Flight control parameter read-write and synchronous configuration system and method

Abstract

The invention discloses a flight control parameter read-write and synchronous configuration system and method, and belongs to the technical field of aircraft control, and the system comprises a parameter read-write interface module, a parameter analysis module, a synchronous driving module, a visual configuration module, a storage module and an interaction adaptation module. According to the method, parameters are read by calling a flight control parameter interface, the parameters are visually displayed in a standardized form after being analyzed, parameter writing is completed after a user configuration modification instruction is received, real-time synchronization of the parameters of a flight control end and a ground station UI end is achieved through a synchronous driving module, and local persistence and multiplexing of configuration are completed through a storage module at the same time. According to the invention, the existing flight control interface is reused, the interaction logic is optimized, unified read-write, real-time synchronization and visual configuration of flight control parameters are realized, the efficiency and usability of flight control parameter debugging are improved, and parameter management requirements of various flight control systems are met.

Description

Technical Field

[0001] This invention relates to the field of aircraft control technology, and in particular to a flight control parameter reading, writing and synchronization configuration system and method. Background Technology

[0002] In ground control station technology for aircraft such as drones, configuring flight control parameters is a core element for achieving stable flight and mission completion. Existing flight control parameter configuration schemes generally suffer from the following problems: First, the read and write interfaces for flight control parameters are scattered, and the parameter interfaces of different flight control systems are not uniform, which means that ground stations need to develop adaptation logic for different flight control systems, resulting in high development costs. Secondly, the parameter reading and parsing methods are not standardized, and the UI display is messy, making it difficult for users to intuitively understand the meaning of parameters and configuration rules. Third, the synchronization delay after parameter modification is prominent. After the flight controller parameter is updated, the ground station UI cannot provide real-time feedback, or the flight controller does not synchronize in time after the user modifies the parameter on the UI, which can easily lead to configuration errors. Fourth, the reusability of parameter configuration is poor. The parameter debugging configuration completed by the user cannot be easily saved and restored, and repeated debugging operations are cumbersome.

[0003] In addition, the parameter configuration interface of traditional ground stations only realizes basic numerical input and display, and lacks linkage with flight control status. For example, there is no clear feedback mechanism when parameter writing fails. The configuration interface of advanced parameter tuning parameters (such as attitude control sensitivity and ESC calibration parameters) is scattered, and the user operation process is fragmented, which further reduces the efficiency and accuracy of parameter configuration.

[0004] Therefore, a system and method are needed that can achieve unified reading and writing of flight control parameters, real-time synchronization, visual configuration, and high reusability to overcome the shortcomings of existing technologies. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a flight control parameter reading, writing, and synchronization configuration system and method, which solves the problems mentioned in the background section.

