Aircraft control method, aircraft, control device and computer-readable storage medium

Abstract

A kind of aircraft control method, aircraft, control device and computer readable storage medium.The method comprises: when detecting that aircraft is switched from first flight mode to second flight mode, target control strategy is determined (S101);So it can be based on the target control strategy to control aircraft (S102).Wherein, target control strategy is used to control aircraft to transition smoothly to second flight mode.The method can avoid the sudden attitude roll of aircraft or the misoperation caused by user's reaction not enough, improves security.

Description

Aircraft control method, aircraft, control device and computer readable storage medium TECHNICAL FIELD

[0001] The present application relates to the field of aircraft control technology, and in particular to an aircraft control method, an aircraft, a control device and a computer readable storage medium. BACKGROUND

[0002] An aircraft often has multiple flight modes to achieve different shooting requirements or flight experiences. During the actual flight of the aircraft, the user will switch the flight mode of the aircraft according to different shooting requirements or flight experiences. Since different flight modes have different control strategies for the position, speed, attitude and throttle channel of the aircraft, how to improve the safety of flight when the user switches from other flight modes to the angular velocity control mode is a difficult problem to be solved.

[0003] In the traditional technology, when the unmanned aerial vehicle is switched from one mode to another mode, such as from a non-angular velocity direct control mode to an angular velocity direct control mode, or from a non-throttle direct control mode to a throttle direct control mode, the user needs to quickly adjust the remote control device of the aircraft to avoid large angular velocity or throttle mutation of the aircraft. However, the above method depends on the experience of the user and has a high threshold.

[0004] SUMMARY

[0005] Therefore, it is necessary to provide an aircraft control method, an aircraft, a control device and a computer readable storage medium capable of improving the flight safety during the mode switching of the aircraft.

[0006] In a first aspect, the present application provides an aircraft control method, comprising:

[0007] When it is detected that the aircraft is switched from a first flight mode to a second flight mode, a target control strategy is determined, the target control strategy being used to control the aircraft to smoothly transition to the second flight mode, the second flight mode being an angular velocity direct control mode or a throttle direct control mode, and the first flight mode being a mode other than the second flight mode;

[0008] The aircraft is controlled based on the target control strategy.

[0009] In a second aspect, the present application further provides an aircraft comprising a memory and a processor, the memory storing a computer program, and when the computer program is executed by the processor, the processor is configured to determine a target control strategy when it is detected that the aircraft is switched from a first flight mode to a second flight mode, the target control strategy being used to control the aircraft to smoothly transition to the second flight mode.

[0010] In a third aspect, the present application provides a control device, comprising a memory and a processor, the memory storing a computer program, when the computer program is executed by the processor, the processor is configured to determine a target control strategy for controlling the aircraft to smoothly transition to the second flight mode when detecting that the aircraft switches from the first flight mode to the second flight mode.

[0011] In a fourth aspect, the present application provides a computer readable storage medium, storing a computer program, when the computer program is executed by a processor, the steps of the above aircraft control method are implemented.

[0012] The above aircraft control method, aircraft, control device and computer readable storage medium, when detecting that the aircraft switches from the first flight mode to the second flight mode, determine a target control strategy. Thus, the aircraft can be controlled based on the target control strategy. Wherein, the target control strategy is used to control the aircraft to smoothly transition to the second flight mode, and the first flight mode is a mode other than the second flight mode. Since the aircraft control method provided by the embodiments of the present application determines the target control strategy, and then controls the aircraft based on the target control strategy, the jump problem that may occur during mode switching is avoided without relying on the experience of the user, and the safety is improved.

[0013] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application, the contents of the specification can be implemented, and in order to enable the above and other purposes, features and advantages of the present application to be more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0014] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the embodiments. The accompanying drawings are included only to illustrate embodiments and are not considered to be limiting of the present application. Moreover, in the entire drawings, identical reference numerals are used to designate identical parts. In the drawings:

[0015] FIG. 1 is a flowchart of an aircraft control method according to an embodiment;

[0016] FIG. 2 is a flowchart of a target control strategy determination method according to an embodiment;

[0017] FIG. 3 is a flowchart of a target control strategy determination method according to an embodiment;

[0018] FIG. 4 is a flowchart of a target control strategy determination method according to an embodiment;

[0019] Fig. 5 is a mapping relationship diagram of the lever value and the standard angular velocity control quantity in one embodiment;

[0020] Fig. 6 is a mapping relationship diagram of the lever value and the standard angular velocity control quantity in one embodiment;

[0021] Fig. 7 is a mapping relationship diagram of the lever value and the standard throttle control quantity in one embodiment;

[0022] Fig. 8 is a mapping relationship diagram of the lever value and the standard throttle control quantity in one embodiment;

[0023] Fig. 9 is a flowchart of a method for controlling an aircraft in one embodiment;

[0024] Fig. 10 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in one embodiment;

[0025] Fig. 11 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in one embodiment;

[0026] Fig. 12 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in one embodiment;

[0027] Fig. 13 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in one embodiment;

[0028] Fig. 14 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in one embodiment;

[0029] Fig. 15 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in one embodiment;

[0030] Fig. 16 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in one embodiment;

[0031] Fig. 17 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in one embodiment;

[0032] Fig. 18 is a flowchart of a method for determining the angular velocity transition lever threshold value in one embodiment;

[0033] Fig. 19 is a schematic diagram of the throttle transition lever threshold value corresponding to the preset transition control strategy in one embodiment;

[0034] Fig. 20 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in one embodiment;

[0035] Fig. 21 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in one embodiment;

[0036] Fig. 22 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in an embodiment, part VIII;

[0037] Fig. 23 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in an embodiment, part IX;

[0038] Fig. 24 is a schematic diagram of the angular velocity transition lever threshold determination method in an embodiment, part II;

[0039] Fig. 25 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in an embodiment, part X;

[0040] Fig. 26 is a schematic diagram of the angular velocity preset transition control strategy and the standard angular velocity control strategy in an embodiment, part XI;

[0041] Fig. 27 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in an embodiment, part IV;

[0042] Fig. 28 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in an embodiment, part V;

[0043] Fig. 29 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in an embodiment, part VI;

[0044] Fig. 30 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in an embodiment, part VII;

[0045] Fig. 31 is a schematic diagram of the angular velocity transition lever threshold determination method in an embodiment, part III;

[0046] Fig. 32 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in an embodiment, part VIII;

[0047] Fig. 33 is a schematic diagram of the transition throttle control strategy and the standard throttle control strategy in an embodiment, part IX;

[0048] Fig. 34 is a schematic diagram of the aircraft control method in an embodiment, part III;

[0049] Fig. 35 is a schematic diagram of the internal structure of a computer device in an embodiment. DETAILED DESCRIPTION

[0050] The embodiments of the technical solution of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application; the use of the terms "including," "comprising," or "having" and variations thereof herein is intended to be broad and encompass the terms "consisting of" and "consisting essentially of" and variations thereof. Unless otherwise required by context, singular terms shall include pluralities and vice versa. Unless otherwise required by context, the use herein of the singular is also to be construed as a reference to the plural and vice versa.

[0052] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise explicitly and specifically limited.

[0053] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification is not necessarily all referring to the same embodiment, or to a particular embodiment, or to a particular set of embodiments. It will be explicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0054] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0055] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0056] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as limiting the embodiments of the present application, which do not indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application.

[0057] In the description of the embodiments of the present application, unless explicitly defined and limited otherwise, the technical terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0058] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0059] Generally, the aerial vehicle includes multiple flight modes, and different flight modes are used to achieve shooting requirements or flight experience. In actual flight, switching between multiple modes often occurs. Since the control strategies of different flight modes for the aerial vehicle position, speed, attitude, and throttle channel can be different, maintaining the consistency, continuity, and safety of the aerial vehicle flight state when the user switches from other flight modes to the angular velocity control mode is the key to controlling the aerial vehicle, and how to improve the safety of flight is a problem to be solved.

[0060] For example, for the control of the angular velocity of the aerial vehicle, most flight modes are controlled by controlling the speed, acceleration, and attitude of the aerial vehicle to obtain the angular velocity control amount, i.e., non-angular velocity direct control. For the Acro mode, the angular velocity control amount of the aerial vehicle is directly input by the control device, i.e., angular velocity direct control. When the non-angular velocity direct control mode is switched to the angular velocity direct control mode, if the input of the control device at this time is not 0, the angular velocity control amount of the aerial vehicle will often have a relatively large jump, resulting in sudden attitude changes of the aerial vehicle, which not only affects the flight experience, but also can cause flight accidents, reducing the safety of flight. The Acro mode is a remote control mode used to perform stunt actions, such as rolling, flipping, stalling, and acrobatic actions.

[0061] Similarly, for the control of the aircraft throttle, most flight modes are through the control of the vertical speed and the horizontal attitude of the aircraft to obtain the throttle control amount, that is, a non-throttle direct control mode; and for the Acro mode or the self-stabilization mode, the throttle control amount of the aircraft is directly input by the control device, that is, a throttle direct control mode. When the throttle non-direct control mode is switched to the throttle direct control mode, the throttle control amount of the aircraft often has a relatively large jump, causing the aircraft to suddenly climb or fall, which not only affects the flight experience, but also may cause flight accidents and reduces the safety of flight. The Acro mode is a remote control mode for performing stunt actions, such as rolling, flipping, stalling, and acrobatic actions.

[0062] The existing method relies on the flight experience of the user to quickly adjust the remote control lever amount when the mode is switched, so as to avoid the large mutation of the angular velocity of the aircraft. However, this method requires the user to be familiar with the aircraft and has a high learning cost, and is not suitable for novice or inexperienced users, and is not universal. Moreover, although the above method can be quickly switched, the safety is poor. Another existing method is to increase the pre-step of mode switching to ensure that the angular velocity / throttle does not have a large mutation when the mode is switched in, that is, the user is pre-allowed to dial the lever amount to a specified safe range through various interactive devices, and then the mode switching is completed for flight. However, this method increases the complexity of the user when switching the mode, has a high access condition, and does not have operation continuity, so that the user cannot quickly complete the mode switching, greatly limits the shooting and flight requirements, and reduces the safety of flight.

[0063] To solve the above problems, an aircraft control method is provided in the embodiments of the present application, which can be applied in mode switching, such as active or passive switching from a non-angular velocity direct control mode to an angular velocity direct control mode, or active or passive switching from a non-throttle direct control mode to a throttle direct control mode. The method can be deployed on the aircraft, and the aircraft determines a target control strategy when detecting mode switching, and controls the aircraft according to the target control strategy. The method can also be deployed on a ground station, a relay device, or the like, and the device determines a target control strategy when detecting mode switching, and controls the aircraft according to the target control strategy.

[0064] In one embodiment, as shown in FIG. 1, an aircraft control method is provided, including the following steps. Wherein:

[0065] S101, when detecting that the aircraft is switched from a first flight mode to a second flight mode, a target control strategy is determined, and the target control strategy is used to control the aircraft to smoothly transition to the second flight mode.

[0066] The mode switching method is applicable to switching between any two modes, and is particularly applicable to scenarios where a jump is likely to occur during switching, such as switching from a non- angular velocity direct control mode to an angular velocity direct control mode, switching from a non- throttle direct control mode to a throttle direct control mode, and the like.

