Four-axis main joystick pre-flight inspection method

Abstract

The invention belongs to the technical field of aircraft control, and relates to a pre-flight inspection method for a four-axis main joystick, which comprises the following steps of: 1, state initialization: setting the total state of the main joystick as a periodic task, and reporting the periodic task to a flight control computer through a bus; step 2, judging whether a pre-navigation check starting condition is met or not, and the process is as follows: S11, if bus communication is normal and the CCDL has no fault, entering S12; otherwise, exiting; s12, if the air / ground state dual-redundancy voting value is ground, the flight control system pre-flight inspection state dual-redundancy voting value is pre-flight, and the pre-flight inspection input switch dual-redundancy voting value is effective, the main control lever pre-flight inspection starting condition is met, and the step S13 is executed; otherwise, if the starting condition of the pre-navigation check of the main joystick is not met, entering S14; s13, setting the total state of the main joystick as pre-flight inspection, and reporting to a flight control computer through a bus; and S14, pre-flight effective mark setting, and reporting to a flight control computer through a bus. And if so, carrying out pre-flight inspection on the control shaft, otherwise, exiting.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft control and relates to a pre-flight inspection method for a four-axis main joystick. Background Art

[0002] In the aviation field, the joystick is an important interactive device between the pilot and the aircraft. Its performance reliability and accuracy are crucial to flight safety. With the continuous development of aviation technology, especially the rapid development of electric vertical take-off and landing aircraft eVTOL, four-axis joysticks have begun to appear.

[0003] Under current technical conditions, pre-flight inspection of the joystick usually relies on manual inspection and limited testing equipment, which is not only inefficient but also difficult to comprehensively and accurately evaluate the various performance indicators of the joystick.

[0004] Traditional inspection methods may only focus on basic conditions such as whether the joystick's appearance is damaged or the connection is loose, but they are often unable to conduct in-depth and detailed inspections of key aspects such as its internal electronic components, sensor accuracy, signal transmission stability, and compatibility with aircraft control systems.

[0005] Existing inspection processes may fail to detect potential faults and hidden dangers, which may cause serious problems such as control failure and command errors during flight, posing a huge threat to flight safety.

[0006] Therefore, there is an urgent need for an innovative, efficient and comprehensive four-axis joystick pre-flight inspection method to improve the accuracy and reliability of detection and ensure that the joystick is in good working condition before the aircraft takes off, thereby ensuring flight safety. Summary of the invention

[0007] The invention provides a pre-flight inspection method for a four-axis main joystick, which can realize pre-flight inspection of the four-axis control directions of pitch, roll, yaw and vertical on the four-axis main joystick.

[0008] The technical solution adopted by the present invention to solve its technical problem is:

[0009] A method for pre-flight inspection of a four-axis main joystick comprises the following steps:

[0010] Step 1: Status initialization: The main joystick status is set as a periodic task and reported to the flight control computer through the bus;

[0011] Step 2: Determine whether the pre-flight check start conditions are met. If so, perform a pre-flight check of the control axis, otherwise exit.

[0012] Furthermore, the process of judging whether the pre-flight check start conditions are met is as follows:

[0013] S11, if the bus communication is normal and CCDL has no fault, then enter S12; otherwise, exit;

[0014] S12. If the two redundancy voting values ​​of the air / ground state are ground, and the two redundancy voting values ​​of the flight control system pre-flight check state are pre-flight, and the two redundancy voting values ​​of the pre-flight check input switch are valid, then the main joystick pre-flight check start condition is met, and the process goes to S13; otherwise, the main joystick pre-flight check start condition is not met, and the process goes to S14;

[0015] S13, the main joystick general status is set to pre-flight check and reported to the flight control computer through the bus;

[0016] S14. The pre-flight valid flag is set and reported to the flight control computer through the bus.