[0006] Technical Solution: To solve the above-mentioned technical problems, according to one aspect of the present invention, more specifically, a flight control parameter reading, writing, and synchronization configuration system, comprising: The parameter read / write interface module is used to call the parameter read and write interfaces of the flight control system to realize parameter data interaction with the flight control terminal. The parameters include basic flight control parameters, serial port parameters, CAN parameters, attitude control parameters, and advanced parameter tuning parameters. The parameter parsing module, connected to the parameter read / write interface module, is used to parse the read flight control parameter data and convert non-standardized parameter data into standardized form data adapted to the ground station UI display. Specifically, this includes: extracting the identifiers, values, units, and descriptions of basic flight control parameters and converting them into form display items; parsing the calibration status identifiers (0 for uncalibrated, 1 for calibrated) of sensors such as compasses and gyroscopes and converting them into visual text of "uncalibrated / calibrated"; parsing flight status identifiers and values ​​such as unlock / lock, RTK fixed solution / floating solution, battery voltage, and distance from home on the flight control end and converting them into display data for the flight status light indicator; parsing the raw data such as longitude, latitude, and altitude of waypoints and converting them into standardized display items for the waypoint list; and simultaneously extracting detailed description text of parameters and converting it into floating prompts and pop-up descriptions on the UI. The synchronization drive module is connected to the parameter read / write interface module, parameter parsing module and ground station UI module respectively. It is used to monitor the parameter changes of the flight control terminal in real time and drive the parameter display update of the UI interface. At the same time, it synchronizes the configuration modification commands of the user in the UI interface to the flight control terminal. The visualization configuration module, connected to the parameter parsing module and the synchronization drive module, is used to build a parameter setting interface and an advanced parameter tuning interface. It displays the parsed parameters in the form of forms, numerical boxes, and selection boxes, and provides interactive entry points for parameter modification, saving, and reading. The storage module, connected to the parameter read / write interface module and the visual configuration module, is used to persistently store the user-configured parameter data locally, and supports the saving, recovery and reuse of the configuration. The interactive adaptation module, connected to the visualization configuration module and the synchronization drive module, is used to adapt to the status feedback of the flight control system and realize the status switching and feedback of UI controls during parameter configuration. Specifically, it includes: graying out buttons such as "Read Parameters" and "Save Parameters" when writing parameters, changing the button color after successful writing, and popping up an error prompt when writing fails; graying out parameter input boxes that cannot be modified according to the parameter permissions of the flight control terminal; adapting the UI prompt switching of calibration progress in sensor calibration scenarios (such as from "Click to start calibration" to "Rotate the aircraft" and then to "Calibration complete"), and popping up a corresponding reminder when calibration fails; adapting the UI status feedback of operations such as "Simulate Emergency" and "Stop Simulation" in simulated flight scenarios, and displaying flight status indicator data such as simulated battery voltage and RTK status in real time. The interactive adaptation module, connected to the visualization configuration module and the synchronization drive module, is used to adapt to the status feedback of the flight control system and realize the status switching and feedback of UI controls during parameter configuration. Specifically, it includes: graying out the "Read Parameters" and "Save Parameters" buttons when writing parameters, changing the button color after successful writing, and popping up an error prompt when writing fails; graying out parameter input boxes that cannot be modified according to the parameter permissions of the flight control terminal; adapting to the UI prompt switching of calibration progress in sensor calibration scenarios (such as displaying the 'Rotating Aircraft' guide for compass calibration and the 'Six-Sided Stationary Placement' guide for accelerometer calibration), and popping up a corresponding reminder when calibration fails; adapting to the UI status feedback of 'Simulate Emergency' and 'Stop Simulation' operations in simulated flight scenarios, and displaying the simulated battery voltage, RTK status, flight altitude, and distance from home flight status indicator data in real time.

[0007] Furthermore, the parameter read / write interface module reuses the existing parameter read, write, and synchronization interfaces of the QGC (Ground Control Station), requiring no additional parameter logic. It supports reading parameters including FORMAT_VERSION, SYSID_THISMAV, SERIALO_BAUD, attitude control sensitivity parameters, attitude stability parameters, and other flight control system parameters. Simultaneously, it reuses the QGC waypoint management interface, supporting the reading and writing of waypoint parameters such as waypoint coordinates, altitude, speed, and turn patterns, as well as the reading of calibration status parameters (uncalibrated / calibrated) and real-time calibration process data (rotation angle, stationary duration) from the compass, gyroscope, accelerometer, and level sensor, and the transmission of calibration trigger commands. It also supports the reading and writing of preferred configuration parameters such as return-to-home indication, return-to-home line indication, flight trajectory, and high-speed communication, as well as parameter interaction for flight control commands such as "one-click takeoff," "return to home," and "simulated flight." The parameter read / write interface module reuses the existing parameter read, write, and synchronization interfaces of QGC (adapted to the QGC interface of Fuyou ground station v1.0.6), without the need to add new parameter logic. It supports reading parameter types including flight control system parameters such as FORMAT_VERSION, SYSID_THISMAV, SERIAL0_BAUD, SERIAL_PASS2, and PILOT_THR_FILT. At the same time, it reuses the QGC waypoint management interface, supporting the reading and writing of waypoint parameters such as waypoint coordinates, altitude, speed, and turn mode.

[0008] Furthermore, the visualization configuration module includes a basic parameter setting submodule and an advanced parameter tuning submodule. The basic parameter setting submodule displays configuration forms for flight controller basic parameters, serial port parameters, and CAN parameters in the form of "numerical input boxes + drop-down selection boxes + floating prompts," specifically displaying parameters such as FORMAT_VERSION, SYSID_THISMAV, and SERIALO_BAUD, and integrates switch controls for preferred configurations such as return-to-home point indication, return-to-line indication, flight trajectory, and high-speed communication. The advanced parameter tuning submodule provides 15 types of parameter debugging interfaces, including rack type calibration, ESC calibration settings, and flight controller installation position. The system includes interfaces for offset settings, RTK / GPS installation location offset settings, dual antenna parameter settings, auxiliary channel settings, camera trigger settings, serial port parameter settings, CAN parameter settings, IIC parameter display, all parameter display, attitude control sensitivity adjustment, attitude stabilization parameter configuration, firmware update, and other parameter configuration. Among these, the sensor calibration-related interfaces (compass, gyroscope, accelerometer, level calibration) provide an interactive entry point for "entering the calibration interface." During the calibration process, real-time calibration guidance (such as aircraft rotation prompts and stationary placement prompts) and calibration progress are displayed. The attitude control sensitivity interface displays adjustment controls for parameters such as roll and pitch sensitivity and yaw sensitivity, along with adjustment prompts.

