A method for pre-flight inspection of a four-axis primary control stick

Abstract

The present application belongs to the field of aircraft control technology, and relates to a kind of four-axis main control stick pre-flight inspection method, step one, state initialization: main control stick total state is set as periodic task, and is reported to flight control computer by bus;Step two, whether the pre-flight inspection start condition is satisfied is judged, process as follows: S11, if bus communication is normal and CCDL is fault-free, then enter S12;Otherwise, exit;S12, if air / ground state two-degree-of-freedom voting value is ground, and flight control system pre-flight inspection state two-degree-of-freedom voting value is pre-flight, and pre-flight inspection input switch two-degree-of-freedom voting value is valid, then main control stick pre-flight inspection start condition is satisfied, enter S13;Otherwise, main control stick pre-flight inspection start condition is not satisfied, enter S14;S13, main control stick total state is set as pre-flight inspection, and is reported to flight control computer by bus;S14, pre-flight valid flag is set, and is reported to flight control computer by bus.If satisfied, then pre-flight inspection of control shaft is carried out, otherwise, exit.

Description

Technical Field

[0001] This invention belongs to the field of aircraft control technology and relates to a pre-flight inspection method for a four-axis master control stick. Background Technology

[0002] In the aviation field, the control stick, as a crucial interaction device between the pilot and the aircraft, is vital for flight safety due to its reliability and accuracy. With the continuous development of aviation technology, especially the rapid advancement of electric vertical takeoff and landing (eVTOL) aircraft, four-axis control sticks have begun to emerge.

[0003] Under current technological conditions, pre-flight checks of the joystick typically rely on manual inspection and limited testing equipment, which is not only inefficient but also makes it difficult to comprehensively and accurately evaluate the joystick's various performance indicators.

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

[0005] Existing inspection procedures may fail to detect potential faults and hidden dangers, which could 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 pre-flight inspection method for four-axis control sticks to improve the accuracy and reliability of the inspection, ensure that the control sticks are in good working order before takeoff, and thus guarantee flight safety. Summary of the Invention

[0007] This invention provides a pre-flight inspection method for a quadcopter master joystick, which enables pre-flight inspection of pitch, roll, yaw, and vertical quadcopter control directions on the quadcopter master joystick.

[0008] The technical solution adopted by this invention to solve its technical problem is: A pre-flight inspection method for a quadcopter master joystick includes the following steps: Step 1, State Initialization: Set the overall state of the main control stick to periodic task and report to the flight control computer via the bus; Step 2: Determine if the pre-flight check start conditions are met. If they are met, proceed with the control axis pre-flight check; otherwise, exit.

[0009] Furthermore, the process for determining whether the pre-flight check initiation conditions are met is as follows: S11. If the bus communication is normal and CCDL is fault-free, proceed to S12; otherwise, exit. S12. If the dual redundancy vote value for the air / ground status is ground, and the dual redundancy vote value for the flight control system pre-flight check status is pre-flight, and the dual redundancy vote value for the pre-flight check activation switch is valid, then the pre-flight check activation condition of the main control stick is met, and proceed to S13; otherwise, the pre-flight check activation condition of the main control stick is not met, and proceed to S14. S13, The main control stick is set to pre-flight check and reported to the flight control computer via the bus; S14. Set the pre-flight valid flag and report it to the flight control computer via the bus.

[0010] Furthermore, the pre-flight inspection process for the control axis is as follows: S21. Check if the first control command is received within the command waiting time; if yes, proceed to the next step; otherwise, set the pre-flight check fault code to the first flag, send it to the flight control computer via 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 control waiting time. If so, set the pre-flight check fault code to the second flag, send it through the bus cycle, and exit the pre-flight check. Otherwise, set the pre-flight reply flag to 1 and proceed to the next step. S23. Check whether the second control command is received through the bus during the command waiting time; if yes, 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 periodically through the bus, 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, set the pre-flight check fault code to the second flag, send it through the bus cycle, and exit the pre-flight check; otherwise, set the pre-flight reply flag to 1 and send it through the bus cycle.

[0011] Furthermore, the control axes include the pitch axis, roll axis, yaw axis, and vertical axis.

