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 application belongs to the technical field of aircraft control and relates to a pre-flight inspection method for a four-axis main control stick. BACKGROUND

[0002] In the field of aviation, the control stick is an important interactive device between the pilot and the aircraft, and the reliability and accuracy of its performance 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 control sticks have begun to appear.

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

[0004] Traditional inspection methods may only focus on whether the appearance of the control stick is damaged, whether the connection is loose, and other basic conditions, but they often cannot conduct in-depth and detailed detection on key aspects such as the accuracy of internal electronic components, sensors, signal transmission stability, and compatibility with the aircraft control system.

[0005] Existing inspection procedures may not be able to detect potential faults and hidden dangers, which may cause control failure, command errors, and other serious problems during flight, posing a great threat to flight safety.

[0006] Therefore, there is an urgent need for an innovative, efficient, and comprehensive pre-flight inspection method for four-axis control sticks to improve detection accuracy and reliability and ensure that the control stick is in good working condition before takeoff, thereby ensuring flight safety. SUMMARY

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

[0008] The technical solution adopted by the application to solve the technical problems is: A pre-flight inspection method for a four-axis main control stick, comprising the following steps: Step 1: State initialization: set the total state of the main control stick as a periodic task and report to the flight control computer through the bus; Step 2: Determine whether the pre-flight inspection start condition is met. If it is met, proceed with the control axis pre-flight inspection; otherwise, exit.

[0009] Further, the process of determining whether the pre-flight inspection start condition is met is as follows: S11: If the bus communication is normal and the CCDL is fault-free, proceed to S12; otherwise, exit; S12, if the air / ground state two-redundancy voting value is ground, and the flight control system pre-flight check state two-redundancy voting value is pre-flight, and the pre-flight check input switch two-redundancy voting value is valid, then the main control stick pre-flight check starting condition is met, and S13 is entered; otherwise, the main control stick pre-flight check starting condition is not met, and S14 is entered; S13, the main control stick total state is set as pre-flight check, and is reported to the flight control computer through a bus; S14, a pre-flight valid flag is set, and is reported to the flight control computer through a bus.

[0010] Further, the pre-flight check process of the control stick is as follows: S21, whether a first control command is received within an upper command waiting time is detected; if yes, the next step is entered, otherwise, a pre-flight check fault code is set as a first flag, is periodically sent to the flight control computer through a bus, and the pre-flight check is exited; S22, whether the first control command is always less than a first threshold within an upper control waiting time is detected, if yes, the pre-flight check fault code is set as a second flag, is periodically sent, and the pre-flight check is exited, otherwise, a pre-flight return flag is set as 1, and the next step is entered; S23, whether a second control command is received through the bus within a lower command waiting time is detected; if yes, the pre-flight return flag is set as 0, and the next step is entered, otherwise, the pre-flight check fault code is set as the first flag, is periodically sent, and the pre-flight check is exited; S24, whether the second control command is always greater than a second threshold within a lower control waiting time is detected, if yes, the pre-flight check fault code is set as the second flag, is periodically sent, and the pre-flight check is exited; otherwise, the pre-flight return flag is set as 1, and is periodically sent through the bus.

[0011] Further, the control stick includes a pitch axis, a roll axis, a yaw axis and a vertical axis.

[0012] Further, the pre-flight check process of the pitch axis is as follows: S211, whether a push forward command is received within a pitch axis upper command waiting time T_PU is detected; if yes, the next step is entered, otherwise, a pre-flight check fault code is set as 0x4“NoComand Fault”, is periodically sent to the flight control computer through a bus, and the pre-flight check is exited; S212, whether the push forward command is always less than a pitch positive stroke threshold T1_PU within a pitch axis upper control waiting time T1_PU is detected , if yes, the pre-flight check fault code is set as 0x0“PthSnsr Fault”, is periodically sent, and the pre-flight check is exited, otherwise, a pre-flight return flag is set as 1, and the next step is entered; S213, detecting whether a pull back command is received through the bus within a pitch axis down command waiting time T_PD; if yes, setting a pre-flight reply flag to 0, and entering the next step, otherwise, setting a pre-flight check fault code to 0x4 "NoComand Fault", sending through the bus periodically, and exiting the pre-flight check; S214, detecting whether a pull back command is always greater than a pitch negative stroke threshold within a pitch axis down manipulation waiting time T1_PD , if yes, setting the pre-flight check fault code to 0x0 "PthSnsr Fault", sending through the bus periodically, and exiting the pre-flight check; otherwise, setting the pre-flight reply flag to 1, and sending through the bus periodically.