[0009] Furthermore, the synchronization drive module constructs a UI update mechanism by calling the flight control status interface. When the parameters on the flight control end change, the parameters on the ground station UI interface are refreshed within 100ms. The synchronized data types include flight control parameters, flight data (flight time, number of satellites, altitude, airspeed), sensor calibration progress (rotation completion, calibration status), waypoint status (updated status after waypoint modification / route editing), and the availability status of the control button area. When the user modifies the parameters on the UI interface, the synchronization drive module sends the modification command to the flight control end in real time and verifies the parameter writing result. At the same time, it verifies the execution results of the sensor calibration command and waypoint upload command. If the verification fails, the UI will pop up an error message. It can also trigger the color / gray status switching of control buttons such as "Start Navigation" and "One-Click Takeoff" based on flight control feedback, realizing real-time linkage between the UI and the flight control status.

[0010] Furthermore, the storage module is also used to store historical versions of parameter configurations, allowing users to roll back to a specified version of the parameter configuration. It also reuses the configuration save and restore interface of the settings module, enabling unified management of parameter configurations and other ground station configurations. The stored data types include flight control parameter configurations, historical sensor calibration data (calibration time, status, key parameters), waypoint data (supporting automatic and manual saving after waypoint modification / route editing), return-to-home indicators, high-speed communication preferences, and simulated flight parameters. The historical version management function covers the retrospective and restoration of flight control parameters, waypoint configurations, and sensor calibration status.

[0011] According to another aspect of the present invention, more specifically a method for reading, writing, and synchronizing flight control parameters, using a flight control parameter reading, writing, and synchronizing configuration system as described above, the method includes the following steps: S1: Parameter reading trigger, which calls the parameter reading interface of the flight control system through the parameter read / write interface module to obtain the raw parameter data of the flight control terminal; S2: Parameter parsing and processing. The parameter parsing module parses the raw parameter data, extracts the parameter identifier, parameter value, parameter unit and parameter description, and converts it into standardized form data adapted for visualization. S3: Parameter visualization display. The visualization configuration module displays the parsed standardized form data in the parameter setting interface and advanced parameter adjustment interface of the ground station. The display format includes parameter name, current value, modification box and parameter description pop-up window. S4: Parameter configuration modification. Receives parameter modification instructions input by the user in the visual configuration interface, verifies the validity of the parameter values, and generates parameter modification data if valid. S5: Parameter writing and synchronization. The parameter read and write interface module sends the parameter modification data to the flight controller terminal through the flight controller parameter writing interface. The synchronization driver module monitors the writing result. If the writing is successful, it drives the UI interface to update the parameter display. If the writing fails, it returns an error message. S6: Parameter configuration storage. The storage module will persistently store the modified parameter configuration data locally, and also supports users to manually trigger configuration saving or automatically save configuration changes.

[0012] Furthermore, the validity verification of parameter values ​​in step S4 includes: verifying whether the parameter values ​​are within the preset threshold range of the flight control system, verifying whether the parameter data type matches the integer or floating-point type required by the flight control terminal; simultaneously verifying the geographical range threshold of waypoint coordinates, verifying whether the flight control connection status of sensor calibration commands meets the trigger conditions, and verifying whether the current flight status allows the execution of flight control commands (e.g., prohibiting "start navigation" in the unlocked state). If the verification fails, a prompt will pop up and parameter / command writing will be prohibited.

[0013] Furthermore, step S5 also includes flight controller parameter readback verification: after the parameters are written, the parameter read / write interface module immediately reads back the corresponding parameters on the flight controller. If the readback value is inconsistent with the modified value, the synchronization drive module triggers an exception reminder and displays the difference between the readback value and the modified value. For sensor calibration commands and waypoint data uploads, the synchronization drive module also verifies the command execution result and waypoint writing status. If the execution fails, it displays the specific reason for the failure (such as "flight controller not connected" or "waypoint coordinates out of range") and drives the UI to refresh the status of the flight status indicator and control button area.

[0014] Furthermore, in step S6, the parameter configuration data stored locally in persistent storage supports associated storage with waypoint management configuration, map setting configuration, and global setting configuration, enabling unified backup and recovery of flight control parameter configuration and other ground station configurations.