[0017] Further, the control axis pre-flight inspection process is as follows:

[0018] S21, detecting whether the first control command is received within the command waiting time; if so, proceeding to the next step, otherwise, the pre-flight check fault code is set to the first flag, sent to the flight control computer through the bus cycle, and the pre-flight check is exited;

[0019] S22, detecting whether the first control command is always less than the first threshold within the upper control waiting time, if so, the pre-flight check fault code is set to the second flag, sent through the bus cycle, and the pre-flight check is exited, otherwise the pre-flight reply flag is set to 1, and the next step is entered;

[0020] S23, detecting whether the second control command is received through the bus within the command waiting time; if so, setting the pre-flight reply flag to 0 and proceeding to the next step; otherwise, setting the pre-flight check fault code to the first flag, sending it through the bus cycle, and exiting the pre-flight check;

[0021] S24, detect whether the second operation instruction is always greater than the second threshold during the operation waiting time. If so, the pre-flight check fault code is set to the second flag, sent through the bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

[0022] Furthermore, the control axes include a pitch axis, a roll axis, a yaw axis and a vertical axis.

[0023] Furthermore, the pitch axis pre-flight check process is as follows:

[0024] S211, check whether the pitch axis command is received within the command waiting time T_PU; if so, proceed to the next step, otherwise, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent to the flight control computer through the bus cycle, and the pre-flight check is exited;

[0025] S212: Check whether the forward push command within the pitch axis manipulation waiting time T1_PU is always less than the pitch positive stroke threshold θ P_FMAX , if yes, the pre-flight check fault code is set to 0x0 "PthSnsr Fault", sent through the bus cycle, and the pre-flight check is exited. Otherwise, the pre-flight reply flag is set to 1, and the next step is entered;

[0026] S213, check whether the pull-back command is received through the bus within the pitch axis command waiting time T_PD; if so, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", send it through the bus cycle, and exit the pre-flight check;

[0027] S214: Detect whether the pull-back command is always greater than the pitch negative travel threshold θ within the pitch axis down-control waiting time T1_PD. P_BMAX If so, the pre-flight check fault code is set to 0x0 "PthSnsr Fault" and sent through the bus cycle to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

[0028] Furthermore, the roll axis pre-flight check process is as follows:

[0029] S221, check whether the left pressure command is received within the command waiting time T_RU on the roll axis; if so, proceed to the next step, otherwise, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent to the flight control computer through the bus cycle, and the pre-flight check is exited;

[0030] S222, check whether the left pressure command is always less than the roll positive stroke threshold θ within the roll axis operation waiting time T1_RU R_FMAX , if yes, the pre-flight check fault code is set to 0x1 "RollSnsr Fault", sent through the bus cycle, and the pre-flight check is exited, otherwise the pre-flight reply flag is set to 1;

[0031] S223, check whether the right pressure command is received through the bus within the roll axis command waiting time T_RD; if so, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault" and send it through the bus cycle to exit the pre-flight check;

[0032] S224, check whether the pull-back command is always greater than the negative rolling travel threshold θ within the rolling axis lower manipulation waiting time T1_RD. R_BMAX If so, the pre-flight check fault code is set to 0x1 "RollSnsr Fault" and sent through the bus cycle to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

[0033] Furthermore, the yaw axis pre-flight check process is as follows:

[0034] S231, check whether a left turn command is received within the command waiting time T_YU on the yaw axis; if so, proceed to the next step, otherwise, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent to the flight control computer through the bus cycle, and the pre-flight check is exited;

[0035] S232, check whether the left turn command is always less than the yaw positive stroke threshold θ within the yaw axis operation waiting time T1_YU Y_FMAX , if yes, the pre-flight check fault code is set to 0x2 "YawSnsr Fault", sent through the bus cycle, and the pre-flight check is exited, otherwise the pre-flight reply flag is set to 1;

[0036] S233, check whether a right turn command is received through the bus within the command waiting time T_YD of the yaw axis; if so, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", send it through the bus cycle, and exit the pre-flight check;

[0037] S234, detect whether the right turn command is always greater than the yaw negative travel threshold θ within the yaw axis lower manipulation waiting time T1_YD Y_BMAX If so, the pre-flight check fault code is set to 0x2 "YawSnsr Fault" and sent through the bus cycle to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

[0038] Furthermore, the pre-flight inspection process of the vertical axis is as follows:

[0039] S231, check whether the ascending command is received within the command waiting time T_VU on the vertical axis; if so, proceed to the next step, otherwise, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent to the flight control computer through the bus cycle, and the pre-flight check is exited;

[0040] S232, check whether the rising instruction within the vertical axis operation waiting time T1_VU is always less than the vertical positive stroke threshold θ V_FMAX , if yes, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault", sent through the bus cycle, and the pre-flight check is exited, otherwise the pre-flight reply flag is set to 1;

[0041] S233, check whether the descending command is received through the bus within the vertical axis command waiting time T_VD; if so, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", send it through the bus cycle, and exit the pre-flight check;

[0042] S234, check whether the right turn command is always greater than the vertical negative travel threshold θ within the vertical axis lower manipulation waiting time T1_VD V_BMAX If so, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault" and sent through the bus cycle to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

[0043] Furthermore, the periodic task period is T_SYS.

[0044] Furthermore, the bus is CANFD / CAN and the cycle is T_CAN.

[0045] Preferably, in step 4, step 8, step 12, step 16, step 20, step 24, step 28 and step 32, the forward push instruction, backward pull instruction, left pressure instruction, right pressure instruction, left turn instruction, right turn instruction, ascend instruction and descend instruction are each 1-bit discrete instructions.

[0046] Preferably, in step 4, step 8, step 12, step 16, step 20, step 24, step 28 and step 32, the pitch up command waiting time T_PU, the pitch down command waiting time T_PD, the roll up command waiting time T_RU, the roll down command waiting time T_RD, the yaw up command waiting time T_YU, the yaw down command waiting time T_YD, the vertical up command waiting time T_VU and the vertical down command waiting time T_VD should be equal.

[0047] Preferably, in step 6, step 10, step 14, step 18, step 22, step 26, step 30 and step 34, the pitch up manipulation waiting time T1_PU, the pitch down manipulation waiting time T1_PD, the roll up manipulation waiting time T1_RU, the roll down manipulation waiting time T1_RD, the yaw up manipulation waiting time T1_YU, the yaw down manipulation waiting time T1_YD, the vertical up manipulation waiting time T1_VU and the vertical down manipulation waiting time T1_VD should be equal.

[0048] Preferably, in step six and step ten, the pitch positive travel threshold θ P_FMAX and pitch negative travel threshold θ P_FMAX The signs are opposite and the sizes can be equal or unequal.

[0049] Preferably, in step six and step ten, the pitch positive travel threshold θ P_FMAX and pitch negative travel threshold θ P_BMAX The signs are opposite and the sizes can be equal or unequal.

[0050] Preferably, in step 14 and step 18, the positive rolling stroke threshold θ R_FMAX and the negative rolling travel threshold θ R_BMAX The signs are opposite and the sizes can be equal or unequal.

[0051] Preferably, in step 22 and step 26, the yaw positive stroke threshold θ Y_FMAX and the yaw negative travel threshold θ Y_BMAX The signs are opposite and the sizes can be equal or unequal.

[0052] Preferably, in step 30 and step 34, the vertical positive travel threshold θ V_FMAX and vertical negative travel threshold θ V_BMAX The signs are opposite and the sizes can be equal or unequal.

[0053] The advantages of the present invention are:

[0054] (1) Comprehensive detection. The present invention can cover multiple aspects of the four-axis main joystick, such as the mechanical structure, electronic components, and signal transmission, to ensure that there are no blind spots in detection; (2) Improve reliability, effectively eliminate potential problems, increase the reliability of the main joystick during flight, and reduce the probability of sudden failures; (3) Simple operation. The inspection process is easy to operate and can be used without complex training; (4) High efficiency. The inspection can be completed quickly in a short time before flight, and the inspection results can be fed back in time without delaying the normal operation of the aircraft; (5) High accuracy. By accurately detecting the angle value of the extreme position of the four-axis main joystick, it can accurately determine whether there is a mechanical or electrical fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is the overall flow chart of the four-axis main joystick.

[0056] Figure 2 This is the flow chart of the pitch axis of the four-axis main joystick.