[0067] The first flight mode and the second flight mode are different. For example, when the second flight mode is an angular velocity direct control mode, for example, an Acro mode, the first flight mode is a flight mode other than the angular velocity direct control mode, that is, a non- angular velocity direct control mode, for example, a self-stabilization mode, a point mode, or the like. When the second flight mode is a throttle direct control mode, for example, an Acro mode, a self-stabilization mode, or the like, the first flight mode is a flight mode other than the throttle direct control mode, that is, a non- throttle direct control mode, for example, a point mode.

[0068] In the embodiments of the present application, when it is detected that the aerial vehicle is actively or passively switched from a first flight mode to a second flight mode, a target control strategy is determined according to specific conditions. When a jump is likely to occur during direct switching, the target control strategy adopts a transition control strategy, which is used to smoothly transition the aerial vehicle to the second flight mode. When direct switching does not cause a jump, the aerial vehicle can be directly switched to a standard control strategy, that is, an original control strategy corresponding to the second flight mode.

[0069] The aerial vehicle actively switches from the first flight mode to the second flight mode, which can be a mode switch actively performed by a control device of the aerial vehicle operated by a user. The aerial vehicle passively switches from the first flight mode to the second flight mode, which can be a mode switch passively performed by the aerial vehicle without operation.

[0070] S102, control the aerial vehicle based on the target control strategy.

[0071] For a situation where it is determined that there is no jump, the target control strategy is a standard control strategy corresponding to the second flight mode to which the aerial vehicle is switched. If it is determined that a jump will occur, the target control strategy adopts a transition control strategy, which is used to smoothly transition the aerial vehicle to the second flight mode.

[0072] The aircraft control method provided in the embodiments of the present application determines a target control strategy when detecting that the aircraft switches from a first flight mode to a second flight mode, and controls the aircraft based on the target control strategy. The target control strategy is used to control the aircraft to smoothly transition to the second flight mode, and the first flight mode is a mode other than the second flight mode. The aircraft control method provided in the embodiments of the present application can smoothly control the aircraft by determining the target control strategy, thereby avoiding the jump problem that may occur during mode switching without relying on the experience of a user, and improving safety.

[0073] In one embodiment, the second flight mode is an angular velocity direct control mode or a throttle direct control mode, and the first flight mode is a mode other than the second flight mode.

[0074] When the second flight mode is the angular velocity direct control mode, the target control strategy is determined as follows: when detecting that the aircraft actively switches from a non-angular velocity direct control mode to the angular velocity direct control mode, the method of determining the target control strategy for controlling the angular velocity can be: determining a standard angular velocity control amount corresponding to an initial lever value of a control device of the aircraft during mode switching, determining the target control strategy for controlling the angular velocity as an angular velocity preset transition control strategy when the initial angular velocity control amount of the control device of the aircraft during mode switching is inconsistent with the standard angular velocity control amount, and determining the target control strategy for controlling the angular velocity as a standard angular velocity control strategy when the initial angular velocity control amount is consistent with the standard angular velocity control amount. The angular velocity preset transition control strategy can be used to avoid a jump in the angular velocity control amount after switching, and to smoothly transition the aircraft to the standard angular velocity control strategy. The angular velocity preset transition control strategy can also be used to maintain the flight state of the aircraft consistent with the current flight state information during switching. The angular velocity preset transition control strategy can include at least one of a linear function, a polynomial function, an exponential function, an inverse proportion function, and an arbitrary combination of various functions. The standard angular velocity control strategy is a control strategy corresponding to the angular velocity direct control mode.

[0075] When detecting that the aircraft actively switches from a non-angular velocity direct control mode to the angular velocity direct control mode, the method of determining the target control strategy for controlling the angular velocity can also be: determining the standard angular velocity control strategy corresponding to the angular velocity direct control mode as the target control strategy if the initial lever value satisfies a second angular velocity preset control condition, and determining the angular velocity preset transition control strategy as the target control strategy if the initial lever value does not satisfy the second angular velocity preset control condition. The second angular velocity preset control condition can be that the initial lever value is at a median value.

[0076] When the aircraft is detected to be switched from the non- angular velocity direct control mode to the angular velocity direct control mode passively, the method for determining the target control strategy for controlling the angular velocity can also be: if the initial lever value does not satisfy the third angular velocity preset control condition, the target control strategy is to set the current angular velocity of the aircraft to the preset angular velocity. The third angular velocity preset control condition can be that the initial lever value is at the neutral position or that the aircraft state information cannot be detected.

[0077] When the second flight mode is the throttle direct control mode, the method for determining the target control strategy is as follows: when the aircraft is detected to be switched from the non- throttle direct control mode to the throttle direct control mode actively or passively, the method for determining the target control strategy for controlling the throttle can be: determining a standard throttle control value corresponding to the initial lever value of the control device of the aircraft at the time of mode switching, when the initial throttle control value of the control device of the aircraft at the time of mode switching is inconsistent with the standard throttle control value, determining a throttle preset transition control strategy as the target control strategy; when the initial throttle control value is consistent with the standard throttle control value, determining a standard throttle control strategy as the target control strategy. The standard throttle control strategy can be the control strategy corresponding to the throttle direct control mode. The throttle preset transition control strategy can be to avoid a jump in the throttle control value after switching, and to smoothly transition the aircraft to the standard throttle control strategy; the throttle preset transition control strategy can also enable the aircraft to maintain a flight state consistent with the current flight state information at the time of switching. The throttle preset transition control strategy can include at least one of a linear function, a polynomial function, an exponential function, an inverse proportional function, and an arbitrary combination of various functions.

[0078] Specifically, when the target control strategy is the angular velocity preset transition control strategy, the aircraft can be controlled using the angular velocity preset transition control strategy until the current lever value is detected to satisfy the first angular velocity preset control condition, and the aircraft is then controlled using the standard angular velocity control strategy. When the target control strategy is the angular velocity preset transition control strategy, the aircraft can also be controlled using the angular velocity preset transition control strategy according to the current flight state information until the current lever value corresponding to the control device is detected to satisfy the second angular velocity preset control condition, and the aircraft is then controlled using the standard angular velocity control strategy. The first angular velocity preset control condition can be that the current angular velocity control value is consistent with the standard angular velocity control value. The second angular velocity preset control condition can be that the initial lever value is at the neutral position.

[0079] When the target control strategy is to set the current angular velocity of the aircraft to the preset angular velocity, the current angular velocity of the aircraft can be set to the preset angular velocity to control the aircraft to be in a stable attitude.

[0080] When the target control strategy is the throttle preset transition control strategy, the aircraft can be controlled by using the throttle preset transition control strategy until the current lever value meets the throttle preset control condition, and then the aircraft is controlled by switching to the standard throttle control strategy. The throttle preset control condition can be that the current throttle control value is consistent with the standard throttle control value.

[0081] In the above embodiment, when it is detected that the aircraft switches from the first flight mode to the second flight mode, the target control strategy is determined. Thus, the aircraft can be controlled based on the target control strategy. The target control strategy is used to control the aircraft to smoothly transition to the second flight mode, and the second flight mode is the angular velocity direct control mode or the throttle direct control mode, and the first flight mode is a mode other than the second flight mode. Compared with the poor safety problem caused by the user quickly adjusting the control device of the aircraft when switching from other flight modes to the angular velocity direct control mode or the throttle direct control mode in the prior art. Since the aircraft control method provided in the embodiment of the application determines the target control strategy, the aircraft can be smoothly controlled according to the target control strategy. Therefore, without relying on the experience of the user, the angular velocity jump problem that may occur when switching modes is avoided, so that the aircraft does not suddenly roll or the user does not react in time to cause misoperation, and the safety is improved.

[0082] In one embodiment, as shown in FIG. 2, the embodiment relates to a possible implementation of how to determine the target control strategy. Based on the above embodiment, S101 includes the following steps:

[0083] S201, obtaining an initial lever value corresponding to a control device of the aircraft at the time of switching.

[0084] The control device refers to a device for controlling the aircraft, such as a control handle, a remote controller, etc. The form of the control device is not limited in the embodiment of the application. The lever value is the lever value of the control lever in the control device, and the size of the lever value corresponds to the size of the control value, such as the size of the angular velocity control value / throttle control value. The initial lever value refers to the current lever value corresponding to the control device at the time of switching.

[0085] In the embodiment of the application, when it is detected that the aircraft switches from the first flight mode to the second flight mode, the initial lever value corresponding to the aircraft at the time of switching can be obtained by using a preset program in the aircraft and a sensor.

[0086] S202, determining the target control strategy according to the initial lever value.

[0087] In the embodiments of the present application, when it is detected that the aircraft switches from the first flight mode to the second flight mode, if the obtained initial stick value is in the neutral position, it can be determined that the target control strategy is the standard control strategy corresponding to the second flight mode. If the obtained initial stick value is not in the neutral position, it can be determined that the target control strategy is the transition control strategy.

[0088] Specifically, when it is detected that the aircraft switches from the non- angular velocity direct control mode to the angular velocity direct control mode, if the obtained initial stick value is in the neutral position, it can be determined that the target control strategy is the standard angular velocity control strategy corresponding to the angular velocity direct control mode. If the obtained initial stick value is not in the neutral position, it can be determined that the target control strategy is the angular velocity transition control strategy.

[0089] Optionally, if it is detected that the aircraft switches from the non- throttle direct control mode to the throttle direct control mode, and the obtained initial stick value is in the neutral position, it can be determined that the target control strategy is the standard throttle control strategy corresponding to the throttle direct control mode. If it is detected that the aircraft switches from the non- throttle direct control mode to the throttle direct control mode, and the obtained initial stick value is not in the neutral position, it can be determined that the target control strategy is the throttle transition control strategy.

[0090] In the embodiments, the initial stick value corresponding to the control device of the aircraft at the time of switching is obtained, so that the target control strategy is determined according to the initial stick value. Without relying on the experience of the user, the angular velocity / throttle jump problem that may occur at the time of mode switching is avoided, so that the sudden attitude roll of the aircraft or the misoperation caused by the user's reaction is avoided, and the safety is improved.

[0091] In one embodiment, as shown in FIG. 3, the present embodiment relates to a possible implementation of determining a target control strategy. On the basis of the above-mentioned embodiments, the above-mentioned S101 includes the following steps:

[0092] S301, obtaining an initial stick value and an initial control amount corresponding to the control device of the aircraft at the time of switching.

[0093] Optionally, the initial control amount can be an initial angular velocity control amount or an initial throttle control amount.

[0094] If the initial control amount is the initial angular velocity control amount, when it is detected that the aircraft switches from the non- angular velocity direct control mode to the angular velocity direct control mode, the initial stick value and the initial angular velocity control amount corresponding to the aircraft at the time of switching can be obtained by using a preset program in the aircraft and through a sensor.

[0095] The initial angular velocity control amount is the current angular velocity control amount of the aircraft at the time of switching.

[0096] Alternatively, if the initial control quantity is an initial throttle control quantity, when it is detected that the aerial vehicle switches from the non-throttle direct control mode to the throttle direct control mode, the initial lever quantity value and the initial throttle control quantity corresponding to the aerial vehicle at the time of switching can be obtained by sensors through a preset program in the aerial vehicle.