[0015] Furthermore, the method also includes a parameter batch configuration step: receiving the parameter configuration file uploaded by the user, parsing the parameter data in the file and writing it in batches to the flight controller, and completing the batch parameter refresh of the UI interface through the synchronization drive module, while storing the batch configuration data in the storage module.

[0016] The beneficial effects of the flight control parameter reading, writing, and synchronization configuration system and method of the present invention are as follows: (1) This invention reuses the existing flight control parameter interface of QGC, without the need to add new parameter logic, which reduces the development cost and adapts to the parameter reading and writing needs of various flight control systems.

[0017] (2) The present invention realizes real-time synchronization of parameters between the flight control terminal and the UI terminal through the synchronization drive module, and the synchronization delay is controlled within 100ms, thus avoiding the risk of configuration error.

[0018] (3) The present invention constructs a hierarchical parameter configuration interface, displays parameters in a standardized form, and provides parameter descriptions and status feedback, thereby improving the convenience and accuracy of user operation.

[0019] (4) The present invention relies on the storage module to realize the local persistence of parameter configuration, sensor calibration history data and waypoint data, supports historical version management and batch configuration, and realizes the automatic saving of waypoints and unified storage of preference settings, reducing repeated debugging and waypoint configuration operations, and improving the efficiency of parameter configuration and aircraft debugging; the synchronous drive module also realizes the real-time synchronization of simulated flight data and sensor calibration progress, further optimizing the user operation experience. Attached Figure Description

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0021] Figure 1 This is a schematic diagram of the system of the present invention; Figure 2 This is a flowchart of the method of the present invention. Detailed Implementation

[0022] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the present application can be combined with each other.

[0023] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Reference Figure 1 A flight control parameter reading, writing, and synchronization configuration system includes a parameter reading and writing interface module, a parameter parsing module, a synchronization driver module, a visualization configuration module, a storage module, and an interaction adaptation module. The specific functions of each module are as follows: Parameter read / write interface module Reusing QGC's existing flight control parameter reading, writing, and synchronization interfaces, without adding new parameter logic, it supports reading all types of flight control parameters, including basic flight control parameters (such as FORMAT_VERSION, SYSID_THISMAV), serial port parameters (such as SERIALO_BAUD, SERIAL1_PROTOCOL), CAN parameters, attitude control parameters (such as roll and pitch sensitivity), and advanced tuning parameters (such as frame type and ESC calibration settings). It also adapts to the parameter reading and writing requirements of high-speed communication configurations, enabling parameter data interaction with the flight control terminal. Furthermore, it supports reading and writing calibration-related parameters for compasses, gyroscopes, accelerometers, and level sensors, providing data support for sensor calibration.

[0025] Parameter parsing module The raw parameter data read by the parameter read / write interface module is parsed to extract parameter identifiers, parameter values, parameter units, and parameter descriptions (e.g., the parameter description for SERIAL_PASS2 is "Sets a pass-through between two serial ports; after both sides are set, all data received by one port will be transmitted to the other port"). This converts the non-standardized raw data into standardized form data adapted for the ground station UI display. Simultaneously, for configuration parameters such as return-to-home point indication, return-to-line indication, and flight trajectory, their status identifiers and numerical meanings are parsed. For sensor calibration parameters, the calibration status (uncalibrated / calibrated) and real-time data during the calibration process are parsed to ensure the consistency of parameter display.

[0026] Synchronous drive module As the core of parameter synchronization between the flight controller and the ground station UI, this module monitors parameter changes on the flight controller in real time and drives the parameter display on the visual configuration interface to refresh in real time through the UI update mechanism. Simultaneously, it receives parameter modification commands from the visual configuration module, synchronously sends the modified parameter data to the flight controller, and verifies the write results to ensure parameter consistency between the flight controller and the UI. This module can also synchronize the status data of the current flight status indicator lights (such as unlock / lock, RTK fixed / floating solution, battery voltage, connection status, etc.) in real time, as well as the trigger status and save results of automatic waypoint saving, completing the status refresh of relevant UI elements within 100ms.

[0027] Visual configuration module Construct a hierarchical parameter configuration interface, including a basic parameter setting interface and an advanced parameter tuning interface.

[0028] Basic parameter setting interface: Displays basic flight control parameters, serial port parameters, etc. in form, and provides interactive controls such as numerical input boxes and drop-down selection boxes; it also integrates a preference setting display area, showing the on / off status of return home point indicator, return route indicator, flight path, and high-speed communication enabled status, allowing users to modify these configuration parameters through interactive controls.