[0057] Figure 3 This is the flow chart of the roll axis of the four-axis main joystick.

[0058] Figure 4 It is the flow chart of the yaw axis of the four-axis main joystick.

[0059] Figure 5 It is a flow chart of the vertical axis of the four-axis main joystick. DETAILED DESCRIPTION

[0060] The present invention is described in detail below. Figure 1 ~Attached Figure 5 .

[0061] Embodiment 1

[0062] like Figure 1 As shown, a method for pre-flight inspection of a four-axis main joystick includes the following steps:

[0063] Step 1: The four-axis main joystick runs in the periodic task, the main joystick's total state is set to 0x2 (periodic task), and reported to the flight control computer through the CANFD / CAN bus;

[0064] Step 2: The four-axis main joystick monitors and receives data from the CANFD / CAN bus;

[0065] Step 3: Determine whether the pre-flight check start conditions of the four-axis main joystick are met;

[0066] Step 4: If the pre-flight check is activated, perform the pitch axis pre-flight check;

[0067] Step 5: When everything is normal before the pitch axis flight check, perform the roll axis pre-flight check;

[0068] Step 6: When everything is normal before the roll axis flight check, perform the yaw axis flight check;

[0069] Step 7: When everything is normal before the yaw axis flight check, perform the vertical axis flight check;

[0070] Step 8: When everything is normal in the pre-flight check of the vertical axis, the main joystick passes the pre-flight check, exits the pre-flight check, and enters the cycle task.

[0071] Preferably, in step 1, the period of the periodic task is T_SYS (T_SYS=10ms);

[0072] Preferably, in step 2, the period for monitoring and receiving data on the CANFD / CAN bus is T_CAN (T_CAN=20ms);

[0073] Preferably, in step 3, the pre-flight check starting conditions include the following specific steps:

[0074] S1. If the CANFD / CAN bus communication is normal and CCDL has no fault, go to the next step; otherwise, exit;

[0075] S2. When the CANFD / CAN bus communication is normal and CCDL has no faults, if the two redundancy voting values ​​of the air / ground state are ground ("1" means ground), and the two redundancy voting values ​​of the flight control system pre-flight check state are pre-flight, and the two redundancy voting values ​​of the pre-flight check input switch are valid (rising edge means valid), then the main joystick pre-flight check is successfully started, and the main joystick enters the pre-flight check task; otherwise, the main joystick pre-flight check fails to start, and the main joystick does not enter the pre-flight check task;

[0076] S3. If the pre-flight check of the main joystick is successfully started, the overall status of the main joystick is set to 0x1 (pre-flight check) and reported to the flight control computer through the CANFD / CAN bus; if the pre-flight check of the main joystick fails to be started, the pre-flight valid flag is set to 0x0, the check fails, and reported to the flight control computer through the CANFD / CAN bus.

[0077] Embodiment 2

[0078] like Figure 2 As shown, a pre-flight inspection method for the pitch axis of a four-axis main joystick is performed in the following steps:

[0079] Step 1: Detect whether a forward push command is received from the flight control computer via the CANFD / CAN bus within the pitch axis command waiting time T_PU (T_PU=5s);

[0080] Step 2: If no thrust command is received or the thrust command is received but times out, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pitch control command continues to be detected;

[0081] Step 3: Check whether the pitch control command is always less than the pitch positive travel threshold θ within the pitch axis control waiting time T1_PU (T1_PU=10s) P_FMAX (θ P_FMAX = +20°);

[0082] Step 4: If the pitch control command is always less than the pitch positive travel threshold θ during the pitch axis control waiting time T1_PU, P_FMAX , the pre-flight check fault code is set to 0x0 "PthSnsr Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" means normal), and sent periodically via the CANFD / CAN bus;

[0083] Step 5: Detect whether a pull-back command is received from the flight control computer via the CANFD / CAN bus within the pitch axis command waiting time T_PD (T_PD=5s);

[0084] Step 6: If the pull-back command is not received or the pull-back command is received but times out, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag sent to the flight control computer is cleared and the pitch control command is continued to be detected;

[0085] Step 7: Check whether the pitch control command is always greater than the pitch negative travel threshold θ within the pitch axis down control waiting time T1_PD (T1_PD = 10s) P_BMAX (θ P_BMAX =-20°);

[0086] Step 8: If the pitch control command is always greater than the pitch negative travel threshold θ within the pitch axis down control waiting time T1_PD, P_BMAX , the pre-flight check fault code is set to 0x0 "PthSnsr Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" means normal) and sent periodically via the CANFD / CAN bus.