[0097] The initial throttle control quantity is a current throttle control quantity corresponding to the aerial vehicle at the time of switching.

[0098] S302, determining a target control strategy according to the initial lever quantity value and the initial control quantity.

[0099] In the embodiments of the present application, a standard control quantity corresponding to the initial lever quantity value can be obtained, and it is determined whether the standard control quantity is the same as the initial control quantity. If they are the same, it indicates that no transition is needed, and the target control strategy is a standard control strategy corresponding to the second flight mode. Subsequently, the aerial vehicle can be controlled by using the standard control strategy. If they are not the same, it indicates that a transition is needed, and the target control strategy is a preset transition control strategy. The aerial vehicle is controlled by using the preset transition control strategy during the transition period.

[0100] Alternatively, if the initial control quantity is an initial angular velocity control quantity, a standard angular velocity control quantity corresponding to the initial lever quantity value can be obtained, and it is determined whether the standard angular velocity control quantity is the same as the initial angular velocity control quantity. If they are the same, it indicates that no transition is needed, and the target control strategy is a standard angular velocity control strategy corresponding to the angular velocity direct control mode. Subsequently, the aerial vehicle can be controlled by using the standard angular velocity control strategy. If they are not the same, it indicates that a transition is needed, and the target control strategy is an angular velocity preset transition control strategy. The aerial vehicle is controlled by using the angular velocity preset transition control strategy during the transition period.

[0101] Alternatively, if the initial control quantity is an initial throttle control quantity, a standard throttle control quantity corresponding to the initial lever quantity value can be obtained, and it is determined whether the standard throttle control quantity is the same as the initial throttle control quantity. If they are the same, it indicates that no transition is needed, and the target control strategy is a standard throttle control strategy corresponding to the throttle direct control mode. Subsequently, the aerial vehicle can be controlled by using the standard throttle control strategy. If they are not the same, it indicates that a transition is needed, and the target control strategy is a throttle preset transition control strategy. The aerial vehicle is controlled by using the throttle preset transition control strategy during the transition period.

[0102] Specifically, as shown in FIG. 4, the following steps are included:

[0103] S401, determining a standard control quantity corresponding to the initial lever quantity value.

[0104] Alternatively, the standard control quantity corresponding to the initial lever quantity value can be a standard angular velocity control quantity or a standard throttle control quantity.

[0105] In an embodiment, if the standard control quantity is a standard angular velocity control quantity, a standard angular velocity control quantity corresponding to the initial stick value is determined.

[0106] The standard angular velocity control quantity can be determined according to a mapping relationship between the stick value and the standard angular velocity control quantity. As shown in FIG. 5, a mapping relationship between three stick values and standard angular velocity control quantities is shown. The aircraft obtains the standard angular velocity control quantity according to the stick value of the control device through the mapping relationship. It should be noted that the stick values shown in the figure are normalized to [-1, 1]. The mapping relationship between the stick value and the standard angular velocity control quantity can be represented as: Rate_cmd = f(rc_value)

[0107] The rc_value represents the stick value, and the Rate_cmd is a kind of angular velocity control quantity, and the Rate_cmd represents the standard angular velocity control quantity under the mapping relationship between the stick value and the standard angular velocity control quantity. The range of the standard angular velocity control quantity obtained through the above mapping relationship is between [-MaxRate, MaxRate]. For example, as shown in FIG. 6, the mapping relationship can be in the form of a curve.

[0108] In another embodiment, if the standard control quantity is a standard throttle control quantity, a standard throttle control quantity corresponding to the initial stick value is determined.

[0109] The standard throttle control quantity can be determined according to a mapping relationship between the stick value and the standard throttle control quantity. As shown in FIG. 7, a mapping relationship between three stick values and standard throttle control quantities is shown. The aircraft obtains the throttle control quantity according to the stick value of the control device through the mapping relationship. It should be noted that the stick values and the throttle control quantities shown in the figure are normalized. The stick value is normalized to [0, 1], and the throttle control quantity is normalized to [0, 100%]. The mapping relationship between the stick value and the standard throttle control quantity can be represented as: Thrust = f(throttle)

[0110] The throttle represents the stick value, and the Thrust is a kind of throttle control quantity. The Thrust represents the standard throttle control quantity under the mapping relationship between the stick value and the standard throttle control quantity. For example, as shown in FIG. 8, the mapping relationship can be in the form of a linear function, and there is Thrust = throttle.

[0111] In the embodiments of the present application, the standard control quantity corresponding to the initial stick value can be calculated according to the mapping relationship between the stick value and the standard control quantity.

[0112] The standard control quantity corresponding to the initial stick value can also be determined according to identification information of the initial stick value, by querying a standard control quantity corresponding to the identification information in a relationship mapping table. The relationship mapping table can include a mapping relationship between stick values and standard control quantities corresponding to the stick values.

[0113] S402, when the initial control quantity is inconsistent with the standard control quantity, determining that the preset transition control strategy is the target control strategy.

[0114] In the embodiments of the present application, the comparison result of the initial control quantity and the standard control quantity can be determined. If the initial control quantity is inconsistent with the standard control quantity, it can be indicated that control quantity jump may occur under the initial control quantity. Therefore, the preset transition control strategy can be used as the target control strategy to control the aircraft by using the preset transition control strategy. Until it is detected that the current control quantity is consistent with the standard control quantity, the standard control strategy is switched to control the aircraft.

[0115] Controlling the aircraft based on the target control strategy includes:

[0116] S403, using the preset transition control strategy to control the aircraft, until it is detected that the current stick value meets the preset control condition, the standard control strategy is switched to control the aircraft; the preset transition control strategy is used to smoothly transition the aircraft to the standard control strategy.

[0117] The preset control condition can be that the current control quantity is consistent with the standard control quantity, and the preset control condition can also be that the current stick value reaches a transition stick threshold. The standard control strategy can be a mapping relationship between a control stick value and a standard control quantity, and the standard control strategy can include at least one of a linear function, a polynomial function, an exponential function, an inverse proportional function, and any combination of various functions.

[0118] In the embodiments of the present application, the preset transition control strategy can be used to control the aircraft, until it is detected that the current control quantity is consistent with the standard control quantity, the standard control strategy is switched to control the aircraft.

[0119] The preset transition control strategy can also be used to control the aircraft, until it is detected that the current stick value reaches a transition stick threshold, the standard control strategy is switched to control the aircraft.

[0120] In this embodiment, the standard control quantity corresponding to the initial stick value is determined, so that when the initial control quantity is inconsistent with the standard control quantity, the preset transition control strategy is used to control the aircraft, and until it is detected that the current stick value meets the first preset control condition, the standard control strategy is switched to control the aircraft. Without relying on the experience of the user, the jump problem that may occur during mode switching is avoided, so that the sudden attitude roll of the aircraft or the misoperation caused by the user's reaction is avoided, and the safety is improved.

[0121] The first preset control condition can be that the current control quantity is consistent with the standard control quantity. Alternatively, the first preset control condition can also be that the current stick value reaches the transition stick threshold.

[0122] In one embodiment, as shown in FIG. 9, the present embodiment relates to a possible implementation manner of how to use the angular velocity preset transition control strategy to control the aircraft until it is detected that the current stick value meets the first angular velocity preset control condition, and the standard angular velocity control strategy is switched to control the aircraft. The steps are as follows:

[0123] S901, determining a transition stick threshold corresponding to the preset transition control strategy.

[0124] The transition stick threshold can be a switching limit between the preset transition control strategy and the standard control strategy. The transition stick threshold can also be 0 or a value close to 0.

[0125] In the embodiments of the present application, the transition stick threshold corresponding to the preset transition control strategy can be determined according to the initial stick value, and the transition stick threshold corresponding to the preset transition control strategy can also be determined according to the initial control quantity.

[0126] Optionally, the transition stick threshold corresponding to the preset transition control strategy can also be queried from a preset relationship table of the preset transition control strategy and the transition stick threshold, so as to obtain the transition stick threshold corresponding to the preset transition control strategy.

[0127] S902, in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick threshold, the standard control strategy is switched to control the aircraft.

[0128] In the embodiments of the present application, in the process of controlling the aircraft to fly by using the preset transition control strategy, the current stick value is obtained once every preset time length, and it is detected whether the current stick value reaches the transition stick threshold. If the result of this detection is that the current stick value reaches the transition stick threshold, the preset transition control strategy is switched to the standard control strategy to control the aircraft.

[0129] In an embodiment, when the current stick value is detected to be the angular velocity transition stick value, the standard angular velocity control strategy is switched to control the aircraft.

[0130] For example, as shown in FIG. 10 and FIG. 11, the angular velocity transition stick value can be 0. The solid line can represent an angular velocity preset transition control strategy Rate_cmd=g(rc_value), and the dashed line can represent a standard angular velocity control strategy Rate_cmd=f(rc_value). The initial stick value at the time of switching is denoted by rc_value_init, and the initial angular velocity control value is denoted by rate_cmd_init. During the process of controlling the aircraft using the angular velocity preset transition control strategy, when the current stick value is detected to be 0, the control strategy of the aircraft is switched from the angular velocity preset transition control strategy to the standard angular velocity control strategy. That is, it can be expressed by the following formula:

[0131] When rc_value_init>0, there is:

[0132] When rc_value_init<0, there is:

[0133] In another embodiment, during the process of controlling the aircraft using the throttle preset transition control strategy, when the current stick value is detected to be the throttle transition stick value, the standard throttle control strategy is switched to control the aircraft.

[0134] The throttle preset transition control strategy can include at least one of a linear function, a polynomial function, an exponential function, an inverse proportional function, and any combination of various functions. As shown in FIG. 14, the throttle preset transition control strategy is a mapping relationship in a curve form, and the standard throttle control strategy is a mapping relationship in a straight line form. As shown in FIG. 15 and FIG. 16, the throttle preset transition control strategy and the standard throttle control strategy are both mapping relationships in a curve form.

[0135] In the embodiments of the present application, during the process of controlling the aircraft using the throttle preset transition control strategy, the current stick value is acquired every preset time length, and it is detected whether the current stick value reaches the throttle transition stick value. If the current stick value reaches the throttle transition stick value according to the detection result, the standard throttle control strategy is switched to control the aircraft.

[0136] For example, as shown in FIG. 14, the origin (throttle_init, thrust_init) of the figure is a point corresponding to an initial lever value, (throttle_low, thrust) and (throttle_up, thrust) are points corresponding to lever transition threshold values, the curve in the figure represents a preset lever transition control strategy, and the straight line in the figure represents a standard lever control strategy. In the process of controlling the aircraft to fly by using the preset lever transition control strategy, when it is detected that the current lever value reaches the lever transition threshold value, the standard lever control strategy is switched to control the aircraft.