[0029] Advanced parameter tuning interface: Integrates 15 types of parameter tuning interfaces, including rack type, ESC calibration, flight controller / RTK installation position offset, attitude control sensitivity, etc. Specifically, it includes rack type calibration page, ESC calibration setting page, flight controller installation position offset setting page, RTK / GPS installation position offset setting page, dual antenna parameter setting page, auxiliary channel setting entry, camera trigger setting page, serial port parameter setting page, CAN parameter setting page, IIC parameter display entry, all parameter display entry, attitude control sensitivity adjustment page, attitude stabilization parameter configuration page, firmware update page, and other parameter configuration pages. The sensor calibration interfaces (compass calibration, gyroscope calibration, accelerometer calibration, and level calibration) provide interactive entry points to the calibration interface, displaying real-time calibration guidance (such as aircraft rotation prompts and stationary placement prompts) and calibration progress during the calibration process. The attitude control sensitivity page displays adjustment controls for parameters such as roll / pitch sensitivity, yaw sensitivity, and altitude sensitivity. The attitude stabilization parameter page provides configuration items for parameters such as pitch force, roll force, and yaw force, along with parameter adjustment prompts (e.g., increase roll / pitch force during high-frequency jitter and decrease roll / pitch force during large-amplitude swaying). In addition, the advanced parameter tuning interface provides parameter read and save buttons, as well as parameter description prompts, supporting users to debug various advanced parameters.

[0030] Storage module This module enables local persistent storage of parameter configuration data, supporting the saving and restoration of individual parameter configurations, as well as the management and rollback of historical versions of parameter configurations. It also reuses the configuration saving and restoration interface of the ground station settings module, associating parameter configurations with waypoint management, map settings, and other configurations for unified backup and reuse. The module also supports automatic waypoint saving, automatically saving waypoint data based on user-configured trigger conditions (such as waypoint modification or route editing completion), and also allows users to manually save waypoint lists. For high-speed communication configuration parameters, they are stored together with core flight control parameters to ensure the persistence of communication configurations. Furthermore, the storage module records historical sensor calibration data, facilitating users to review calibration records.

[0031] Interaction adaptation module This module adapts to the status feedback of the flight control system, enabling the switching of UI control statuses during parameter configuration. For example, buttons are grayed out when parameters are written, change color upon successful writing, and display an error message upon failure. Simultaneously, based on parameter permissions on the flight controller, parameters that cannot be modified are grayed out to prevent invalid operations. The module also provides status switching feedback for the control button area, including color / graying effects for flight control buttons such as Start Navigation, Pause, One-Key Takeoff, and Return to Home, as well as dynamic display of current flight status indicators (such as unlocked / locked, RTK fixed solution, battery voltage percentage, connection status, etc.). During sensor calibration, UI prompts are switched based on calibration progress and status, such as displaying guidance on aircraft rotation or stationary placement after calibration begins, and displaying corresponding pop-up windows upon calibration completion / failure. Modifications to configurations such as return-to-home point indication, return-to-line indication, and flight trajectory are fed back to the UI interface in real time.

[0032] Reference Figure 2 A method for reading, writing, and synchronizing flight control parameters is applied to the above system. The method includes the following steps: S1, Parameter Reading Trigger When a user clicks the "Read Parameters" button on the parameter setting interface of the ground station, the parameter read / write interface module is triggered to call the flight control parameter read interface to obtain raw parameter data from the flight control terminal, including flight control core parameters, sensor calibration parameters, high-speed communication configuration parameters, return home / return route / flight trajectory configuration parameters, and waypoint automatic saving related parameters, etc.

[0033] S2, Parameter parsing and processing After receiving the raw parameter data, the parameter parsing module extracts the parameter information according to the preset parsing rules and converts it into standardized form data. For example, it parses the raw value "57" of SERIALO_BAUD into the display data "Serial port 0 baud rate: 57000bps". At the same time, it parses the sensor calibration status data (uncalibrated / calibrated), the flight status light status indicators (such as unlocked status, RTK fixed solution status), and the on / off status of configurations such as return point indication, and converts them into standardized data formats adapted to UI display.

[0034] S3, Parameter Visualization The visualization configuration module displays the parsed standardized form data in the parameter setting interface, provides floating prompts for fields with parameter descriptions, and offers a separate sub-interface entry for advanced parameter tuning. Simultaneously, the basic parameter setting interface displays the current status of the return-to-home point indicator, return-to-line indicator, and flight trajectory; the control button area displays the real-time status of the current flight status indicator lights; the sensor calibration section of the advanced parameter tuning interface displays the calibration status of each sensor and provides a calibration entry point; the waypoint list area displays saved waypoint data, and allows dragging and dropping to adjust the waypoint order.