[0012] Furthermore, the pre-flight inspection process for the pitch axis is as follows: S211. Check if a forward push command is received within the command wait time T_PU on the pitch axis; if yes, proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoCommand Fault", send it to the flight control computer via the bus cycle, and exit the pre-flight check. S212. Check if the push-forward command within the pitch axis control wait 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", sent periodically via the bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1, and the process proceeds to the next step. S213. Check whether a pull-back command has been received via the bus within the pitch axis command waiting time T_PD; if yes, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoCommand Fault", send it periodically via the bus, and exit the pre-flight check. S214. Check if the pitch axis down-axis control wait time T1_PD and the pull-back command are always greater than the pitch negative travel threshold. If so, the pre-flight check fault code is set to 0x0 "PthSnsr Fault", sent via bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent via bus cycle.

[0013] Furthermore, the pre-flight roll shaft inspection process is as follows: S221. Check if a left-push command is received within the command waiting time T_RU on the roll axis; if yes, proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", send it to the flight control computer via the bus cycle, and exit the pre-flight check. S222. Check whether the left-press command during the roll axis operation wait time T1_RU is always less than the roll forward travel threshold. If so, the pre-flight check fault code is set to 0x1 "RollSnsr Fault", sent periodically via the bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1. S223. Check whether a right-push command is received via the bus within the roll axis command waiting time T_RD; if yes, 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 periodically via the bus, and exit the pre-flight check. S224. Check if the pull-back command during the roll axis down control wait 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 via bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent via bus cycle.

[0014] Furthermore, the pre-flight yaw axis inspection process is as follows: S231. Check if a left turn command is received within the command waiting time T_YU on the yaw axis; if yes, proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", 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 control 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", sent periodically via the bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1. S233. Check whether a right turn command has been received via the bus within the yaw axis command waiting time T_YD; if yes, 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 periodically via the bus, and exit the pre-flight check. S234. Check whether the right turn command within the yaw axis down-axis control waiting time T1_YD is always greater than the yaw negative travel threshold. If so, the pre-flight check fault code is set to 0x2 "YawSnsr Fault", sent via bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent via bus cycle.

[0015] Furthermore, the pre-flight inspection process for the vertical axis is as follows: S231. Check if an ascent command is received within the command waiting time T_VU on the vertical axis; if yes, proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault", send it to the flight control computer via the bus cycle, and exit the pre-flight check. S232. Check whether the upward command is always less than the vertical positive travel threshold during the vertical axis operation waiting time T1_VU. If so, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault", sent periodically via the bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1. S233. Check whether a descent command has been received via the bus within the waiting time T_VD for the vertical axis command; if yes, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoCommand Fault", send it periodically via the bus, and exit the pre-flight check. S234. Check whether the right turn command is always greater than the vertical negative travel threshold within the vertical axis down-axis operation waiting time T1_VD. If so, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault", sent via bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent via bus cycle.

[0016] Furthermore, the periodic task period is T_SYS.

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

[0018] Preferably, in steps four, eight, twelve, sixteen, twenty, twenty-four, twenty-eight, and thirty-two, the forward push command, backward pull command, left press command, right press command, left turn command, right turn command, up command, and down command are each a 1-bit discrete command.

[0019] Preferably, in steps four, eight, twelve, sixteen, twenty, twenty-four, twenty-eight, and thirty-two, the pitch up command waiting time T_PU, pitch down command waiting time T_PD, roll up command waiting time T_RU, roll down command waiting time T_RD, yaw up command waiting time T_YU, yaw down command waiting time T_YD, vertical up command waiting time T_VU, and vertical down command waiting time T_VD should be equal.

[0020] Preferably, in steps six, ten, fourteen, eighteen, twenty-two, twenty-six, thirty, and thirty-four, the pitch control waiting time T1_PU, pitch down control waiting time T1_PD, roll control waiting time T1_RU, roll down control waiting time T1_RD, yaw control waiting time T1_YU, yaw down control waiting time T1_YD, vertical control waiting time T1_VU, and vertical down control waiting time T1_VD should be equal.

[0021] Preferably, in steps six and ten, the pitch positive travel threshold... With pitch negative travel threshold The signs are opposite, and the sizes can be equal or unequal.