[0137] In the embodiment, by determining the angular velocity transition lever threshold value corresponding to the preset transition control strategy, in the process of controlling the aircraft to fly by using the angular velocity preset transition control strategy, when it is detected that the current lever value reaches the angular velocity transition lever threshold value, the standard angular velocity control strategy is switched to control the aircraft, which can avoid the angular velocity control amount jump caused by mode switching, thereby improving the safety of the aircraft flight. For example, it can prevent the large angular velocity command jump when the current lever value is close to 1, which is not easy to control and is not conducive to safe flight. That is, as shown in FIG. 17, when rc_value_init=0.9, if the preset angular velocity transition control strategy g(rc_value) and the standard angular velocity control strategy f(rc_value) are required to intersect, the slope of the preset angular velocity transition control strategy g(rc_value) will be very large. Therefore, the method provided in the embodiment can improve the flight safety of the aircraft.

[0138] In one embodiment, the embodiment relates to a possible implementation manner of how to determine the transition lever threshold value corresponding to the preset transition control strategy. On the basis of the above-mentioned embodiment, the S901 comprises:

[0139] The transition lever threshold value corresponding to the preset transition control strategy is determined according to the initial lever value and / or the initial control amount.

[0140] In the embodiment, the transition lever threshold value corresponding to the preset transition control strategy can be set according to the initial lever value and the initial control amount. The transition lever threshold value corresponding to the preset transition control strategy can also be set according to only the initial lever value. The transition lever threshold value corresponding to the preset transition control strategy can also be set according to only the initial control amount.

[0141] For example, as shown in FIG. 18, the embodiment relates to a possible implementation manner of how to determine the transition lever threshold value corresponding to the preset transition control strategy according to the initial lever value and / or the initial control amount. On the basis of the above-mentioned embodiment, the following steps are included:

[0142] S1801, acquire a first preset end point and a second preset end point, the first preset end point comprising: a first preset stick value end value and a first preset control value end value, the second preset end point comprising: a second preset stick value end value and a second preset control value end value, the absolute value of the second preset stick value end value being greater than the absolute value of the first preset stick value end value, the absolute value of the second preset control value end value being greater than the absolute value of the first preset control value end value.

[0143] In the embodiments of the application, the first transition stick value threshold of the previous aircraft control can be taken as the first preset stick value end value in the first preset end point, and the control value corresponding to the first transition stick value threshold can be taken as the first preset control value end value in the first preset end point. The second transition stick value threshold of the previous aircraft control can be taken as the first preset stick value end value in the second preset end point, and the control value corresponding to the second transition stick value threshold can be taken as the second preset control value end value in the second preset end point. Thus, the first preset end point and the second preset end point are acquired.

[0144] Optionally, two points can be randomly preset as the first preset end point and the second preset end point, so that the first preset end point and the second preset end point can be acquired.

[0145] One of the following S1802-S1805 is executed.

[0146] S1802, when the initial stick value is between the first preset stick value end value and the second preset stick value end value, and the initial control value is between the first preset control value end value and the second preset control value end value, the first preset stick value end value is taken as the first transition stick value threshold, and the second preset stick value end value is taken as the second transition stick value threshold.

[0147] Specifically, when the initial stick value is between the first preset stick value end value and the second preset stick value end value, and the initial control value is between the first preset control value end value and the second preset control value end value, the first preset stick value end value can be directly taken as the first transition stick value threshold without adjustment, and the second preset stick value end value can be taken as the second transition stick value threshold without adjustment.

[0148] S1803, when the absolute value of the initial stick value is less than the absolute value of the first preset stick value end value, or when the absolute value of the initial control value is less than the absolute value of the first preset control value end value, the first preset stick value is taken as the transition stick value threshold.

[0149] The first preset stick value can be 0 or a value tending to 0.

[0150] For example, in one embodiment, assuming the first preset end point (rc_value_end_0, rate_cmd_end_0) and the second preset end point (rc_value_end, rate_cmd_end), when the absolute value of the initial lever value rc_value_init is less than the absolute value of the first preset lever end value rc_value_end_0, or when the absolute value of the initial angular velocity control amount rate_cmd_init is less than the absolute value of the first preset angular velocity control amount end value rate_cmd_end_0, the first preset lever value 0 is taken as the angular velocity transition lever threshold. That is, when |rate_cmd_init| < |rate_cmd_end_0|, or, |rc_value_init| < |rc_value_end_0|, then (rc_value_end_0, rate_cmd_end_0) = (0, 0), and the angular velocity transition lever threshold rc_value_end_0 is 0.

[0151] Alternatively, in another embodiment, assuming the first preset end point (throttle_low, thrust_low) and the second preset end point (throttle_up, thrust_up), when the absolute value of the initial lever value throttle_init is less than the absolute value of the first preset lever end value throttle_low, or when the absolute value of the initial throttle control amount thrust_init is less than the absolute value of the first preset throttle control amount end value thrust_low, the first preset lever value is taken as the throttle transition lever threshold. That is, when |throttle_init| < |throttle_low|, or, |thrust_init| < |thrust_low|, then (throttle_low, thrust_low) = (0, 0), and the throttle transition lever threshold throttle_low is 0.

[0152] S1804、When the initial lever value is greater than the second preset lever end value, and the second preset lever end value is greater than 0, or when the initial control amount is greater than the second preset control amount end value, and the absolute value of the second preset control amount end value is greater than 0, the second preset lever value is taken as the transition lever threshold.

[0153] Here, the second preset lever value can be 0, or a value that tends to 0.

[0154] For example, in one embodiment, assuming the first preset end point (rc_value_end_0, rate_cmd_end_0) and the second preset end point (rc_value_end, rate_cmd_end), when the initial lever value rc_value_init is greater than the second preset lever end value rc_value_end, and the second preset lever end value is greater than 0; or when the initial angular velocity control value rate_cmd_init is greater than the second preset angular velocity control end value rate_cmd_end, and is greater than 0, the second preset lever value 0 is taken as the angular velocity transition lever threshold.

[0155] Alternatively, in another embodiment, as shown in FIG. 19, assuming the first preset end point (throttle_low, thrust_low) and the second preset end point (throttle_up, thrust_up), when the initial lever value throttle_init is greater than the second preset lever end value throttle_up, or when the initial throttle control value thrust_init is greater than the second preset throttle control end value thrust_up, the second preset lever value is taken as the throttle transition lever threshold.

[0156] S1805, when the initial lever value is less than the second preset lever end value, and the second preset lever end value is less than 0; or when the initial control value is less than the second preset control end value, and the second preset control end value is less than 0, the third preset lever value is taken as the transition lever threshold.

[0157] Wherein, the third preset lever value can be 0, or a value tending to 0.

[0158] For example, when the initial lever value rc_value_init is less than the second preset lever end value rc_value_end, and the second preset lever end value is less than 0; or when the initial angular velocity control value rate_cmd_init is less than the second preset angular velocity control end value rate_cmd_end, and is less than 0, the third preset lever value 0 is taken as the angular velocity transition lever threshold.

[0159] It should be noted that the preset transition control strategy can be set by the user, for example, the preset transition control strategy can be obtained by setting the first preset end point and the preset curve slope, or the preset transition control strategy can be obtained by setting the first preset end point and the second preset end point.

[0160] In the embodiment, the initial control amount is compared with the first preset control amount end value and the second preset control amount end value, and the initial stick value is compared with the first preset stick end value and the second preset stick end value, so that the transition stick threshold is adjusted, and the flexibility of aircraft control is improved.

[0161] In one embodiment, the embodiment relates to a possible implementation manner of how to switch to the standard control strategy to control the aircraft when it is detected that the current stick value is the transition stick threshold during the process of controlling the aircraft to fly by using the preset transition control strategy. On the basis of the above embodiment, S902 includes:

[0162] When the initial control amount is greater than the preset control amount, the preset transition control strategy is used to control the aircraft in the transition interval until it is detected that the current stick value is the transition stick threshold, and then the standard control strategy is switched to control the aircraft.

[0163] The preset control amount can be 0. As shown in FIGS. 10 and 12, the transition interval can be (0, 1), and the angular velocity transition stick threshold can be 0 at this time. As shown in FIGS. 20 and 21, the transition interval can be (0, rc_value_end), and the angular velocity transition stick threshold can be rc_value_end at this time. 0 can also be used as the angular velocity transition stick threshold. As shown in FIG. 22, the transition interval can be (rc_value_end_0, rc_value_end), and the angular velocity transition stick threshold can be rc_value_end_0 and rc_value_end at this time.

[0164] Specifically, when the initial angular velocity control amount is greater than the preset control amount, that is, rate_cmd_init>0, the angular velocity preset transition control strategy can be used to control the aircraft according to different transition intervals. The current stick value is obtained every preset time interval, and it is detected whether the current stick value is the angular velocity transition stick threshold. If the current stick value is the angular velocity transition stick threshold, the angular velocity preset transition control strategy can be switched to the standard angular velocity control strategy, and the standard angular velocity control strategy is used to control the aircraft.

[0165] In the embodiment, when the initial control amount is greater than the preset control amount, the preset transition control strategy can be used to control the aircraft in the transition interval until it is detected that the current stick value is the transition stick threshold, and then the standard control strategy is switched to control the aircraft, which can avoid large mutations of the aircraft control amount and improve the flight safety.

[0166] In one embodiment, the embodiment relates to a possible implementation manner of how to switch to the standard control strategy to control the aircraft when it is detected that the current stick value is the transition stick threshold value in the process of controlling the flight of the aircraft by using the preset transition control strategy. On the basis of the above embodiment, S902 comprises:

[0167] When the initial control amount is less than the preset control amount, when the current stick value is in the first stick value interval, the first preset transition control strategy is used to control the aircraft, and when the current stick value is in the second stick value interval, the second preset transition control strategy is used to control the aircraft. The first stick value interval and the second stick value interval are obtained by dividing the transition interval by the initial stick value as a division point.

[0168] As shown in FIG. 23, the first stick value interval can be (rc_value_init, 0), and the second stick value interval can be (rc_value_end, rc_value_init). As shown in FIG. 11, the first stick value interval can be (rc_value_init, 0), and the second stick value interval can be (-∞, rc_value_init).

[0169] Specifically, when the initial angular velocity control amount is less than the preset control amount, that is, rate_cmd_init<0, it is judged whether the current stick value is in the first stick value interval or the second stick value interval. If the current stick value is in the first stick value interval, the first angular velocity preset transition control strategy is used to control the aircraft. If the current stick value is in the second stick value interval, the second angular velocity preset transition control strategy is used to control the aircraft. The current stick value is obtained every preset time interval, and the above judgment is performed on the obtained current stick value again until it is detected that the current stick value is the angular velocity transition stick threshold value, and the standard angular velocity control strategy is switched to control the aircraft.

[0170] The first preset transition control strategy can be a control strategy with a control amount of 0.

[0171] In the embodiment, when the initial control amount is less than the preset control amount, when the current stick value is in the first stick value interval, the first preset transition control strategy can be used to control the aircraft, and when the current stick value is in the second stick value interval, the second preset transition control strategy can be used to control the aircraft. The first stick value interval and the second stick value interval are obtained by dividing the transition interval by the initial stick value as a division point. Since the transition interval is divided into two intervals, the preset transition control strategy corresponding to each interval is executed in different intervals, thereby improving the flexibility of aircraft control.