[0035] S4. Parameter Configuration Modification Users can modify parameter values ​​in the visual configuration interface, including preferred configuration parameters such as flight control core parameters, advanced parameter tuning parameters, and return-to-home point indication. The interactive adaptation module verifies the validity of the input parameter values, including threshold verification (e.g., the attitude filter cutoff frequency must be within the range of 0-20Hz) and data type verification. For modifications to sensor calibration parameters, it verifies whether the triggering conditions for the calibration operation are met (e.g., flight control connection status). After successful verification, parameter modification data is generated. If the user triggers a sensor calibration operation, calibration command data is generated.

[0036] S5, Parameter Writing and Synchronization The parameter read / write interface module writes the modified parameter data to the flight controller. The synchronization drive module immediately reads back the corresponding parameters from the flight controller for verification. If the read-back value matches the modified value, the synchronization drive module updates the parameter display on the UI, including the status of preferred configurations such as the return-to-home point indicator and the values ​​of flight status indicator lights (such as battery voltage and distance from home). If they do not match, an error alert is triggered and the difference information is displayed. For sensor calibration commands, after the flight controller executes the calibration operation, the synchronization drive module obtains the calibration progress and results in real time, drives the UI to display calibration guidance and status feedback, and updates the sensor calibration status display after calibration is completed.

[0037] S6, Parameter Configuration Storage The storage module automatically saves the modified parameter configuration data locally, including flight control parameters, preferred configuration parameters, and sensor calibration status data. Users can also manually trigger the "Save Configuration" operation to save the current parameter configuration by name, supporting parameter reuse through "Load Configuration" later. At the same time, if the automatic waypoint saving function is enabled, the storage module will automatically save waypoint data after waypoint modification or route editing. Users can also manually save the waypoint list to achieve waypoint data reuse and backtracking.

[0038] In addition, the method also supports batch parameter configuration: users upload preset parameter configuration files, and after the system parses the files, it writes them to the flight controller in batches through the parameter read / write interface module. The synchronous drive module completes the batch parameter refresh of the UI interface, including preference configurations such as return point indication and batch updates of sensor calibration status, which greatly improves the efficiency of multi-parameter configuration. At the same time, it supports batch writing of sensor calibration parameters and batch synchronization of calibration status, further optimizing the aircraft debugging process.

[0039] The embodiments described above are merely illustrative of several implementations 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 flight control parameter reading, writing, and synchronization configuration system, characterized in that, include: The parameter read / write interface module is used to call the parameter read and write interfaces of the flight control system to realize parameter data interaction with the flight control terminal. The parameters include basic flight control parameters, serial port parameters, CAN parameters, attitude control parameters, and advanced parameter tuning parameters. The parameter parsing module, connected to the parameter read / write interface module, is used to parse the read flight control parameter data and convert non-standardized parameter data into standardized form data adapted to the ground station UI display. Specifically, this includes: extracting the identifiers, values, units, and descriptions of basic flight control parameters and converting them into form display items; parsing the calibration status identifiers of the compass and gyroscope sensors and converting them into "uncalibrated / calibrated" visual text; parsing the flight status identifiers and values ​​of unlock / lock, RTK fixed solution / floating solution, battery voltage, and distance from home on the flight control end and converting them into display data for the flight status light indicator; parsing the raw data of longitude, latitude, and altitude of waypoints and converting them into standardized display items for the waypoint list; and simultaneously extracting detailed description text of the parameters and converting it into floating prompts and pop-up descriptions on the UI. The synchronization drive module is connected to the parameter read / write interface module, parameter parsing module and ground station UI module respectively. It is used to monitor the parameter changes of the flight control terminal in real time and drive the parameter display update of the UI interface. At the same time, it synchronizes the configuration modification commands of the user in the UI interface to the flight control terminal. The visualization configuration module, connected to the parameter parsing module and the synchronization drive module, is used to build a parameter setting interface and an advanced parameter tuning interface. It displays the parsed parameters in the form of forms, numerical boxes, and selection boxes, and provides interactive entry points for parameter modification, saving, and reading. The storage module, connected to the parameter read / write interface module and the visual configuration module, is used to persistently store the user-configured parameter data locally, and supports the saving, restoration and reuse of the configuration. The interactive adaptation module, connected to the visualization configuration module and the synchronization drive module, is used to adapt to the status feedback of the flight control system, realizing the status switching and feedback of UI controls during parameter configuration. Specifically, it includes: graying out the "Read Parameters" and "Save Parameters" buttons when writing parameters, changing the button color after successful writing, and popping up an error message when writing fails; graying out parameter input boxes that cannot be modified according to the parameter permissions of the flight control terminal; adapting to the UI prompt switching of calibration progress in the sensor calibration scenario, and popping up a corresponding reminder when calibration fails; adapting to the UI status feedback of "Simulate Emergency" and "Stop Simulation" operations in the simulated flight scenario, and displaying the simulated battery voltage and RTK status flight status indicator data in real time. The interactive adaptation module, connected to the visualization configuration module and the synchronization drive module, is used to adapt to the status feedback of the flight control system, realizing the status switching and feedback of UI controls during parameter configuration. Specifically, it includes: graying out the "Read Parameters" and "Save Parameters" buttons when writing parameters, changing the button color after successful writing, and popping up an error prompt when writing fails; graying out parameter input boxes that cannot be modified according to the parameter permissions of the flight controller; adapting the UI prompt switching of calibration progress in the sensor calibration scenario, and popping up a corresponding reminder when calibration fails; adapting the UI status feedback of "Simulate Emergency" and "Stop Simulation" operations in the simulated flight scenario, and displaying the simulated battery voltage, RTK status, flight altitude, and distance from home flight status indicator data in real time.

