user encapsulation interface, which can realize user registration and login, and provides a direct access to the cloud development platform 101. The web page 102 and the ground station 104 realize data transmission through the http communication protocol, and support the general flight control hardware platform 110 to upload codes and requests to the cloud development platform 101 through the ground station 104, as well as download and burn generated firmware, thereby realizing cloud development of flight control codes.

[0068] For example, the cloud server 103 isolates the website operating environment from the flight control development environment through a separate design, thereby improving the security and stability of flight control cloud development. Then, the main server 502 is responsible for website deployment and user communication, can maintain website operation, and transmit flight control code, compilation requests and generate firmware between the web page 102; the slave server 503 is responsible for deploying the flight control development environment, and communicates with the main server 502 through the SSH protocol, can obtain the instructions and project packages generated by the main server 502, and call the pre-deployed development environment for cloud compilation, thereby generating compiled firmware, and returning the firmware to the main server 502.

[0069] In the above-mentioned embodiment, the ground station 104 can realize the integration of editing and debugging of the flight control code, upload the control code and the compilation request to the cloud development platform 101, and receive and download the compiled firmware returned by the cloud development platform 101; in addition, the ground station 104 can also burn the generated control firmware to the general flight control hardware platform 110 through the USB interface, and transmit parameter settings and flight logs and other data to the general flight control hardware platform 110 through the Mavlink communication protocol. The development cloud platform 101 can package and generate corresponding compilation tasks after confirming and parsing the compilation request and control code uploaded by the ground station 104; in addition, the cloud development platform 101 can also execute the compilation task, and return the generated compiled control firmware to the ground station 104. The general flight control hardware platform 110 is used to collect and analyze sensor data, realize precise control of hardware such as motors and servos through flight control algorithms, and generate and save flight logs, thereby realizing stable operation of the unmanned aerial vehicle.

[0070] In a specific embodiment, the processing flow of the integrated flight control cloud development system proposed in this application is shown in Figure 2 Of course, this will also be combined with step S21 to step S28. Figure 1 Provide detailed explanation.

[0071] Step S21 is an integrated editing and debugging step, for example, the flight control algorithm development module 105 of the ground station 104 implements editing and preliminary debugging of the control code.

[0072] Step S22 is a step of code uploading and compiling request. For example, the ground station 104 uploads the control code edited in step S21 to the cloud development platform 101 and sends a compiling request of the corresponding firmware type.

[0073] Step S23 is a step of confirming the request content. For example, the web page 102 of the cloud development platform 101 receives the control code and compile request uploaded by the ground station 104 in step S22, confirms the request content and user identity, and then sends the control code and request to the cloud server 103.

[0074] Step S24 is a step of generating instructions and project packages. For example, the cloud server 103 of the cloud development platform 101 obtains corresponding instructions and project packages according to the code and request uploaded by the web page 102.

[0075] Step S25 is a step of executing a cloud-based compilation task. For example, the cloud server 103 of the cloud development platform 101 executes a cloud-based compilation task of a corresponding firmware type according to the instruction and the project package, thereby generating a compiled control firmware.

[0076] Step S26 is a step of returning the compiled firmware. For example, the cloud server 103 returns the compiled control firmware to the web page 102, and the web page 102 further returns the control firmware to the ground station 104.

[0077] Step S27 is a step of downloading and burning firmware. For example, the ground station 104 receives and downloads the control firmware, connects to the universal flight control hardware platform 110 via a USB interface, and then burns the firmware and sets initial parameters.

[0078] Step S28 is a step for evaluating the performance of the firmware. For example, the ground station 104 can implement in-loop simulation of the general flight control hardware platform 110 through the simulation module 107, or can perform a fixed-point flight test through the flight planning module 108, so as to comprehensively evaluate the actual performance of the firmware.

[0079] It should be noted that in the above-mentioned embodiment, the universal flight control hardware platform 110 is also used to be compatible with other unmanned motion vehicles, and to perform motion control of unmanned motion vehicles based on the burned vehicle control firmware and vehicle control parameters. The unmanned motion vehicles mentioned here include one or more of unmanned vehicles, unmanned ships, and unmanned rockets; the vehicle control firmware is configured as a firmware generated after the control code for the unmanned motion vehicle is compiled in the cloud; the vehicle control parameters are configured as initial control parameters for the unmanned motion vehicle.

[0080] The integrated flight control cloud development system proposed in this application simplifies the flight control development process and improves the compilation speed and development efficiency due to the overall architecture of end-cloud collaboration consisting of a general flight control hardware platform, a ground station, and a cloud development platform. Moreover, through standardized software and hardware design ideas, the system can achieve unified control of different unmanned vehicles, saving the design and manufacturing costs of vehicle controllers. In addition, the integrated cloud development system integrates key functions in the flight control development process, avoids frequent development tool switching and cumbersome environment configuration processes, and reduces the learning threshold and complexity of flight control development. The following is a detailed analysis.