[0172] In one embodiment, as shown in FIG. 24, the embodiment relates to a possible implementation of how to determine the transition stick value threshold corresponding to the preset transition control strategy. Based on the above embodiment, S2401 includes:

[0173] S2401, determining a first transition stick value threshold and a second transition stick value threshold corresponding to the preset transition control strategy, the first transition stick value threshold and the second transition stick value threshold being two intersection points of the preset transition control strategy and the standard control strategy.

[0174] S2401, determining a first transition stick value threshold and a second transition stick value threshold corresponding to the preset transition control strategy, the first transition stick value threshold and the second transition stick value threshold being two intersection points of the preset transition control strategy and the standard control strategy.

[0175] Wherein, the preset transition control strategy and the standard control strategy can have two intersection points, and the intersection points can be the first transition stick value threshold and the second transition stick value threshold of the preset transition control strategy to the standard control strategy.

[0176] In the embodiment of the present application, there can be two intersection points, which are the first transition stick value threshold and the second transition stick value threshold corresponding to the preset transition control strategy. The first transition stick value threshold and the second transition stick value threshold can be determined according to the initial stick value. For example, when the initial stick value is between the first preset stick end value and the second preset stick end value, and the initial control value is between the first preset control end value and the second preset control end value, the first preset stick end value is taken as the first transition stick value threshold, and the second preset stick end value is taken as the second transition stick value threshold.

[0177] Optionally, the terminal can send the initial first transition stick value threshold and the initial second transition stick value threshold to the server, which can be preset according to the preset transition control strategy. If the initial first transition stick value threshold and the initial second transition stick value threshold do not exceed the preset range, the initial first transition stick value threshold is directly taken as the first transition stick value threshold, and the initial second transition stick value threshold is directly taken as the second transition stick value threshold.

[0178] S2402, in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick value threshold, the standard control strategy is switched to control the aircraft, including: in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the first transition stick value threshold or the second transition stick value threshold, the standard control strategy is switched to control the aircraft.

[0179] In one embodiment, during the process of controlling the flight of the aircraft by using the angular velocity preset transition control strategy, the current stick value is obtained every preset time interval, and the current stick value is detected. When it is detected that the current stick value reaches the first angular velocity transition stick value threshold, the control strategy of the aircraft is switched from the angular velocity preset transition control strategy to the standard angular velocity control strategy. Similarly, when it is detected that the current stick value reaches the second angular velocity transition stick value threshold, the control strategy of the aircraft is switched from the angular velocity preset transition control strategy to the standard angular velocity control strategy, and the aircraft is controlled by using the standard angular velocity control strategy.

[0180] For example, as shown in FIG. 22 and FIG. 25, during the process of controlling the flight of the aircraft by using the angular velocity preset transition control strategy, when it is detected that the current stick value reaches the first angular velocity transition stick value threshold rc_value_end_0 or the second angular velocity transition stick value threshold rc_value_end, the control strategy of the aircraft is switched from the angular velocity preset transition control strategy to the standard angular velocity control strategy. That is, it is expressed by using the following formulas:

[0181] When rc_value_init>0, there is:

[0182] Wherein, rc_value_end>rc_value_end_0≥0, f(0)=g(0)=0, f(rc_value_end_0)=g(rc_value_end_0)=rate_cmd_end_0, f(rc_value_end)=g(rc_value_end)=rate_cmd_end, (rc_value_end, rate_cmd_end) and (rc_value_end_0, rate_cmd_end_0) are the intersection points of g(rc_value) and f(rc_value).

[0183] When rc_value_init<0, there is:

[0184] Wherein, rc_value_end<rc_value_end_0≤0, g(0)=f(0)=0, g(rc_value_end)=f(rc_value_end)=rate_cmd_end, (rc_value_end, rate_cmd_end) and (rc_value_end_0, rate_cmd_end_0) are the intersection points of g(rc_value) and f(rc_value).

[0185] For example, FIG. 20 and FIG. 26 show different angular velocity preset transition control strategies and standard angular velocity control strategies. Similarly, when the current stick value reaches the first angular velocity transition stick value threshold rc_value_end_0 or the second angular velocity transition stick value threshold rc_value_end, the standard angular velocity control strategy is switched to control the aircraft.

[0186] In another embodiment, during the process of controlling the aircraft to fly by using the throttle preset transition control strategy, the current stick value is obtained every preset time interval, and the current stick value is detected. When the current stick value reaches the first throttle transition stick value threshold, the control strategy of the aircraft is switched from the throttle preset transition control strategy to the standard throttle control strategy. Similarly, when the current stick value reaches the second throttle transition stick value threshold, the control strategy of the aircraft is switched from the throttle preset transition control strategy to the standard throttle control strategy, and the standard throttle control strategy is used to control the aircraft.

[0187] For example, as shown in FIG. 27, a straight line with a slope of 1 represents the standard throttle control strategy, which is represented by Thrust=f(throttle). The dashed line portion of the straight line with a slope of 1 corresponds to a transition section, which can use the throttle preset transition control strategy, which is represented by Thrust=g(throttle). The initial stick value at the time of switching is represented by throttle_init, and the throttle control amount corresponding to the initial stick value is represented by thrust_init. During the process of controlling the aircraft to fly by using the throttle preset transition control strategy, when the current stick value reaches the first throttle transition stick value threshold throttle_low corresponding to the throttle preset transition control strategy or the second throttle transition stick value threshold throttle_up corresponding to the throttle preset transition control strategy, the control strategy of the aircraft is switched from the throttle preset transition control strategy to the standard throttle control strategy. That is, it can be represented by the following formula:

[0188] Wherein, g(throttle_low)=f(throttle_low), g(throttle_up)=f(throttle_up).

[0189] For example, FIG. 28, FIG. 29, and FIG. 30 show different throttle preset transition control strategies and standard throttle control strategies. Similarly, when the current stick value reaches the first throttle transition stick value threshold throttle_low or the second throttle transition stick value threshold throttle_up corresponding to the throttle preset transition control strategy, the standard throttle control strategy is switched to control the aircraft.

[0190] In the embodiment, the first transition stick value threshold and the second transition stick value threshold corresponding to the preset transition control strategy are determined, so that when the current stick value reaches the first transition stick value threshold or the second transition stick value threshold is detected in the process of controlling the aircraft to fly by using the preset transition control strategy, the standard control strategy is switched to control the aircraft, which can avoid large mutation of the aircraft control quantity when the aircraft switches modes, and cause low flight safety. At the same time, since the user does not need to manually control the flight stability of the aircraft during mode switching, the flight experience is improved.

[0191] In one embodiment, as shown in FIG. 31, the embodiment relates to a possible implementation manner of how to determine the transition stick value threshold corresponding to the preset transition control strategy. On the basis of the above-mentioned embodiment, S901 comprises:

[0192] S3101, determining a third transition stick value threshold corresponding to the preset transition control strategy, the third transition stick value threshold being a unique intersection point of the preset transition control strategy and the standard control strategy.

[0193] The preset transition control strategy and the standard control strategy can have only one intersection point, and the intersection point can be used as the third transition stick value threshold from the preset transition control strategy to the standard control strategy.

[0194] In the embodiment of the application, there can be only one intersection point, i.e., the third transition stick value threshold, between the preset transition control strategy and the standard control strategy. The third transition stick value threshold can be determined according to the initial stick value. For example, when the initial stick value is greater than the second preset stick value end value, or when the initial control value is greater than the second preset control value end value, the second preset stick value is used as the third transition stick value threshold.

[0195] Optionally, the terminal can send an initial third transition stick value threshold to the server, and the initial third transition stick value threshold can be set according to the preset transition control strategy. If the initial third transition stick value threshold does not exceed the preset range, the initial third transition stick value threshold is used as the third transition stick value threshold.

[0196] S3102, in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick value threshold, the standard control strategy is switched to control the aircraft, comprising: in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the third transition stick value threshold, the standard control strategy is switched to control the aircraft.

[0197] Specifically, in the process of controlling the aircraft to fly by using the preset transition control strategy, the current stick value is obtained every interval preset time length, and the current stick value is detected. If it is detected that the current stick value does not reach the third transition stick threshold value, the current stick value is obtained every interval preset time length, and the current stick value is detected. If it is detected that the current stick value reaches the third transition stick threshold value, the control strategy of the aircraft is switched from the preset transition control strategy to the standard control strategy.

[0198] It should be noted that in the process of controlling the aircraft to fly by using the preset transition control strategy, the user may continuously operate the joystick, and thus the current stick value continuously changes.

[0199] Exemplarily, in an embodiment, as shown in FIGS. 21 and 23, in the process of controlling the aircraft to fly by using the angular velocity preset transition control strategy, when it is detected that the current stick value reaches the third angular velocity transition stick threshold value rc_value_end, the control strategy of the aircraft is switched from the angular velocity preset transition control strategy to the standard angular velocity control strategy. The angular velocity command is 0 or near 0, let rate_cmd_init=0, rate_cmd_end_0=0, and rc_value_end_0=0. Expressed by formula as follows:

[0200] When rc_value_init>0, there is:

[0201] When rc_value_init<0, there is:

[0202] Wherein, (rc_value_end, rate_cmd_end) is the intersection point of g(rc_value) and f(rc_value).

[0203] Alternatively, in another embodiment, as shown in FIG. 32, the straight line with a slope of 1 represents the standard throttle control strategy, and the standard throttle control strategy is represented by Thrust=f(throttle). The dashed line part of the straight line with a slope of 1 corresponds to a transition section using the throttle preset transition control strategy, and the throttle preset transition control strategy is represented by Thrust=g(throttle). The current stick value can be an initial stick value at switching, and the initial stick value is represented by throttle_init. The throttle control amount corresponding to the initial stick value is represented by thrust_init. In the process of controlling the aircraft to fly by using the throttle preset transition control strategy, when it is detected that the current stick value reaches throttle_low in the figure, the control strategy of the aircraft is switched from the throttle preset transition control strategy to the standard throttle control strategy. That is, expressed by formula as follows:

[0204] wherein g(throttle_low) = f(throttle_low), g(throttle_up)≠f(throttle_up).

[0205] By determining the unique intersection point third throttle transition lever amount threshold corresponding to the throttle preset transition control strategy, when it is detected that the current lever amount value reaches the third throttle transition lever amount threshold, the standard throttle control strategy is switched to control the aircraft. It can prevent the large throttle command jump and aircraft surge caused by the user's slight operation of the joystick when the current lever amount value is close to 1, that is, as shown in FIG. 33, when throttle_init = 0.9 and thrust_init is close to 0, if the throttle preset transition control strategy g(throttle) and the standard throttle control strategy f(throttle) are required to intersect at throttle_up, the slope of the throttle preset transition control strategy g(throttle) will be very large. Therefore, the method provided in the embodiment of the application can improve the flight safety of the aircraft.

[0206] In one embodiment, the embodiment relates to a possible implementation of how to determine the target control strategy according to the initial lever amount value when the second flight mode is the angular velocity direct control mode. On the basis of the above embodiment, S202 can include the following two cases:

[0207] Case one, if the initial lever amount value meets the second angular velocity preset control condition, the standard angular velocity control strategy corresponding to the angular velocity direct control mode is determined as the target control strategy.