2. The flight control parameter reading, writing, and synchronization configuration system according to claim 1, characterized in that, The parameter read / write interface module reuses the existing parameter read, write, and synchronization interfaces of QGC, requiring no new parameter logic. It supports reading parameters including FORMAT_VERSION, SYSID_THISMAV, SERIALO_BAUD, attitude control sensitivity parameters, and attitude stability parameters—flight control system parameters. It also reuses the QGC waypoint management interface, supporting the reading and writing of waypoint coordinates, altitude, speed, and turn mode parameters, as well as the reading of calibration status parameters of the compass, gyroscope, accelerometer, and level sensor, real-time calibration data, and the transmission of calibration trigger commands. Furthermore, it supports the reading and writing of return-to-home (ROW) indication, return-to-home (ROW) indication, flight trajectory, and high-speed communication preference configuration parameters, and parameter interaction for flight control commands such as "one-click takeoff," "return to home," and "simulated flight." The parameter read / write interface module reuses the existing parameter read, write, and synchronization interfaces of QGC, without the need to add new parameter logic. It supports reading flight control system parameters including FORMAT_VERSION, SYSID_THISMAV, SERIAL0_BAUD, SERIAL_PASS2, and PILOT_THR_FILT. At the same time, it reuses the QGC waypoint management interface, supporting the reading and writing of waypoint parameters such as waypoint coordinates, altitude, speed, and turn mode.

3. The flight control parameter reading, writing, and synchronization configuration system according to claim 2, characterized in that, The visualization configuration module includes a basic parameter setting submodule and an advanced parameter tuning submodule. The basic parameter setting submodule displays configuration forms for flight control basic parameters, serial port parameters, and CAN parameters in the form of "numerical input box + drop-down selection box + floating prompt". Specifically, it displays FORMAT_VERSION, SYSID_THISMAV, and SERIALO_BAUD parameters, and integrates switch controls for return-to-home point indication, return-to-line indication, flight trajectory, and high-speed communication preference configuration. The advanced parameter tuning submodule provides 15 types of parameter debugging interfaces, including frame type calibration, ESC calibration settings, flight control installation position offset settings, RTK / GPS installation position offset settings, dual antenna parameter settings, auxiliary channel settings, camera trigger settings, serial port parameter settings, CAN parameter settings, IIC parameter display, all parameter display, attitude control sensitivity adjustment, attitude stabilization parameter configuration, firmware update, and other parameter configuration interfaces. Among them, the sensor calibration related interface provides an interactive entry point for "entering the calibration interface", displays real-time calibration guidance and calibration progress during the calibration process, and the attitude control sensitivity interface displays roll, pitch, and yaw sensitivity parameter adjustment controls with adjustment prompts. After the basic parameter setting submodule modifies serial port parameters such as SERIAL0_BAUD, the synchronous driver module triggers a real-time refresh of the serial port parameter setting page in the advanced parameter tuning submodule. After the attitude control sensitivity parameters in the advanced parameter tuning submodule are modified, the synchronous driver module verifies the parameter thresholds and feeds back to the status prompt area of ​​the basic parameter setting submodule.