[0087] Embodiment 3

[0088] like Figure 3 As shown, a method for pre-flight inspection of the roll axis of a four-axis main joystick is provided, which takes the following steps:

[0089] Step 1: Detect whether a left pressure command from the flight control computer is received via the CANFD / CAN bus within the command waiting time T_RU (T_RU=5s) on the roll axis;

[0090] Step 2: If the left pressure command is not received or the left pressure command is received but timed out, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the roll control command is continued to be detected;

[0091] Step 3: Check whether the roll control command is always less than the roll positive stroke threshold θ during the roll axis control waiting time T1_RU (T1_RU = 10s) R_FMAX (θ R_FMAX = +13°);

[0092] Step 4: If the roll control command is always less than the roll positive stroke threshold θ during the roll axis control waiting time T1_RU R_FMAX, the pre-flight check fault code is set to 0x1 "RollSnsr Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" means normal), and sent periodically via the CANFD / CAN bus;

[0093] Step 5: Detect whether a right pressure command from the flight control computer is received through the CANFD / CAN bus within the roll axis command waiting time T_RD (T_RD=5s);

[0094] Step 6: If the right pressure command is not received or the right pressure command is received but timed out, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag sent to the flight control computer is cleared and the roll control command is continued to be detected;

[0095] Step 7: Check whether the roll control command is always greater than the roll negative travel threshold θ within the roll axis down control waiting time T1_RD (T1_RD = 10s) R_BMAX (θ R_BMAX =-13°);

[0096] Step 8: If the roll control command is always greater than the roll negative travel threshold θ within the roll axis down control waiting time T1_RD R_BMAX , the pre-flight check fault code is set to 0x1 "RollSnsr Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" means normal) and sent periodically via the CANFD / CAN bus.

[0097] Embodiment 4

[0098] like Figure 4 As shown, a method for pre-flight inspection of the yaw axis of a four-axis main joystick is provided, which takes the following steps:

[0099] Step 1: Detect whether a left turn command is received from the flight control computer via the CANFD / CAN bus within the command waiting time T_YU (T_YU=5s) on the yaw axis;

[0100] Step 2: If the left turn command is not received or the left turn command is received but timed out, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the yaw control command continues to be detected;

[0101] Step 3: Check whether the yaw control command is always less than the yaw positive stroke threshold θ during the yaw axis control waiting time T1_YU (T1_YU=10s) Y_FMAX (θ Y_FMAX = +20°);

[0102] Step 4: If the yaw control command is always less than the yaw positive stroke threshold θ during the yaw axis control waiting time T1_YU Y_FMAX , the pre-flight check fault code is set to 0x2 "YawSnsr Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" means normal), and sent periodically via the CANFD / CAN bus;

[0103] Step 5: Detect whether a right turn command is received from the flight control computer via the CANFD / CAN bus within the command waiting time T_YD (T_YD=5s) of the yaw axis;

[0104] Step 6: If the right turn command is not received or the right turn command is received but timed out, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag sent to the flight control computer is cleared and the yaw control command is continued to be detected;

[0105] Step 7: Check whether the yaw control command is always greater than the yaw negative travel threshold θ within the yaw axis control waiting time T1_YD (T1_YD = 10s) Y_BMAX (θ Y_BMAX =-20°);

[0106] Step 8: If the yaw control command is always greater than the yaw negative travel threshold θ within the yaw axis down control waiting time T1_YD, Y_BMAX , the pre-flight check fault code is set to 0x2 "YawSnsr Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" means normal) and sent periodically via the CANFD / CAN bus.