[0208] The second angular velocity preset control condition can be that the initial lever amount value is at the median, and the second angular velocity preset control condition can also be that the initial lever amount value is in a preset range. The preset range can be an enlarged range based on the median.

[0209] In the embodiment of the application, if the initial lever amount value is at the median, it can be indicated that the angular velocity command corresponding to the current moment is 0. At this time, the standard angular velocity control strategy corresponding to the angular velocity direct control mode can be determined as the target control strategy, and the aircraft is controlled based on the standard angular velocity control strategy corresponding to the angular velocity direct control mode.

[0210] Optionally, if the initial lever amount value is in the preset range, it can be approximately considered that the angular velocity command corresponding to the current moment is 0. At this time, the standard angular velocity control strategy corresponding to the angular velocity direct control mode can be determined as the target control strategy, and the aircraft is controlled based on the standard angular velocity control strategy corresponding to the angular velocity direct control mode.

[0211] Optionally, the second angular velocity preset control condition can also be a corresponding relationship between the stick value and the angular velocity control amount. When the corresponding initial stick value of the switching control device and the corresponding initial angular velocity control amount of the aircraft at the time of switching satisfy the corresponding relationship in the angular velocity direct control strategy, the standard angular velocity control strategy corresponding to the angular velocity direct control mode is directly used to control the aircraft.

[0212] Case two, if the initial stick value does not satisfy the second angular velocity preset control condition, the angular velocity preset transition control strategy is determined as the target control strategy.

[0213] The angular velocity preset transition control strategy is to control the aircraft to maintain the flight state consistent with the current flight state.

[0214] In the embodiment of the present application, when the aircraft actively switches from the first flight mode to the second flight mode, if the initial stick value is not in the neutral position, the angular velocity preset transition control strategy can be determined as the target control strategy, and the aircraft is controlled according to the angular velocity preset transition control strategy.

[0215] Optionally, when the aircraft switches from the first flight mode to the second flight mode, if the initial stick value is not in the preset range, the angular velocity preset transition control strategy can be determined as the target control strategy at this time, and the aircraft is controlled based on the standard angular velocity control strategy corresponding to the angular velocity direct control mode.

[0216] In the embodiment, if the initial stick value satisfies the second angular velocity preset control condition, the aircraft is controlled based on the angular velocity direct control mode; if the initial stick value does not satisfy the second angular velocity preset control condition, the aircraft is controlled according to the current flight state information. Since no pre-step of mode switching is added to avoid angular velocity mutation, the complexity and access conditions of the user when switching modes are reduced, and the continuity of the operation is increased.

[0217] In one embodiment, as shown in FIG. 34, the present embodiment relates to a possible implementation of how to control the aircraft based on the target control strategy. Based on the above-mentioned embodiments, the following steps are included:

[0218] S3401, obtain the current flight state of the aircraft at the time of switching.

[0219] The sensor for obtaining the current flight state information of the aircraft can include a global positioning system (Global Positioning System, GPS), an inertial sensor (Inertial Measurement Unit, IMU), a magnetometer, and a vision sensor, etc. The current flight state information of the aircraft can be obtained when the aircraft actively switches the mode.

[0220] The current flight state can include a current speed at the switching time of the aerial vehicle and / or a current attitude of the aerial vehicle. If the current speed of the aerial vehicle cannot be acquired, only the current attitude is acquired.

[0221] In the embodiments of the present application, the current flight mode of the aerial vehicle when switching from the first flight mode to the second flight mode can be acquired by using sensors in the aerial vehicle.

[0222] S3402, control the aerial vehicle according to the current flight state information by using the angular velocity preset transition control strategy, and after detecting that the current stick value corresponding to the control device meets the second angular velocity preset control condition, control the aerial vehicle by using the standard angular velocity control strategy.

[0223] Specifically, if the initial stick value at the switching time is not in the middle position, the aerial vehicle can be controlled to automatically maintain the flight state consistent with the current flight state information, and after a preset time period, it is determined whether the current stick value at the current time has reached the middle position. Until it is detected that the current stick value at the current time is in the middle position, the aerial vehicle is switched to the standard angular velocity control strategy corresponding to the angular velocity direct control mode, and the aerial vehicle is controlled based on the standard angular velocity control strategy. During the preset time period, the user can operate the control stick to make the stick value reach the middle position.

[0224] It should be noted that when the aerial vehicle is controlled to automatically maintain the flight state consistent with the current flight state information, whether the aerial vehicle is controlled to automatically maintain the current speed at the switching time or maintain the current attitude at the switching time can be selected by the user. That is, the user can select a target flight state on the ground station, remote controller, body sense control, relay device, etc. of the aerial vehicle, and the device sends a control instruction to the aerial vehicle, so that the aerial vehicle is controlled to automatically maintain the current speed at the switching time and / or maintain the current attitude at the switching time according to the target flight state selected by the user. The user can also set a target flight state in a preset program of the aerial vehicle, so that the aerial vehicle is controlled to automatically maintain the current speed at the switching time and / or maintain the current attitude at the switching time according to the target flight state selected by the user.

[0225] In the embodiments, the aerial vehicle is controlled according to the current flight state information by using the angular velocity preset transition control strategy, and after detecting that the current stick value corresponding to the control device meets the second angular velocity preset control condition, the aerial vehicle is controlled by using the standard angular velocity control strategy. Without relying on the experience of the user, the situation that the aerial vehicle has a large angular velocity mutation is avoided, the complexity of the aerial vehicle control is reduced, and the safety of the aerial vehicle in the flight process is improved.

[0226] In one embodiment, the embodiment relates to a possible implementation of how to control the aircraft according to the current flight state information by using the angular velocity preset transition control strategy, including:

[0227] When the current flight state information is the current speed of the aircraft, the preset speed control algorithm is used to adjust the current speed of the aircraft, so as to control the aircraft to be at a steady speed.

[0228] The current speed of the aircraft can be obtained by a speed sensor, such as a GPS speedometer. The preset speed control algorithm can be deployed in the preset program of the aircraft. The current speed of the aircraft can also be developed or selected by a user in the ground station, remote controller, body sense control, relay device, etc. of the aircraft. After adjusting the current speed of the aircraft according to the preset speed control algorithm, a control instruction is sent to the aircraft to control the aircraft to be at a steady speed.

[0229] In the embodiment of the present application, when the current flight state information is the current speed of the aircraft, the target speed can be determined by using the preset speed control algorithm, and the current speed of the aircraft is adjusted according to the target speed, so as to control the aircraft to be at a steady speed.

[0230] Optionally, when the current flight state information is the current speed of the aircraft, the preset speed control algorithm and the preset speed threshold value can be used to adjust the current speed of the aircraft. That is, the first target speed can be determined by using the preset speed control algorithm, and the second target speed can be determined according to the preset speed threshold value. The current speed of the aircraft is adjusted according to the second target speed, so as to control the aircraft to be at a steady speed.

[0231] In the embodiment, when the current flight state information is the current speed of the aircraft, the preset speed control algorithm is used to adjust the current speed of the aircraft, so as to control the aircraft to be at a steady speed, which can reduce the occurrence of safety problems such as sudden rolling of the aircraft, thereby improving the safety of the aircraft during flight.

[0232] In one embodiment, the embodiment relates to another possible implementation of how to control the aircraft according to the current flight state information by using the angular velocity preset transition control strategy, including:

[0233] When the current flight state information is the current attitude of the aircraft, the preset attitude control algorithm is used to adjust the current attitude of the aircraft, so as to control the aircraft to be at a steady attitude.

[0234] The current attitude of the aircraft can be obtained by an attitude sensor, for example, a GPS carrier phase measurement sensor. The preset attitude control algorithm can be deployed in a preset program of the aircraft. The current attitude of the aircraft can also be developed or selected by a user in a ground station, a remote controller, a somatosensory control, a relay device or the like of the aircraft, and after adjusting the current attitude of the aircraft according to the preset attitude control algorithm, a control instruction is sent to the aircraft to control the aircraft to be in a stable attitude.

[0235] In the embodiments of the present application, when the current flight state information is the current attitude of the aircraft, the target attitude can be determined by using the preset attitude control algorithm, and the current attitude of the aircraft is adjusted according to the target attitude, so as to control the aircraft to be in a stable attitude.

[0236] Optionally, when the current flight state information is the current attitude of the aircraft, the current attitude of the aircraft can be adjusted by using the preset attitude control algorithm and the preset attitude range. That is, the first target attitude can be determined by using the preset attitude control algorithm, and the second target attitude can be determined according to the preset attitude range, and the current attitude of the aircraft is adjusted according to the second target attitude, so as to control the aircraft to be in a stable attitude.

[0237] In the embodiments of the present application, when the current flight state information is the current attitude of the aircraft, the target attitude can be determined by using the preset attitude control algorithm, and the current attitude of the aircraft is adjusted according to the target attitude, so as to control the aircraft to be in a stable attitude.

[0238] It should be understood that, although each step in the flowchart involved in each of the above embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0239] Based on the same inventive concept, the embodiments of the present application also provide an aircraft for implementing the above-mentioned aircraft control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more aircraft control device embodiments provided below can refer to the limitations of the aircraft control method in the above text, and will not be described here.

[0240] In one example embodiment, there is provided an aircraft comprising a memory and a processor, the memory storing a computer program, when the computer program is executed by the processor, the processor is configured to determine a target control strategy for controlling the aircraft to transition smoothly to a second flight mode when it is detected that the aircraft is switching from a first flight mode to the second flight mode.

[0241] In one example embodiment, the second flight mode is an angular velocity direct control mode or a throttle direct control mode, and the first flight mode is a mode other than the second flight mode.

[0242] In one example embodiment, when the computer program is executed by the processor, the processor is configured to obtain an initial stick value corresponding to a control device of the aircraft at the time of switching; and determine the target control strategy according to the initial stick value.

[0243] In one example embodiment, when the computer program is executed by the processor, the processor is configured to obtain an initial stick value corresponding to a control device of the aircraft at the time of switching and an initial control value; and determine the target control strategy according to the initial stick value and the initial control value.

[0244] In one example embodiment, when the computer program is executed by the processor, the processor is configured to determine a standard control value corresponding to the initial stick value;

[0245] When the initial control value is inconsistent with the standard control value, determine that a preset transition control strategy is the target control strategy;

[0246] Control the aircraft using the preset transition control strategy until it is detected that the current stick value meets a preset control condition, and then switch to control the aircraft using a standard control strategy; the preset transition control strategy is used to smoothly transition the aircraft to the standard control strategy.

[0247] In one example embodiment, when the computer program is executed by the processor, the processor is configured to determine a transition stick threshold value corresponding to the preset transition control strategy;

[0248] During the process of controlling the aircraft to fly using the preset transition control strategy, when it is detected that the current stick value is the transition stick threshold value, switch to control the aircraft using the standard control strategy.

[0249] In one example embodiment, when the computer program is executed by the processor, the processor is configured to determine a transition stick threshold value corresponding to the preset transition control strategy according to the initial stick value and / or the initial control value.