4. The flight control parameter reading, writing, and synchronization configuration system according to claim 3, characterized in that, The synchronization drive module constructs a UI update mechanism by calling the flight control status interface. When the parameters on the flight control end change, the parameters on the ground station UI interface are refreshed within 100ms. The synchronized data types include flight control parameters, flight data, sensor calibration progress, waypoint status, and the availability status of the control button area. When the user modifies the parameters on the UI interface, the synchronization drive module sends the modification command to the flight control end in real time and verifies the parameter writing result. At the same time, it verifies the execution results of sensor calibration commands and waypoint upload commands. If the verification fails, the drive UI will pop up an error message. It can also trigger the color / gray status switching of the "Start Navigation" and "One-Click Takeoff" control buttons based on flight control feedback to achieve real-time linkage between the UI and the flight control status.

5. The flight control parameter reading, writing, and synchronization configuration system according to claim 4, characterized in that, The storage module is also used to store historical versions of parameter configurations, allowing users to roll back to a specified version of the parameter configuration. It also reuses the configuration save and restore interface of the settings module to achieve unified management of parameter configurations and other configurations of the ground station. The stored data types include flight control parameter configurations, sensor calibration history data, waypoint data, return-to-home indicators, high-speed communication preference settings, and simulated flight parameters. The historical version management function covers the retrospection and restoration of flight control parameters, waypoint configurations, and sensor calibration status.

6. A method for reading, writing, and synchronizing flight control parameters, using the flight control parameter reading, writing, and synchronizing configuration system as described in claim 5, characterized in that, Includes the following steps: S1: Parameter reading trigger, which calls the parameter reading interface of the flight control system through the parameter read / write interface module to obtain the raw parameter data of the flight control terminal; S2: Parameter parsing and processing. The parameter parsing module parses the raw parameter data, extracts the parameter identifier, parameter value, parameter unit and parameter description, and converts it into standardized form data adapted for visualization. S3: Parameter visualization display. The visualization configuration module displays the parsed standardized form data in the parameter setting interface and advanced parameter adjustment interface of the ground station. The display format includes parameter name, current value, modification box and parameter description pop-up window. S4: Parameter configuration modification. Receives parameter modification instructions input by the user in the visual configuration interface, verifies the validity of the parameter values, and generates parameter modification data if valid. S5: Parameter writing and synchronization. The parameter read and write interface module sends the parameter modification data to the flight controller terminal through the flight controller parameter writing interface. The synchronization driver module monitors the writing result. If the writing is successful, it drives the UI interface to update the parameter display. If the writing fails, it returns an error message. S6: Parameter configuration storage. The storage module will persistently store the modified parameter configuration data locally, and also supports users to manually trigger configuration saving or automatically save configuration changes.

7. The method for reading, writing, and synchronizing flight control parameters according to claim 6, characterized in that, The validity verification of parameter values ​​in step S4 includes: verifying whether the parameter values ​​are within the preset threshold range of the flight control system, verifying whether the parameter data type matches the integer or floating-point type required by the flight control terminal; simultaneously verifying the geographical range threshold of waypoint coordinates, verifying whether the flight control connection status of sensor calibration commands meets the trigger conditions, and verifying whether the current flight status allows the execution of flight control commands. If the verification fails, a prompt will pop up and parameter / command writing will be prohibited.

8. The method for reading, writing, and synchronizing flight control parameters according to claim 6, characterized in that, Step S5 also includes flight controller parameter readback verification: After the parameters are written, the parameter read / write interface module immediately reads back the corresponding parameters on the flight controller. If the readback value is inconsistent with the modified value, the synchronization drive module triggers an error reminder and displays the difference between the readback value and the modified value. For sensor calibration commands and waypoint data uploads, the synchronization drive module also verifies the command execution result and waypoint writing status. If the execution fails, it displays the specific reason for the failure and drives the UI to refresh the status of the flight status indicator and the control button area.

9. The method for reading, writing, and synchronizing flight control parameters according to claim 6, characterized in that, In step S6, the parameter configuration data stored locally can be associated with waypoint management configuration, map setting configuration, and global setting configuration, so as to achieve unified backup and recovery of flight control parameter configuration and other ground station configurations.

10. The method for reading, writing, and synchronizing flight control parameters according to claim 6, characterized in that, The method also includes a parameter batch configuration step: receiving the parameter configuration file uploaded by the user, parsing the parameter data in the file and writing it in batches to the flight controller, and completing the batch parameter refresh of the UI interface through the synchronous drive module, while storing the batch configuration data in the storage module.

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