[0013] Further, a pre-flight check process of the roll axis is as follows: S221, detecting whether a left press command is received within a roll axis up command waiting time T_RU; if yes, entering the next step, otherwise, setting a pre-flight check fault code to 0x4 "NoComand Fault", sending to the flight control computer through the bus periodically, and exiting the pre-flight check; S222, detecting whether a left press command is always less than a roll positive stroke threshold within a roll axis up manipulation waiting time T1_RU , if yes, setting the pre-flight check fault code to 0x1 "RollSnsr Fault", sending through the bus periodically, and exiting the pre-flight check, otherwise, setting a pre-flight reply flag to 1; S223, detecting whether a right press command is received through the bus within a roll axis down command waiting time T_RD; if yes, setting the pre-flight reply flag to 0, and entering the next step, otherwise, setting the pre-flight check fault code to 0x4 "NoComand Fault", sending through the bus periodically, and exiting the pre-flight check; S224, detecting whether a pull back command is always greater than a roll negative stroke threshold within a roll axis down manipulation waiting time T1_RD , if yes, setting the pre-flight check fault code to 0x1 "RollSnsr Fault", sending through the bus periodically, and exiting the pre-flight check; otherwise, setting the pre-flight reply flag to 1, and sending through the bus periodically.

[0014] Further, a pre-flight check process of the yaw axis is as follows: S231, detecting whether a left turn command is received within a yaw axis up command waiting time T_YU; if yes, entering the next step, otherwise, setting a pre-flight check fault code to 0x4 "NoComand Fault", sending to the flight control computer through the bus periodically, and exiting the pre-flight check; S232, detecting whether a left turn command is always less than a yaw positive stroke threshold within a yaw axis up manipulation waiting time T1_YU 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. If no, the pre-flight reply flag is set to 1. S233, it is detected whether a right turn command is received through the bus within the yaw axis lower command waiting time T_YD; if yes, the pre-flight reply flag is set to 0, and the next step is entered. If no, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent through the bus cycle, and the pre-flight check is exited. S234, it is detected whether the right turn command is always greater than the yaw negative stroke threshold within the yaw axis lower control waiting time T1_YD 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. If no, the pre-flight reply flag is set to 1, sent through the bus cycle.

[0015] Further, the pre-flight check process of the vertical axis is as follows: S231, it is detected whether an ascending command is received within the vertical axis upper command waiting time T_VU; if yes, the next step is entered. If no, 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, it is detected whether the ascending command is always less than the vertical positive stroke threshold within the vertical axis upper control waiting time T1_VU 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. If no, the pre-flight reply flag is set to 1. S233, it is detected whether a descending command is received through the bus within the vertical axis lower command waiting time T_VD; if yes, the pre-flight reply flag is set to 0, and the next step is entered. If no, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent through the bus cycle, and the pre-flight check is exited. S234, it is detected whether the right turn command is always greater than the vertical negative stroke threshold within the vertical axis lower control waiting time T1_VD 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. If no, the pre-flight reply flag is set to 1, sent through the bus cycle.

[0016] Further, the cycle task cycle is T_SYS.

[0017] Further, the bus is CANFD / CAN, and the cycle is T_CAN.

[0018] Preferably, in the step four, step eight, step twelve, step sixteen, step twenty, step twenty-four, step twenty-eight and step thirty-two, the pitch-up command, pitch-down command, roll-left command, roll-right command, yaw-left command, yaw-right command, up command, down command are each a one-bit discrete command.

[0019] Preferably, in the step four, step eight, step twelve, step sixteen, step twenty, step twenty-four, step twenty-eight and step thirty-two, the pitch-up command, pitch-down command, roll-left command, roll-right command, yaw-left command, yaw-right command, up command, down command are each a one-bit discrete command.

[0020] Preferably, in the step six, step ten, step fourteen, step eighteen, step twenty-two, step twenty-six, step thirty and step thirty-four, the pitch-up command, pitch-down command, roll-left command, roll-right command, yaw-left command, yaw-right command, up command, down command are each a one-bit discrete command.

[0021] Preferably, in the step six and step ten, the pitch positive stroke threshold is opposite in sign to the pitch negative stroke threshold , and can be equal or not equal in magnitude.

[0022] Preferably, in the step six and step ten, the pitch positive stroke threshold is opposite in sign to the pitch negative stroke threshold , and can be equal or not equal in magnitude.

[0023] Preferably, in the step fourteen and step eighteen, the roll positive stroke threshold is opposite in sign to the roll negative stroke threshold , and can be equal or not equal in magnitude.

[0024] Preferably, in the step twenty-two and step twenty-six, the yaw positive stroke threshold is opposite in sign to the yaw negative stroke threshold , and can be equal or not equal in magnitude.