[0250] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to obtain a first preset end point and a second preset end point, the first preset end point comprising a first preset stick end value and a first preset control end value, the second preset end point comprising a second preset stick end value and a second preset control end value, the absolute value of the second preset stick end value being greater than the absolute value of the first preset stick end value, and the absolute value of the second preset control end value being greater than the absolute value of the first preset control end value.

[0251] When the initial stick value is between the first preset stick end value and the second preset stick end value, and the initial control value is between the first preset control end value and the second preset control end value, the first preset stick end value is taken as the first transition stick threshold value, and the second preset stick end value is taken as the second transition stick threshold value.

[0252] When the absolute value of the initial stick value is less than the absolute value of the first preset stick end value, or when the absolute value of the initial control value is less than the absolute value of the first preset control end value, the first preset stick value is taken as the transition stick threshold value.

[0253] When the initial stick value is greater than the second preset stick end value and the second preset stick end value is greater than 0, or when the initial control value is greater than the second preset control end value and the absolute value of the second preset control end value is greater than 0, the second preset stick value is taken as the transition stick threshold value.

[0254] When the initial stick value is less than the second preset stick end value and the second preset stick end value is less than 0, or when the initial control value is less than the second preset control end value and the second preset control end value is less than 0, the third preset stick value is taken as the transition stick threshold value.

[0255] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to, when the initial control value is greater than the preset control value, control the aircraft in the transition interval using the preset transition control strategy until the current stick value is detected to be the transition stick threshold value, and then switch to the standard control strategy to control the aircraft.

[0256] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to, when the initial control value is less than the preset control value, control the aircraft using a first preset transition control strategy when the current stick value is in a first stick interval, and control the aircraft using a second preset transition control strategy when the current stick value is in a second stick interval, the first stick interval and the second stick interval being obtained by dividing the transition interval with the initial stick value as the division point.

[0257] In one of the example embodiments, when the computer program is executed by the processor, the first preset transition control strategy is a control strategy with a control amount of 0.

[0258] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to determine a first transition stick amount threshold value and a second transition stick amount threshold value corresponding to the preset transition control strategy, the first transition stick amount threshold value and the second transition stick amount threshold value being two intersection points of the preset transition control strategy and the standard control strategy.

[0259] In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick amount value is the first transition stick amount threshold value or the second transition stick amount threshold value, the standard control strategy is switched to control the aircraft.

[0260] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to determine a third transition stick amount threshold value corresponding to the preset transition control strategy, the third transition stick amount threshold value being a unique intersection point of the preset transition control strategy and the standard control strategy.

[0261] In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick amount value is the transition stick amount threshold value, the standard control strategy is switched to control the aircraft, including: in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick amount value is the third transition stick amount threshold value, the standard control strategy is switched to control the aircraft.

[0262] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to

[0263] If the initial stick amount value satisfies the second preset control condition, the standard control strategy is determined as the target control strategy.

[0264] If the initial stick amount value does not satisfy the second preset control condition, the preset transition control strategy is determined as the target control strategy.

[0265] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to

[0266] The current flight state information corresponding to the aircraft at the time of switching is acquired.

[0267] When the initial stick amount value does not satisfy the second preset control condition, the preset transition control strategy is used to control the aircraft according to the current flight state information, and after it is detected that the current stick amount value corresponding to the control device satisfies the second preset control condition, the standard control strategy is used for control.

[0268] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to

[0269] When the current flight state information is a current speed of the aircraft, a preset speed control algorithm is used to adjust the current speed of the aircraft to control the aircraft to be at a steady speed.

[0270] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to

[0271] When the current flight state information is a current attitude of the aircraft, a preset attitude control algorithm is used to adjust the current attitude of the aircraft to control the aircraft to be at a steady attitude.

[0272] In one of the example embodiments, when the computer program is executed by the processor, the preset transition control strategy is to control the aircraft to maintain a flight state consistent with the current flight state.

[0273] In one of the example embodiments, a control device is provided, comprising a memory and a processor, the memory storing a computer program, when the computer program is executed by the processor, the processor is configured to determine a target control strategy when detecting that the aircraft switches from a first flight mode to a second flight mode, the target control strategy being used to control the aircraft to transition smoothly to the second flight mode.

[0274] In one of the example embodiments, the second flight mode is an angular velocity direct control mode or a throttle direct control mode, and the first flight mode is a mode other than the second flight mode.

[0275] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to obtain an initial stick value corresponding to the control device of the aircraft at the time of switching; and determine the target control strategy according to the initial stick value.

[0276] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to obtain an initial stick value corresponding to the control device of the aircraft at the time of switching and an initial control value; and determine the target control strategy according to the initial stick value and the initial control value.

[0277] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to determine a standard control value corresponding to the initial stick value;

[0278] When the initial control value is inconsistent with the standard control value, the preset transition control strategy is determined as the target control strategy;

[0279] The preset transition control strategy is used for stably transitioning the aircraft to the standard control strategy.

[0280] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to determine the transition stick value threshold corresponding to the preset transition control strategy according to the initial stick value and / or the initial control value.

[0281] In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick value threshold, the standard control strategy is switched to control the aircraft.

[0282] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to determine the transition stick value threshold corresponding to the preset transition control strategy according to the initial stick value and / or the initial control value.

[0283] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to obtain a first preset end point and a second preset end point, the first preset end point comprising a first preset stick value end value and a first preset control value end value, and the second preset end point comprising a second preset stick value end value and a second preset control value end value, the absolute value of the second preset stick value end value being greater than the absolute value of the first preset stick value end value, and the absolute value of the second preset control value end value being greater than the absolute value of the first preset control value end value.

[0284] When the initial stick value is between the first preset stick value end value and the second preset stick value end value, and the initial control value is between the first preset control value end value and the second preset control value end value, the first preset stick value end value is taken as the first transition stick value threshold, and the second preset stick value end value is taken as the second transition stick value threshold.

[0285] When the absolute value of the initial stick value is less than the absolute value of the first preset stick value end value, or when the absolute value of the initial control value is less than the absolute value of the first preset control value end value, the first preset stick value is taken as the transition stick value threshold.

[0286] When the initial stick value is greater than the second preset stick value end value and the second preset stick value end value is greater than 0, or when the initial control value is greater than the second preset control value end value and the absolute value of the second preset control value end value is greater than 0, the second preset stick value is taken as the transition stick value threshold.

[0287] When the initial stick value is less than the second preset stick end value, and the second preset stick end value is less than 0, or when the initial control value is less than the second preset control end value, and the second preset control end value is less than 0, the third preset stick value is taken as the transition stick threshold value.

[0288] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to control the aircraft in the transition interval by using the preset transition control strategy when the initial control value is greater than the preset control value, and switch to the standard control strategy to control the aircraft when it is detected that the current stick value is the transition stick threshold value.

[0289] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to control the aircraft by using the first preset transition control strategy when the initial control value is less than the preset control value, and the current stick value is in the first stick interval, and control the aircraft by using the second preset transition control strategy when the current stick value is in the second stick interval, the first stick interval and the second stick interval being obtained by dividing the transition interval with the initial stick value as the dividing point.

[0290] In one of the example embodiments, when the computer program is executed by the processor, the first preset transition control strategy is a control strategy with a control value of 0.

[0291] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to determine a first transition stick threshold value and a second transition stick threshold value corresponding to the preset transition control strategy, the first transition stick threshold value and the second transition stick threshold value being two intersection points of the preset transition control strategy and the standard control strategy.

[0292] In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the first transition stick threshold value or the second transition stick threshold value, the standard control strategy is switched to control the aircraft.

[0293] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to determine a third transition stick threshold value corresponding to the preset transition control strategy, the third transition stick threshold value being the only intersection point of the preset transition control strategy and the standard control strategy.

[0294] In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick threshold value, the standard control strategy is switched to control the aircraft, including: in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the third transition stick threshold value, the standard control strategy is switched to control the aircraft.

[0295] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to

[0296] If the initial stick value meets the second preset control condition, the standard control strategy is determined as the target control strategy.

[0297] If the initial stick value does not meet the second preset control condition, the preset transition control strategy is determined as the target control strategy.

[0298] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to

[0299] Obtain current flight state information corresponding to the aircraft at the time of switching;

[0300] When the initial stick value does not meet the second preset control condition, the preset transition control strategy is used to control the aircraft according to the current flight state information, and after it is detected that the current stick value corresponding to the control device meets the second preset control condition, the standard control strategy is used for control.

[0301] In one of the example embodiments, when the computer program is executed by the processor, the processor is configured to

[0302] When the current flight state information is the current speed of the aircraft, a preset speed control algorithm is used to adjust the current speed of the aircraft to control the aircraft to be at a steady speed.

[0303] In one of the example embodiments, the processor is configured to

[0304] When the current flight state information is the current attitude of the aircraft, a preset attitude control algorithm is used to adjust the current attitude of the aircraft to control the aircraft to be at a steady attitude.

[0305] In one of the example embodiments, when the computer program is executed by the processor, the preset transition control strategy is to control the aircraft to maintain a flight state consistent with the current flight state.

[0306] In an exemplary embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in FIG. 35. The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store data. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with terminals outside through a network connection. The computer program is executed by the processor to implement an aircraft control method.

[0307] Those skilled in the art can understand that the structure shown in FIG. 33 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0308] In an embodiment, a computer readable storage medium storing a computer program is provided. The computer program is executed by a processor to cause the processor to perform the steps of the aircraft control method.

[0309] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0310] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application. Especially, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. An aircraft control method, wherein, The method comprises: When detecting that the aircraft switches from a first flight mode to a second flight mode, determining a target control strategy, the target control strategy being used to control the aircraft to smoothly transition to the second flight mode; Controlling the aircraft based on the target control strategy.

2. The method of claim 1, wherein, The second flight mode is an angular velocity direct control mode or a throttle direct control mode, and the first flight mode is a mode other than the second flight mode.

3. The method of claim 1, wherein, The determination of the target control strategy comprises: Obtaining an initial stick value corresponding to a control device of the aircraft at the time of switching; Determining the target control strategy according to the initial stick value.

4. The method of claim 1, wherein, The determination of the target control strategy comprises: Obtaining an initial stick value and an initial control value corresponding to a control device of the aircraft at the time of switching; Determining the target control strategy according to the initial stick value and the initial control value.

5. The method of claim 4, wherein, The determination of the target control strategy according to the initial stick value and the initial control value comprises: Determining a standard control value corresponding to the initial stick value; When the initial control value is inconsistent with the standard control value, determining that a preset transition control strategy is the target control strategy; The control of the aircraft based on the target control strategy comprises: Controlling the aircraft by using the preset transition control strategy until detecting that a current stick value meets a preset control condition, and then switching to control the aircraft by using a standard control strategy; the preset transition control strategy is used to smoothly transition the aircraft to the standard control strategy.

6. The method of claim 5, wherein, The control of the aircraft by using the preset transition control strategy until detecting that a current stick value meets a preset control condition, and then switching to control the aircraft by using a standard control strategy; The preset transition control strategy used to smoothly transition the aircraft to the standard control strategy comprises: Determining a transition stick threshold value corresponding to the preset transition control strategy; In the process of controlling the aircraft to fly by using the preset transition control strategy, when detecting that the current stick value is the transition stick threshold value, switching to control the aircraft by using a standard control strategy.