[0107] Embodiment 5

[0108] like Figure 5 As shown, a method for pre-flight inspection of the vertical axis of a four-axis main joystick is provided, which comprises the following steps:

[0109] Step 1: Detect whether the ascending command from the flight control computer is received through the CANFD / CAN bus within the command waiting time T_VU (T_VU=5s) on the vertical axis;

[0110] Step 2: If no ascent command is received or an ascent command is received but the timeout has occurred, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the vertical control command continues to be detected;

[0111] Step 3: Check whether the vertical control command is always less than the vertical positive stroke threshold θ during the vertical axis control waiting time T1_VU (T1_VU = 10s) V_FMAX (θ V_FMAX = +25°);

[0112] Step 4: If the vertical control command is always less than the vertical positive stroke threshold θ during the vertical axis control waiting time T1_VU V_FMAX , the pre-flight check fault code is set to 0x3 "ThrSnsr Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" means normal), and sent periodically via the CANFD / CAN bus;

[0113] Step 5: Check whether the descent command from the flight control computer is received through the CANFD / CAN bus within the vertical axis command waiting time T_VD (T_VD=5s);

[0114] Step 6: If the descent command is not received or the descent command is received but timed out, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag sent to the flight control computer is cleared and the vertical control command is continued to be detected;

[0115] Step 7: Check whether the vertical control command is always greater than the vertical negative travel threshold θ within the vertical axis down-control waiting time T1_VD (T1_VD = 10s) V_BMAX (θ V_BMAX =-25°);

[0116] Step 8: If the vertical control command is always greater than the vertical negative travel threshold θ during the vertical axis down-control waiting time T1_VD V_BMAX , the pre-flight check fault code is set to 0x3 "ThrSnsr Fault", sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" means normal) and sent periodically via the CANFD / CAN bus.

[0117] The above-mentioned embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A pre-flight inspection method for a four-axis main joystick, characterized in that: The following steps are involved: Step 1: Status initialization: The main joystick status is set as a periodic task and reported to the flight control computer through the bus; Step 2: Determine whether the pre-flight check start conditions are met. If so, perform a pre-flight check of the control axis, otherwise exit.

2. The method according to claim 1, characterized in that: The process of judging whether the pre-flight check start conditions are met is as follows: S11, if the bus communication is normal and CCDL has no fault, then enter S12; otherwise, exit; S12. If the two redundancy voting values ​​of the air / ground state are ground, and the two redundancy voting values ​​of the flight control system pre-flight check state are pre-flight, and the two redundancy voting values ​​of the pre-flight check input switch are valid, then the pre-flight check start condition of the main joystick is met, and enter S13; Otherwise, the main joystick pre-flight check start condition is not met, and the process goes to S14; S13, the main joystick general status is set to pre-flight check and reported to the flight control computer through the bus; S14. The pre-flight valid flag is set and reported to the flight control computer through the bus.

3. The method according to claim 2, characterized in that: The pre-flight inspection process of the control axis is as follows: S21, detecting whether the first control command is received within the command waiting time; if so, proceeding to the next step, otherwise, the pre-flight check fault code is set to the first flag, sent to the flight control computer through the bus cycle, and the pre-flight check is exited; S22, detecting whether the first control command is always less than the first threshold within the upper control waiting time, if so, the pre-flight check fault code is set to the second flag, sent through the bus cycle, and the pre-flight check is exited, otherwise the pre-flight reply flag is set to 1, and the next step is entered; S23, detecting whether the second control command is received through the bus within the command waiting time; if so, setting the pre-flight reply flag to 0 and proceeding to the next step; otherwise, setting the pre-flight check fault code to the first flag, sending it through the bus cycle, and exiting the pre-flight check; S24, detect whether the second operation instruction is always greater than the second threshold during the operation waiting time. If so, the pre-flight check fault code is set to the second flag, sent through the bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

4. The method according to claim 3, characterized in that: The control axes include pitch axis, roll axis, yaw axis and vertical axis.