[0025] Preferably, in the step thirty and step thirty-four, the vertical positive stroke threshold is opposite in sign to the vertical negative stroke threshold The signs are opposite, and the sizes can be equal or not equal.

[0026] The advantages of the present application are: (1) Comprehensive detection, the present application can cover the mechanical structure, electronic components, signal transmission and other aspects of the four-axis main control stick, ensuring no detection dead angle; (2) Improve reliability, effectively eliminate potential problems, increase the reliability of the main control stick in the flight process, and reduce the probability of sudden failure; (3) Simple operation, easy to operate, no need for complex training; (4) High efficiency, complete the inspection in a short time before flight, and timely feedback the inspection results, without delaying the normal operation of the aircraft; (5) High accuracy, by accurately detecting the angle value of the four-axis main control stick limit position, whether there is mechanical or electrical failure can be accurately judged. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the total flow chart of the four-axis main control stick.

[0028] Figure 2 is the flow chart of the pitch axis of the four-axis main control stick.

[0029] Figure 3 is the flow chart of the roll axis of the four-axis main control stick.

[0030] Figure 4 is the flow chart of the yaw axis of the four-axis main control stick.

[0031] Figure 5 is the flow chart of the vertical axis of the four-axis main control stick. DETAILED DESCRIPTION

[0032] The present application will be described in detail below, referring to the accompanying drawings Figure 1 to Figure 5 .

[0033] Example 1 As Figure 1 shown, a pre-flight inspection method of a four-axis main control stick takes the following steps: Step 1, the four-axis main control stick runs in a periodic task, and the main control stick total state is set to 0x2 (periodic task), and reports to the flight control computer through CANFD / CAN bus; Step 2, the four-axis main control stick listens and receives data from the CANFD / CAN bus; Step 3, determine whether the pre-flight inspection start condition of the four-axis main control stick is met; Step 4, if the pre-flight inspection is started, the pitch axis pre-flight inspection is performed; Step 5, when the pitch axis pre-flight inspection is normal, the roll axis pre-flight inspection is performed; Step six, when the roll axis pre-flight check is normal, execute the yaw axis pre-flight check; Step seven, when the yaw axis pre-flight check is normal, execute the vertical axis pre-flight check; Step eight, when the vertical axis pre-flight check is normal, the main control stick passes the pre-flight check and exits the pre-flight check and enters the periodic task.

[0034] Preferably, in step one, the period of the periodic task is T_SYS (T_SYS=10ms); Preferably, in step two, the period of listening and receiving data on the CANFD / CAN bus is T_CAN (T_CAN=20ms); Preferably, in step three, the pre-flight check start condition is as follows: S1, if the CANFD / CAN bus communication is normal and the CCDL is fault-free, proceed to the next step; otherwise, exit; S2, under the condition that the CANFD / CAN bus communication is normal and the CCDL is fault-free, if the air / ground state two-redundancy voting value is ground (“1” for ground), and the flight control system pre-flight check state two-redundancy voting value is pre-flight, and the pre-flight check input switch two-redundancy voting value is valid (the rising edge is valid), then the main control stick pre-flight check start is successful, and the main control stick enters the pre-flight check task; otherwise, the main control stick pre-flight check start fails, and the main control stick does not enter the pre-flight check task; S3, if the main control stick pre-flight check start is successful, the main control stick total state is set to 0x1 (pre-flight check), and a report is sent to the flight control computer through the CANFD / CAN bus; if the main control stick pre-flight check start fails, the pre-flight valid flag is set to 0x0, the check fails, and a report is sent to the flight control computer through the CANFD / CAN bus.

[0035] Embodiment two As shown in the figure, a four-axis main control stick pitch axis pre-flight check method is adopted as follows: Figure 2 Step one, detect whether a forward push command from the flight control computer is received through the CANFD / CAN bus within the command waiting time T_PU (T_PU=5s) on the pitch axis; Step two, if no forward push command is received or a forward push command is received but it is timed out, set the pre-flight check fault code to 0x4“NoComand Fault”, send it periodically through the CANFD / CAN bus, and exit the pre-flight check; otherwise, continue to detect the pitch control command; Step three, detect whether the pitch control command is always less than the pitch positive stroke threshold Step four, if the pitch control command is always less than the pitch positive stroke threshold for the control command waiting time T1_PU (T1_PU=10s) on the pitch axis, the pitch axis pre-flight check is successful, and the main control stick enters the pre-flight check task; otherwise, the pitch axis pre-flight check fails, and the main control stick does not enter the pre-flight check task. ); Step 4: If the pitch control command is always less than the pitch positive travel threshold during the pitch axis control waiting time T1_PU , 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; Step 5: Check whether the 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); 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 "NoComandFault" and 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 detection continues; Step 7: Check whether the pitch control command is always greater than the pitch negative travel threshold within the pitch axis control waiting time T1_PD (T1_PD=10s) ( ); Step 8: If the pitch control command is always greater than the pitch negative travel threshold within the pitch axis down control waiting time T1_PD , 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.