[0081] For the existing flight control development methods, most of them require a cumbersome environment configuration process, which requires not only selecting and configuring the corresponding compilation tools according to the local environment and programming language, but also installing a specific development environment and driver module for the flight control hardware. During the configuration process, developers also need to consider network and system settings. Since the development process usually requires downloading a large amount of data and software, a slow or unstable network connection may cause download failure or delay. In addition, some development tools have high requirements for computer hardware, and it is necessary to ensure that the hardware performance of the development computer can meet the flight control development requirements. For beginners of flight control development, the cumbersome configuration and compilation process has a high learning cost and failure risk. It is necessary to consult a lot of technical documents and network help, and the efficiency of problem solving is low. This not only wastes time and energy, but may also make beginners lose confidence in flight control development. In addition, most of the existing flight control systems are only suitable for the control of specific vehicles, and cannot achieve compatibility and universal control across vehicles. However, there are similarities in control logic for various vehicles. A universal controller that adapts to multiple vehicles can promote cross-domain technology sharing and resource utilization, greatly save the design cost of the controller, and has broad application prospects.

[0082] The integrated flight control cloud development system proposed in this application adopts an overall architecture of end-cloud collaboration, integrates key code modification, specific environment compilation and flight control debugging functions in the flight control development process, and uses a pre-uniformly deployed development environment to perform cloud compilation tasks, which simplifies the flight control development process and improves development efficiency and stability. Moreover, a universal flight control hardware platform of this application adopts a modular software and hardware design concept, has good versatility and scalability, and supports universal control of various vehicles such as drones, unmanned vehicles, and unmanned ships, which not only reduces the design and manufacturing costs of vehicle controllers, but also accelerates the promotion and application of unmanned vehicle technology. In addition, the integrated flight control cloud development system of this application adopts web user interface encapsulation and separate architecture design, which not only simplifies the operation process by encapsulating complex back-end logic, but also separates the flight control development environment from the website operating environment, thereby improving the scalability and stability of the system.

[0083] To sum up, this application can solve the problems of cumbersome and complicated flight control code development process and lack of universal vehicle controller. It realizes the end-cloud collaborative architecture through cloud development platform, ground station and universal flight control hardware platform, which can not only reduce the R&D cost and learning threshold of flight control, but also improve the compilation efficiency and maintainability of flight control code, ensuring the convenience, stability and efficiency of the development process.

[0084] The above contents are further detailed descriptions of the present application in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. For ordinary technicians in the technical field to which the present application belongs, several simple deductions or substitutions can be made without departing from the inventive concept of the present application.

Claims

1. Integrated flight control cloud development system, characterized by: Including ground station, cloud development platform and general flight control hardware platform; The ground station is used to edit and debug the flight control algorithm to obtain a control code, and upload the control code to the cloud development platform; The cloud development platform is used to perform cloud compilation on the uploaded control code to generate control firmware, and return the control firmware to the ground station; The ground station is also used to perform a simulation test on the received control firmware, and when the simulation test passes, burn the control firmware to the universal control hardware platform and configure initial control parameters; The universal flight control hardware platform is used to perform motion control of the unmanned aerial vehicle based on the burned control firmware and the control parameters.

2. The integrated flight control cloud development system according to claim 1, characterized in that: The ground station includes a flight control algorithm development module, an initial setting module, and a simulation module; The flight control algorithm development module is used to perform integrated processing of code editing and debugging on the flight control algorithm, obtain the control code, and upload the control code to the cloud development platform when communicating with the cloud development platform; The initial setting module is used to receive the compiled control firmware from the cloud development platform, and burn the control firmware to the universal flight control hardware platform when communicating with the universal flight control hardware platform; The simulation module is used to perform a simulation test on the control firmware through a simulation environment corresponding to the control firmware, and feed back the result of the simulation test to the initial setting module; The simulation test is used to perform practical verification on the control firmware and to perform logic optimization on the flight control algorithm.

3. The integrated flight control cloud development system according to claim 2, characterized in that: The ground station also includes a flight planning module and a flight data module; The flight planning module is used to set a flight route for the unmanned aerial vehicle, and to send information about the flight route to the general flight control hardware platform when communicating with the general flight control hardware platform; the information about the flight route is used to be executed by the flight control hardware platform to realize fixed-point automatic driving of the unmanned aerial vehicle; The flight data module is used to obtain the flight log information of the unmanned aerial vehicle from the flight control hardware platform, and monitor the flight status of the unmanned aerial vehicle based on the flight log information.