5. The method according to claim 4, characterized in that: The pre-flight inspection process for the pitch axis is as follows: S211, check whether the pitch axis command is received within the command waiting time T_PU; if so, proceed to the next step, otherwise, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent to the flight control computer through the bus cycle, and the pre-flight check is exited; S212: Check whether the forward push command within the pitch axis manipulation waiting time T1_PU is always less than the pitch positive stroke threshold θ P_FMAX If yes, the pre-flight check fault code is set to 0x0 "PthSnsr Fault" and sent through the bus cycle to exit the pre-flight check. Otherwise, the pre-flight reply flag is set to 1 and proceed to the next step. S213, check whether the pull-back command is received through the bus within the pitch axis command waiting time T_PD; if so, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", send it through the bus cycle, and exit the pre-flight check; S214: Detect whether the pull-back command is always greater than the pitch negative travel threshold θ within the pitch axis down-control waiting time T1_PD. P_BMAX If so, the pre-flight check fault code is set to 0x0 "PthSnsr Fault" and sent through the bus cycle to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

6. The method according to claim 4, characterized in that: The roll axis pre-flight check process is as follows: S221, check whether the left pressure command is received within the command waiting time T_RU on the roll axis; if so, proceed to the next step, otherwise, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent to the flight control computer through the bus cycle, and the pre-flight check is exited; S222, check whether the left pressure command is always less than the roll positive stroke threshold θ within the roll axis operation waiting time T1_RU R_FMAX , if yes, the pre-flight check fault code is set to 0x1 "RollSnsr Fault", sent through the bus cycle, and the pre-flight check is exited, otherwise the pre-flight reply flag is set to 1; S223, check whether the right pressure command is received through the bus within the roll axis command waiting time T_RD; if so, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault" and send it through the bus cycle to exit the pre-flight check; S224, check whether the pull-back command is always greater than the negative rolling travel threshold θ within the rolling axis lower manipulation waiting time T1_RD. R_BMAX If so, the pre-flight check fault code is set to 0x1 "RollSnsr Fault" and sent through the bus cycle to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

7. The method according to claim 4, characterized in that: The yaw axis pre-flight check process is as follows: S231, check whether a left turn command is received within the command waiting time T_YU on the yaw axis; if so, proceed to the next step, otherwise, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent to the flight control computer through the bus cycle, and the pre-flight check is exited; S232, check whether the left turn command is always less than the yaw positive stroke threshold θ within the yaw axis operation waiting time T1_YU Y_FMAX , if yes, the pre-flight check fault code is set to 0x2 "YawSnsr Fault", sent through the bus cycle, and the pre-flight check is exited, otherwise the pre-flight reply flag is set to 1; S233, check whether a right turn command is received through the bus within the command waiting time T_YD of the yaw axis; if so, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", send it through the bus cycle, and exit the pre-flight check; S234, detect whether the right turn command is always greater than the yaw negative travel threshold θ within the yaw axis lower manipulation waiting time T1_YD Y_BMAX If so, the pre-flight check fault code is set to 0x2 "YawSnsr Fault" and sent through the bus cycle to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

8. The method according to claim 4, characterized in that: The vertical axis pre-flight inspection process is as follows: S231, check whether the ascending command is received within the command waiting time T_VU on the vertical axis; if so, proceed to the next step, otherwise, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent to the flight control computer through the bus cycle, and the pre-flight check is exited; S232, check whether the rising instruction within the vertical axis operation waiting time T1_VU is always less than the vertical positive stroke threshold θ V_FMAX , if yes, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault" and sent through the bus cycle to exit the pre-flight check, otherwise the pre-flight reply flag is set to 1; S233, check whether the descending command is received through the bus within the vertical axis command waiting time T_VD; if so, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", send it through the bus cycle, and exit the pre-flight check; S234, check whether the right turn command is always greater than the vertical negative travel threshold θ within the vertical axis lower manipulation waiting time T1_VD V_BMAX If so, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault" and sent through the bus cycle to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1 and sent through the bus cycle.

9. The method according to claim 1, characterized in that: The period of periodic tasks is T_SYS.

10. The method according to claim 1, characterized in that: The bus is CANFD / CAN and the cycle is T_CAN.

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