[0036] Example 3 like Figure 3 As shown, a pre-flight inspection method for the roll axis of a four-axis main joystick is performed in the following steps: Step 1: Check whether the left pressure command on the roll axis is received from the flight control computer via the CANFD / CAN bus within the command waiting time T_RU (T_RU=5s); Step 2: If no left pressure command is received or a left pressure command is received but the timeout is exceeded, the pre-flight check fault code is set to 0x4 "NoComandFault" and sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the roll control command is continued to be checked; Step 3: Check whether the roll control command is always less than the roll positive travel threshold within the roll axis control waiting time T1_RU (T1_RU=10s) ( ); Step 4: If the roll control command is always less than the roll positive travel threshold within the roll axis control waiting time T1_RU , 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; Step 5: Check whether the right pressure command from the flight control computer is received via the CANFD / CAN bus within the roll axis command waiting time T_RD (T_RD=5s); Step 6: If no right pressure command is received or a right pressure command is received but the timeout is exceeded, the pre-flight check fault code is set to 0x4 "NoComandFault" and 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 detection continues. Step 7: Check whether the roll control command is always greater than the roll negative travel threshold within the roll axis down control waiting time T1_RD (T1_RD=10s) ( ); Step 8: If the roll control command is always greater than the roll negative travel threshold within the roll axis down control waiting time T1_RD , 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.

[0037] Example 4 like Figure 4 As shown, a pre-flight inspection method for the yaw axis of a four-axis main joystick is performed in the following steps: Step 1: Check whether the 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; Step 2: If no left turn command is received or a left turn command is received but the timeout is exceeded, the pre-flight check fault code is set to 0x4 "NoComandFault" and sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the yaw control command is continued to be checked; Step 3: Check whether the yaw control command is always less than the yaw positive travel threshold within the yaw axis control waiting time T1_YU (T1_YU=10s) ( ); Step 4: If the yaw control command is always less than the yaw positive stroke threshold within the yaw axis control waiting time T1_YU , 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; Step 5: Check whether the right turn command is received from the flight control computer via the CANFD / CAN bus within the yaw axis command waiting time T_YD (T_YD=5s); Step 6: If no right turn command is received or a right turn command is received but times out, the pre-flight check fault code is set to 0x4 "NoComandFault" and 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 detection continues; Step 7: Check whether the yaw control command is always greater than the yaw negative travel threshold within the yaw axis control waiting time T1_YD (T1_YD=10s) ( ); Step 8: If the yaw control command is always greater than the yaw negative travel threshold within the yaw axis down control waiting time T1_YD , 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.

[0038] Example 5 like Figure 5 As shown, a method for pre-flight inspection of the vertical axis of a four-axis main control stick is provided, which includes the following steps: Step 1: Check whether the vertical axis receives an ascent command from the flight control computer via the CANFD / CAN bus within the command waiting time T_VU (T_VU=5s); Step 2: If no ascent command is received or an ascent command is received but the timeout has passed, the pre-flight check fault code is set to 0x4 "NoComandFault" and sent periodically via the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the vertical control command detection continues; Step 3: Check whether the vertical control command is always less than the vertical positive stroke threshold during the vertical axis control waiting time T1_VU (T1_VU=10s) ( ); Step four, if the vertical axis on the control waiting time T1_VU time within the vertical control instruction is always less than the vertical positive stroke threshold , the pre-flight check fault code is set to 0x3 "ThrSnsr Fault", periodically sent through the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" is normal), periodically sent through the CANFD / CAN bus. Step five, whether the descent instruction from the flight control computer is received through the CANFD / CAN bus within the vertical axis down instruction waiting time T_VD (T_VD=5s) time is detected; Step six, if no descent instruction is received or a descent instruction is received but times out, the pre-flight check fault code is set to 0x4 "NoComand Fault", periodically sent through the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag of the flight control computer is sent to zero and the vertical control instruction is continuously detected; Step seven, whether the vertical control instruction is always greater than the vertical negative stroke threshold within the vertical axis down control waiting time T1_VD (T1_VD=10s) time is detected Step eight, if the vertical control instruction is always greater than the vertical negative stroke threshold within the vertical axis down control waiting time T1_VD time , the pre-flight check fault code is set to 0x3 "ThrSnsr Fault", periodically sent through the CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to normal ("1" is normal), periodically sent through the CANFD / CAN bus.