4. The integrated flight control cloud development system according to claim 1, characterized in that: The universal flight control hardware platform includes a sensor unit, a main processor unit, a slave processor unit and a log storage unit; The sensor unit includes a posture sensor, a position sensor and an altitude sensor, wherein the posture sensor, the position sensor and the altitude sensor are used to collect posture data, position data and altitude data of the unmanned aerial vehicle respectively; The main processor unit communicates with the sensor unit to calculate the current attitude information of the unmanned aerial vehicle according to the attitude data, position data and altitude data collected by the sensor unit, and generate corresponding attitude control instructions and position control instructions; The slave processor unit communicates with the master processor unit and is used to generate a PWM signal for controlling the motor and the steering gear in the unmanned aerial vehicle according to the attitude control command, the position control command and the remote control signal from the remote controller; The log storage unit communicates with the sensor unit, and is used to record the attitude control instructions, the position control instructions and the PWM signals generated by the main processor unit and the slave processor unit, record the attitude data, the position data and the altitude data from the sensor unit, and save the recorded information as a flight log.

5. The integrated flight control cloud development system according to claim 4, characterized in that: The main processor unit includes a posture solving module, a posture control module and a position control module; The attitude calculation module communicates with the sensor unit and is used to calculate the current attitude information of the unmanned aerial vehicle according to the attitude data, the position data and the altitude data collected by the attitude sensor; The posture control module communicates with the posture solving module and is used to generate corresponding posture control instructions according to the posture information and the preset target posture; The position control module communicates with the sensor unit and is used to calculate the deviation between the current position of the unmanned aerial vehicle and the preset target position according to the position data and the altitude data collected by the sensor unit, and to generate a corresponding position control instruction.

6. The integrated flight control cloud development system according to claim 4, characterized in that: The slave processor unit includes a remote control command processing module and a motor steering gear control module; The remote control command processing module is used to process the remote control signal from the remote control and generate a corresponding remote control command; The motor and servo control module communicates with the main processor unit and the remote control instruction processing module, and is used to obtain the PWM signal for controlling the motor and servo according to the attitude control instruction, the position control instruction generated by the main processor unit, and the remote control instruction generated by the remote control instruction processing module.

7. The integrated flight control cloud development system according to claim 4, characterized in that: The log storage unit includes a data processing module and a storage medium module; The data processing module is used to record the attitude control instructions, the position control instructions and the PWM signals generated by the master processor unit, and the attitude data, the position data and the altitude data from the sensor unit; the data processing module is also used to form the flight log based on the recorded information; The storage medium module communicates with the data processing module and is used to store the flight log in a medium.

8. The integrated flight control cloud development system according to claim 1, characterized in that: The cloud development platform includes a web page and a cloud server; The web page adopts a web page user encapsulation interface to provide a direct access entrance to the cloud server to support user registration and login; The web page can confirm the user identity when communicating with the ground station, and receive the control code and cloud compilation request uploaded by the ground station; The cloud server communicates with the web page to receive the control code and the cloud compilation request forwarded by the web page, and starts a corresponding code compilation task according to the cloud compilation request, and compiles the control code into the control firmware through cloud compilation; The web page is also used to receive the compiled control firmware from the cloud server and transmit the control firmware back to the ground station.

9. The integrated flight control cloud development system according to claim 8, characterized in that: The cloud server adopts a separate server architecture, including a master server and a slave server; The main server is connected to the web page, and is used to provide a website operating environment to maintain the operation of the web page; the main server is also used to receive the control code and the cloud compilation request uploaded by the web page, and after confirming the request content in the cloud compilation request, generate corresponding compilation instructions and project packages and send them to the slave server; The slave server communicates with the master server, and is used to start a corresponding code compilation task according to the compilation instruction sent by the master server, obtain the control code from the project package and perform cloud compilation of the control code, generate the control firmware and return the control firmware to the master server; The main server is also used to return the control firmware compiled by the slave server to the web page.

10. The integrated flight control cloud development system according to claim 1, characterized in that: The universal flight control hardware platform is also used to be compatible with other unmanned motion vehicles, and to perform motion control of the unmanned motion vehicles based on the burned vehicle control firmware and vehicle control parameters; the unmanned motion vehicles include one or more of unmanned vehicles, unmanned ships, and unmanned rockets; the vehicle control firmware is configured as firmware generated after the control code for the unmanned motion vehicle is compiled in the cloud; the vehicle control parameters are configured as initial control parameters for the unmanned motion vehicle.

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