[0022] Preferably, in steps six and ten, the pitch positive travel threshold... With pitch negative travel threshold The signs are opposite, and the sizes can be equal or unequal.

[0023] Preferably, in steps fourteen and eighteen, the roll positive travel threshold With roll negative travel threshold The signs are opposite, and the sizes can be equal or unequal.

[0024] Preferably, in steps 22 and 26, the yaw positive travel threshold With yaw negative travel threshold The signs are opposite, and the sizes can be equal or unequal.

[0025] Preferably, in steps 30 and 34, the vertical positive travel threshold With vertical negative travel threshold The signs are opposite, and the sizes can be equal or unequal.

[0026] The advantages of this invention are: (1) Comprehensive inspection: This invention can cover multiple aspects such as the mechanical structure, electronic components, and signal transmission of the quadcopter main control stick, ensuring no blind spots in inspection; (2) Improved reliability: Effectively eliminates potential problems, increases the reliability of the main control stick during flight, and reduces the probability of sudden failures; (3) Simple operation: The inspection process is easy to operate and can be mastered without complicated 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 a timely manner without delaying the normal operation of the aircraft; (5) High accuracy: By accurately detecting the angle value of the quadcopter main control stick at its extreme position, it is possible to accurately determine whether there is a mechanical or electrical fault. Attached Figure Description

[0027] Figure 1 This is the overall flowchart of the four-axis master joystick.

[0028] Figure 2 This is a flowchart of the pitch axis of the four-axis master joystick.

[0029] Figure 3 This is a flowchart of the roll axis of the four-axis master joystick.

[0030] Figure 4 This is a flowchart of the yaw axis of the four-axis master control stick.

[0031] Figure 5 This is a flowchart of the vertical axis of the four-axis master joystick. Detailed Implementation

[0032] The present invention will now be described in detail, see the appendix to the specification. Figure 1 ~Attached Figure 5 .

[0033] Example 1 like Figure 1 As shown, a pre-flight inspection method for a quadcopter master joystick involves the following steps: Step 1: The quadcopter master joystick is running in a cyclic mission. The master joystick's overall status is set to 0x2 (cyclic mission), and it reports to the flight control computer via the CANFD / CAN bus. Step 2: The four-axis master joystick listens for and receives data from the CANFD / CAN bus; Step 3: Determine if the pre-flight start-up conditions for the quadcopter master control stick are met; Step 4: If pre-flight checks are initiated, perform a pitch axis pre-flight check. Step 5: If the pitch axis pre-flight check is normal, perform the roll axis pre-flight check. Step 6: If the roll axis pre-flight check is normal, perform the yaw axis pre-flight check. Step 7: If the yaw axis pre-flight inspection is normal, perform the vertical axis pre-flight inspection; Step 8: If the pre-flight checks of the vertical axis are all normal, the main control stick passes the pre-flight check and exits the pre-flight check, entering the cyclic mission.

[0034] Preferably, in step one, the period of the periodic task is T_SYS (T_SYS=10ms). Preferably, in step two, the period for listening to and receiving data on the CANFD / CAN bus is T_CAN (T_CAN=20ms). Preferably, in step three, the pre-flight inspection initiation conditions are defined as follows: S1. If CANFD / CAN bus communication is normal and CCDL is fault-free, proceed to the next step; otherwise, exit. S2. Under normal CANFD / CAN bus communication and CCDL fault-free conditions, if the dual redundancy voting value of the air / ground status is ground ("1" means ground), and the dual redundancy voting value of the flight control system pre-flight check status is pre-flight, and the dual redundancy voting value of the pre-flight check activation switch is valid (rising edge is valid), then the main control stick pre-flight check is successfully started, and the main control stick enters the pre-flight check task; otherwise, the main control stick pre-flight check fails to start, and the main control stick does not enter the pre-flight check task. S3. If the pre-flight check of the main control stick is successfully initiated, the overall status of the main control stick is set to 0x1 (pre-flight check), and a report is sent to the flight control computer via the CANFD / CAN bus; if the pre-flight check of the main control stick fails to be initiated, the pre-flight validity flag is set to 0x0, the check fails, and a report is sent to the flight control computer via the CANFD / CAN bus.