[0039] The above-described embodiments only express the preferred embodiments of the present application, which are described in detail and specifically, but should not be understood as a limitation on the scope of the patent of the present application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.​​

Claims

1. A pre-flight inspection method for a four-axis main control stick, characterized by: The following steps are involved: Step 1: State initialization: The overall state of the main joystick 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, wherein: 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 faults, then go to S12; otherwise, exit; S12. If the two redundancy voting values ​​for the air / ground state are ground, the two redundancy voting values ​​for the flight control system pre-flight check state are pre-flight, and the two redundancy voting values ​​for the pre-flight check input switch are valid, then the pre-flight check start condition of the main joystick is met, and the process goes to S13. Otherwise, the main joystick pre-flight check start conditions are not met and the process goes to S14; S13: The overall status of the main joystick is set to pre-flight check and reported to the flight control computer via 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, wherein: The pre-flight inspection process for the control axis is as follows: S21. Check whether the first control command is received within the command waiting time. If so, proceed to the next step. Otherwise, set the pre-flight check fault code to the first flag and send it to the flight control computer through the bus cycle, and exit the pre-flight check. S22: Check whether the first control command is always less than the first threshold during the upper control waiting time. If so, the pre-flight check fault code is set to the second flag and sent through the bus cycle to exit the pre-flight check. Otherwise, the pre-flight reply flag is set to 1 and the process proceeds to the next step. S23. Check whether the second control command is received via the bus within the command waiting time; 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 the first flag, send it via the bus cycle, and exit the pre-flight check; S24. Check whether the second control command is always greater than the second threshold during the 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 sent through the bus cycle.

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

5. The method according to claim 4, characterized in that: The pitch axis pre-flight check process is as follows: S211. Check whether a forward push command is received within the pitch axis command waiting time T_PU. If so, proceed to the next step. Otherwise, the pre-flight check fault code is set to 0x4 "No Command Fault" and sent to the flight control computer via 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 travel threshold. 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 the next step is entered; S213: Check whether a pull-back command is received via 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 "No Command Fault" and send it via the bus cycle, exiting the pre-flight check. S214: Check whether the pull-back command is always greater than the pitch negative travel threshold within the pitch axis down-control waiting time T1_PD. If so, the pre-flight check fault code is set to 0x0 "PthSnsr Fault" and 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.

6. The method according to claim 4, characterized in that: The roll axis pre-flight check process is as follows: S221. Check whether a left pressure command is received within the roll axis command waiting time T_RU. If so, proceed to the next step. Otherwise, the pre-flight check fault code is set to 0x4 "No Command Fault" and sent to the flight control computer via the bus cycle, and the pre-flight check is exited. S222: Check whether the left pressure command on the roll axis is always less than the roll positive travel threshold within the operation waiting time T1_RU. 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; S223. Check whether a right pressure command is received via 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 "No Command Fault" and send it via the bus cycle, exiting the pre-flight check. S224, check whether the pull-back command within the roll axis lower manipulation waiting time T1_RD is always greater than the roll negative travel threshold If so, the pre-flight check fault code is set to 0x1 "RollSnsr Fault" and 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.

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, set the pre-flight check fault code to 0x4 "No Command Fault" and send it to the flight control computer via the bus cycle, and exit the pre-flight check. S232: Check whether the left turn command within the yaw axis manipulation waiting time T1_YU is always less than the yaw positive travel threshold. 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; S233. Check whether a right turn command is received via the bus within the yaw axis command waiting time T_YD. 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 "No Command Fault" and send it via the bus cycle, exiting the pre-flight check. S234, check whether the right turn command is always greater than the yaw negative travel threshold within the yaw axis manipulation waiting time T1_YD If so, the pre-flight check fault code is set to 0x2 "YawSnsr Fault" and 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.

8. The method according to claim 4, wherein: The vertical axis pre-flight inspection process is as follows: S231. Check whether an ascending command is received within the vertical axis command waiting time T_VU. If so, proceed to the next step. Otherwise, the pre-flight check fault code is set to 0x4 "No Command Fault" and sent to the flight control computer via 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 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; S233. Check whether a descent command is received via the bus within the vertical axis descent 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 "No Command Fault" and send it via the bus cycle, exiting the pre-flight check. S234: Check whether the right turn command is always greater than the vertical negative travel threshold within the vertical axis manipulation waiting time T1_VD. If so, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault" and 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.

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

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

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