[0035] Example 2 like Figure 2 As shown, a method for pre-flight inspection of the pitch axis of a quadcopter master control stick involves the following steps: Step 1: Check whether a push-forward command from the flight control computer is received via the CANFD / CAN bus within the pitch axis command waiting time T_PU (T_PU=5s); Step 2: If no forward push command is received or a forward push command is received but timeout occurs, the pre-flight check fault code is set to 0x4 "No Command Fault", sent periodically via CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pitch control command detection continues. Step 3: Check whether the pitch control command is always less than the positive pitch travel threshold during the pitch axis control waiting time T1_PU (T1_PU=10s). ( ); Step 4: If the pitch control command is always less than the positive pitch travel threshold during the pitch axis control latency time T1_PU... If the pre-flight check fault code is 0x0 "PthSnsr Fault", it will be sent periodically via the CANFD / CAN bus and the pre-flight check will be exited; otherwise, the pre-flight reply flag will be set to normal ("1" means normal) and sent periodically via the CANFD / CAN bus. Step 5: Check whether a pull-back command from the flight control computer is received via the CANFD / CAN bus within the pitch axis command waiting time T_PD (T_PD=5s); Step 6: If no pull-back command is received or a pull-back command is received but timeout occurs, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag of the flight control computer is cleared and the pitch control command is checked again. Step 7: Check whether the pitch control command is always greater than the pitch negative travel threshold during the pitch axis down-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 during the pitch axis down-axis control waiting time T1_PD... If the pre-flight check fault code is 0x0 "PthSnsr Fault", it will be sent periodically via the CANFD / CAN bus, and the pre-flight check will be exited; otherwise, the pre-flight reply flag will be set to normal ("1" means normal), and it will be 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 quadcopter master control stick involves the following steps: Step 1: Check whether a left-push command is received from the flight control computer via the CANFD / CAN bus within the command waiting time T_RU (T_RU=5s) on the roll axis. Step 2: If no left roll command is received or a left roll command is received but timeout occurs, the pre-flight check fault code is set to 0x4 "No Roll Fault", sent periodically via CANFD / CAN bus, and the pre-flight check is exited; otherwise, the roll control command detection continues. Step 3: Check whether the roll control command is always less than the positive roll travel threshold during the roll axis control waiting time T1_RU (T1_RU=10s). ( ); Step 4: If the roll control command is always less than the positive roll travel threshold during the roll axis control waiting time T1_RU... If the pre-flight check fault code is 0x1 "RollSnsr Fault", it will be sent periodically via the CANFD / CAN bus, and the pre-flight check will be exited; otherwise, the pre-flight reply flag will be set to normal ("1" means normal), and it will be sent periodically via the CANFD / CAN bus. Step 5: Check whether a right-push 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-push command is received or a right-push command is received but timeout occurs, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag of the flight control computer is cleared and the roll control command is checked again. Step 7: Check whether the roll control command is always greater than the negative roll travel threshold during the roll axis down control waiting time T1_RD (T1_RD=10s). ( ); Step 8: If the roll control command is always greater than the negative roll travel threshold during the roll axis down control waiting time T1_RD, If the pre-flight check fault code is 0x1 "RollSnsr Fault", it will be sent periodically via the CANFD / CAN bus, and the pre-flight check will be exited; otherwise, the pre-flight reply flag will be set to normal ("1" means normal), and it will be sent periodically via the CANFD / CAN bus.

[0037] Example 4 like Figure 4 As shown, a method for pre-flight inspection of the yaw axis of a quadcopter master control stick involves the following steps: Step 1: Check whether a left turn command is received from the flight control computer via the CANFD / CAN bus within the yaw axis command waiting time T_YU (T_YU=5s); Step 2: If no left turn command is received or a left turn command is received but timeout occurs, the pre-flight check fault code is set to 0x4 "No Command Fault", sent periodically via CANFD / CAN bus, and the pre-flight check is exited; otherwise, the yaw control command is checked again. Step 3: Check whether the yaw control command is always less than the positive yaw travel threshold during the yaw axis control waiting time T1_YU (T1_YU=10s). ( ); Step 4: If the yaw control command is always less than the positive yaw travel threshold during the yaw axis control waiting time T1_YU, If the pre-flight check fault code is 0x2 "YawSnsr Fault", it will be sent periodically via CANFD / CAN bus and the pre-flight check will be exited; otherwise, the pre-flight reply flag will be set to normal ("1" means normal) and sent periodically via CANFD / CAN bus. Step 5: Check whether a 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 timeout occurs, the pre-flight check fault code is set to 0x4 "NoComand Fault", sent periodically via CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag of the flight control computer is cleared and the yaw control command is checked again. Step 7: Check whether the yaw control command is always greater than the negative yaw travel threshold during the yaw axis control waiting time T1_YD (T1_YD=10s). ( ); Step 8: If the yaw control command is always greater than the negative yaw travel threshold during the yaw axis control waiting time T1_YD... If the pre-flight check fault code is 0x2 "YawSnsr Fault", it will be sent periodically via the CANFD / CAN bus, and the pre-flight check will be exited; otherwise, the pre-flight reply flag will be set to normal ("1" means normal), and it will be sent periodically via the CANFD / CAN bus.

[0038] Example 5 like Figure 5 As shown, a pre-flight inspection method for the vertical axis of a quadcopter main control stick involves the following steps: Step 1: Check whether an ascent command from the flight control computer is received via the CANFD / CAN bus within the command waiting time T_VU (T_VU=5s) on the vertical axis. Step 2: If no ascent command is received or the ascent command is received but times out, the pre-flight check fault code is set to 0x4 "No Command Fault", sent periodically via 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 travel threshold during the vertical axis control waiting time T1_VU (T1_VU=10s). ( ); Step 4: If the vertical control command is always less than the vertical positive travel threshold during the vertical axis control waiting time T1_VU... If the pre-flight check fault code is 0x3 "ThrSnsr Fault", it will be sent periodically via the CANFD / CAN bus and the pre-flight check will be exited; otherwise, the pre-flight reply flag will be set to normal ("1" means normal) and sent periodically via the CANFD / CAN bus. Step 5: Check whether a descent command from the flight control computer is received via the CANFD / CAN bus within the vertical axis command waiting time T_VD (T_VD=5s); Step 6: If no descent command is received or a descent command is received but timeout occurs, the pre-flight check fault code is set to 0x4 "No Command Fault", sent periodically via CANFD / CAN bus, and the pre-flight check is exited; otherwise, the pre-flight response flag of the flight control computer is cleared and the vertical control command is checked again. Step 7: Check whether the vertical control command is always greater than the vertical negative travel threshold during the vertical axis control waiting time T1_VD (T1_VD=10s). ( ); Step 8: If the vertical control command is always greater than the vertical negative travel threshold during the vertical axis down-axis control waiting time T1_VD... If the pre-flight check fault code is 0x3 "ThrSnsr Fault", it will be sent periodically via the CANFD / CAN bus, and the pre-flight check will be exited; otherwise, the pre-flight reply flag will be set to normal ("1" means normal), and it will be sent periodically via the CANFD / CAN bus.

[0039] The embodiments described above are merely preferred embodiments of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A pre-flight inspection method for a four-axis master control stick, characterized in that: Includes the following steps: Step 1, State Initialization: Set the overall state of the main control stick to periodic task and report to the flight control computer via the bus; Step 2: Determine if the pre-flight check initiation conditions are met. If met, proceed with the control axis pre-flight check; otherwise, exit. The control axis pre-flight check process is as follows: S21. Check if the first control command is received within the command waiting time; if yes, proceed to the next step; otherwise, set the pre-flight check fault code to the first flag, send it to the flight control computer via 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 control waiting time. If so, set the pre-flight check fault code to the second flag, send it through the bus cycle, and exit the pre-flight check. Otherwise, set the pre-flight reply flag to 1 and proceed to the next step. S23. Check whether the second control command is received through the bus during the command waiting time; if yes, 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 periodically through the bus, 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, set the pre-flight check fault code to the second flag, send it through the bus cycle, and exit the pre-flight check; otherwise, set the pre-flight reply flag to 1 and send it through the bus cycle.

2. The method according to claim 1, characterized in that: The process for determining whether the pre-flight check start conditions are met is as follows: S11. If the bus communication is normal and CCDL is fault-free, proceed to S12; otherwise, exit. S12. If the dual redundancy voting value for the air / ground status is ground, and the dual redundancy voting value for the flight control system pre-flight check status is pre-flight, and the dual redundancy voting value for the pre-flight check activation switch is valid, then the pre-flight check activation condition of the main control stick is met, and proceed to S13. Otherwise, the pre-flight check start conditions of the main control stick are not met, and the process proceeds to S14; S13, The main control stick is set to pre-flight check and reported to the flight control computer via the bus; S14. Set the pre-flight valid flag and report it to the flight control computer via the bus.

3. The method according to claim 1, characterized in that: The control axes include the pitch axis, roll axis, yaw axis, and vertical axis.

4. The method according to claim 3, characterized in that: The pre-flight inspection process for the pitch axis is as follows: S211. Check if a forward push command is received within the command waiting time T_PU on the pitch axis; if yes, 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, then exit the pre-flight check. S212. Check if the push-forward command within the pitch axis control wait 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", sent periodically via the bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1, and the process proceeds to the next step. S213. Check whether a pull-back command has been received via the bus within the pitch axis command waiting time T_PD; if yes, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoCommand Fault", send it periodically via the bus, and exit the pre-flight check. S214. Check if the pitch axis down-axis control wait time T1_PD and the pull-back command are always greater than the pitch negative travel threshold. If so, the pre-flight check fault code is set to 0x0 "PthSnsr Fault", sent via bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent via bus cycle.

5. The method according to claim 3, characterized in that: The pre-flight roll shaft inspection process is as follows: S221. Check if a left-push command is received within the command waiting time T_RU on the roll axis; if yes, proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault" and send it to the flight control computer via the bus cycle, then exit the pre-flight check. S222. Check whether the left-press command during the roll axis operation wait time T1_RU is always less than the roll forward travel threshold. If so, the pre-flight check fault code is set to 0x1 "RollSnsr Fault", sent periodically via the bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1. S223. Check whether a right-push command is received via the bus within the roll axis command waiting time T_RD; if yes, 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 periodically via the bus, and exit the pre-flight check. S224. Check if the pull-back command during the roll axis down control wait 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 via bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent via bus cycle.

6. The method according to claim 3, characterized in that: The pre-flight inspection process for the yaw axis is as follows: S231. Check if a left turn command is received within the yaw axis command waiting time T_YU; if yes, proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoComand Fault" and send it to the flight control computer via the bus cycle, then exit the pre-flight check. S232. Check whether the left turn command within the yaw axis control 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", sent periodically via the bus, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1. S233. Check whether a right turn command has been received via the bus within the yaw axis command waiting time T_YD; if yes, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoCommand Fault", send it periodically via the bus, and exit the pre-flight check. S234. Check whether the right turn command within the yaw axis down-axis control waiting time T1_YD is always greater than the yaw negative travel threshold. If so, the pre-flight check fault code is set to 0x2 "YawSnsr Fault" and sent via bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent via bus cycle.

7. The method according to claim 3, characterized in that: The pre-flight inspection process for the vertical axis is as follows: S231. Check if an ascent command is received within the command waiting time T_VU on the vertical axis; if yes, 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, then exit the pre-flight check. S232. Check whether the upward command is always less than the vertical positive travel threshold during the vertical axis operation waiting time T1_VU. If so, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault", which is sent periodically via the bus to exit the pre-flight check; otherwise, the pre-flight reply flag is set to 1. S233. Check whether a descent command has been received via the bus within the vertical axis command waiting time T_VD; if yes, set the pre-flight reply flag to 0 and proceed to the next step; otherwise, set the pre-flight check fault code to 0x4 "NoCommand Fault", send it periodically via the bus, and exit the pre-flight check. S234. Check whether the right turn command is always greater than the vertical negative travel threshold within the vertical axis down-axis operation waiting time T1_VD. If so, the pre-flight check fault code is set to 0x3 "ThrSnsr Fault" and sent via the bus cycle, and the pre-flight check is exited; otherwise, the pre-flight reply flag is set to 1 and sent via the bus cycle.

8. The method according to claim 1, characterized in that: The periodic task has a period of T_SYS.

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

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