7. The method of claim 6, wherein, The determination of the transition stick threshold value corresponding to the preset transition control strategy comprises: Determining the transition stick threshold value corresponding to the preset transition control strategy according to the initial stick value and / or the initial control value.

8. The method of claim 7, wherein, The determination of the transition stick threshold value corresponding to the preset transition control strategy according to the initial stick value and / or the initial control value comprises: Obtaining a first preset end point and a second preset end point, the first preset end point comprising a first preset stick end value and a first preset control end value, and the second preset end point comprising a second preset stick end value and a second preset control end value, an absolute value of the second preset stick end value being greater than an absolute value of the first preset stick end value, and an absolute value of the second preset control end value being greater than an absolute value of the first preset control end value; When the initial stick value is between the first preset stick end value and the second preset stick end value, and the initial control value is between the first preset control end value and the second preset control end value, the first preset stick end value is taken as a first transition stick threshold value, and the second preset stick end value is taken as a second transition stick threshold value.

9. The method of claim 8, wherein, The method further comprises: When the absolute value of the initial stick value is less than the absolute value of the first preset stick end value, or when the absolute value of the initial control value is less than the absolute value of the first preset control end value, the first preset stick value is taken as the transition stick threshold value.

10. The method of claim 8, wherein, The method further comprises: When the initial stick value is greater than the second preset stick end value, and the second preset stick end value is greater than 0, or when the initial control value is greater than the second preset control end value, and the absolute value of the second preset control end value is greater than 0, the second preset stick value is taken as the transition stick threshold value.

11. The method of claim 8, wherein, The method further comprises: When the initial stick value is less than the second preset stick end value, and the second preset stick end value is less than 0, or when the initial control value is less than the second preset control end value, and the second preset control end value is less than 0, the third preset stick value is taken as the transition stick threshold value.

12. The method of claim 6, wherein, In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick threshold value, the standard control strategy is switched to control the aircraft, comprising: When the initial control value is greater than the preset control value, the preset transition control strategy is used to control the aircraft in the transition interval until it is detected that the current stick value is the transition stick threshold value, and the standard control strategy is switched to control the aircraft.

13. The method of claim 6, wherein, In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick threshold value, the standard control strategy is switched to control the aircraft, comprising: When the initial control value is less than the preset control value, when the current stick value is in a first stick interval, a first preset transition control strategy is used to control the aircraft, and when the current stick value is in a second stick interval, a second preset transition control strategy is used to control the aircraft, the first stick interval and the second stick interval being obtained by dividing the transition interval by the initial stick value as a division point.

14. The method of claim 13, wherein, The first preset transition control strategy is a control strategy with a control value of 0.

15. The method of claim 6, wherein, The determination of the transition stick threshold value corresponding to the preset transition control strategy comprises: The first transition stick threshold value and the second transition stick threshold value corresponding to the preset transition control strategy are determined, the first transition stick threshold value and the second transition stick threshold value being two intersection points of the preset transition control strategy and the standard control strategy. The method further includes: when the current stick value is detected as the transition stick threshold value in the process of controlling the aircraft to fly by using the preset transition control strategy, switching to a standard control strategy to control the aircraft.

16. The method of claim 6, wherein, The method further includes: The method further includes: determining a third transition stick threshold value corresponding to the preset transition control strategy, the third transition stick threshold value being a unique intersection point of the preset transition control strategy and the standard control strategy. The method further includes: when the current stick value is detected as the third transition stick threshold value in the process of controlling the aircraft to fly by using the preset transition control strategy, switching to the standard control strategy to control the aircraft.

17. The method of claim 3, wherein, The method further includes: If the initial stick value satisfies a second preset control condition, determining the standard control strategy as the target control strategy. If the initial stick value does not satisfy the second preset control condition, determining the preset transition control strategy as the target control strategy. The method further includes:

18. The method of claim 17, wherein, obtaining current flight state information corresponding to the aircraft at the switching time; when the initial stick value does not satisfy the second preset control condition, controlling the aircraft by using the preset transition control strategy according to the current flight state information, until the current stick value corresponding to the control device satisfies the second preset control condition, and then controlling the aircraft by using the standard control strategy. The method further includes:

19. The method of claim 18, wherein, when the current flight state information is a current speed of the aircraft, adjusting the current speed of the aircraft by using a preset speed control algorithm to control the aircraft to be in a steady speed. The method further includes:

20. The method of claim 18, wherein, when the current flight state information is a current attitude of the aircraft, adjusting the current attitude of the aircraft by using a preset attitude control algorithm to control the aircraft to be in a steady attitude. The preset transition control strategy is to control the aircraft to maintain a flight state consistent with the current flight state.

21. The method of claim 17, wherein, When the computer program is executed by the processor, the processor is configured to determine a target control strategy when the aircraft is detected to switch from a first flight mode to a second flight mode, the target control strategy being used to control the aircraft to smoothly transition to the second flight mode.

22. An aircraft comprising a memory and a processor, said memory storing a computer program, wherein, ​ 23. The aircraft of claim 22, wherein, The second flight mode is an angular velocity direct control mode or a throttle direct control mode, and the first flight mode is a mode other than the second flight mode.

24. The aircraft of claim 22, wherein, The processor is configured to obtain an initial stick value corresponding to a control device of the aircraft at the time of switching; and determine the target control strategy according to the initial stick value.

25. The aircraft of claim 22, wherein, The processor is configured to obtain an initial stick value and an initial control value corresponding to a control device of the aircraft at the time of switching; and determine the target control strategy according to the initial stick value and the initial control value.

26. The aircraft of claim 25, wherein, The processor is configured to determine a standard control value corresponding to the initial stick value. When the initial control value is inconsistent with the standard control value, determine that a preset transition control strategy is the target control strategy. The preset transition control strategy is used to smoothly transition the aircraft to the standard control strategy. The processor is configured to determine a transition stick threshold value corresponding to the preset transition control strategy.

27. The aircraft of claim 26, wherein, During flight control of the aircraft by using the preset transition control strategy, when it is detected that the current stick value is the transition stick threshold value, switch to control the aircraft by using the standard control strategy. The processor is configured to determine a transition stick threshold value corresponding to the preset transition control strategy according to the initial stick value and / or the initial control value.

28. The aircraft of claim 27, wherein, The processor is configured to obtain a first preset end point and a second preset end point, the first preset end point including a first preset stick end value and a first preset control end value, and the second preset end point including a second preset stick end value and a second preset control end value, the absolute value of the second preset stick end value being greater than the absolute value of the first preset stick end value, and the absolute value of the second preset control end value being greater than the absolute value of the first preset control end value.

29. The aircraft of claim 28, wherein, When the initial stick value is between the first preset stick end value and the second preset stick end value, and the initial control value is between the first preset control end value and the second preset control end value, the first preset stick end value is taken as a first transition stick threshold value, and the second preset stick end value is taken as a second transition stick threshold value. The processor is configured to When the absolute value of the initial stick value is less than the absolute value of the first preset stick end value, or when the absolute value of the initial control value is less than the absolute value of the first preset control end value, the first preset stick value is taken as the transition stick threshold value.

30. The aircraft of claim 28, wherein, The processor is configured to When the initial stick value is greater than the second preset stick end value and the second preset stick end value is greater than 0, or when the initial control value is greater than the second preset control end value and the absolute value of the second preset control end value is greater than 0, the second preset stick value is taken as the transition stick threshold value.

31. The aircraft of claim 28 wherein, The processor is configured to ​ 32. The aircraft of claim 28 wherein, ​ When the initial control amount is greater than the preset control amount, the processor is configured to control the aircraft in the transition interval by using the preset transition control strategy until it is detected that the current control amount is the transition control threshold, and then switch to the standard control strategy to control the aircraft.

33. The aircraft of claim 27 wherein, When the initial control amount is less than the preset control amount, the processor is configured to control the aircraft by using a first preset transition control strategy when the current control amount is in a first control amount interval, and control the aircraft by using a second preset transition control strategy when the current control amount is in a second control amount interval, the first control amount interval and the second control amount interval being obtained by dividing the transition interval with the initial control amount as a dividing point.

34. The aircraft of claim 27 wherein, The first preset transition control strategy is a control strategy with a control amount of 0.

35. The aircraft of claim 34, wherein, The processor is configured to determine a first transition control threshold and a second transition control threshold corresponding to the preset transition control strategy, the first transition control threshold and the second transition control threshold being two intersection points of the preset transition control strategy and the standard control strategy.

36. The aircraft of claim 27 wherein, In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current control amount is the first transition control threshold or the second transition control threshold, the standard control strategy is switched to control the aircraft. The processor is configured to determine a third transition control threshold corresponding to the preset transition control strategy, the third transition control threshold being the only intersection point of the preset transition control strategy and the standard control strategy.

37. The aircraft of claim 27 wherein, In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current control amount is the transition control threshold, the standard control strategy is switched to control the aircraft, including: in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current control amount is the third transition control threshold, the standard control strategy is switched to control the aircraft. The processor is configured to 38. The aircraft of claim 24 wherein, If the initial control amount satisfies a second preset control condition, determine the standard control strategy as the target control strategy. If the initial control amount does not satisfy the second preset control condition, determine the preset transition control strategy as the target control strategy. The processor is configured to 39. The aircraft of claim 38, wherein, Obtain current flight state information corresponding to the aircraft at the time of switching; When the initial control amount does not satisfy the second preset control condition, control the aircraft by using the preset transition control strategy according to the current flight state information until it is detected that the current control amount corresponding to the control device satisfies the second preset control condition, and then control the aircraft by using the standard control strategy. The processor is configured to ​ 40. The aircraft of claim 39, wherein, ​ When the current flight state information is a current speed of the aircraft, a preset speed control algorithm is used to adjust the current speed of the aircraft to control the aircraft to be at a stable speed.

41. The aircraft of claim 39, wherein, The processor is configured to When the current flight state information is a current attitude of the aircraft, a preset attitude control algorithm is used to adjust the current attitude of the aircraft to control the aircraft to be at a stable attitude.

42. The aircraft of claim 38, wherein, The preset transition control strategy is to control the aircraft to maintain a flight state consistent with the current flight state.

43. A steering apparatus comprising a memory and a processor, the memory storing a computer program, wherein, When the computer program is executed by the processor, the processor is configured to, when detecting that the aircraft is switched from a first flight mode to a second flight mode, determine a target control strategy, the target control strategy being used to control the aircraft to smoothly transition to the second flight mode.

44. The steering apparatus of claim 43, wherein, The second flight mode is an angular velocity direct control mode or a throttle direct control mode, and the first flight mode is a mode other than the second flight mode.

45. The steering apparatus of claim 43, wherein, The processor is configured to obtain an initial stick value corresponding to a control device of the aircraft at the time of switching; and determine the target control strategy according to the initial stick value.

46. The handling apparatus of claim 43, wherein, The processor is configured to obtain an initial stick value and an initial control value corresponding to a control device of the aircraft at the time of switching; and determine the target control strategy according to the initial stick value and the initial control value.

47. The steering apparatus of claim 46, wherein, The processor is configured to determine a standard control value corresponding to the initial stick value. When the initial control value is inconsistent with the standard control value, the preset transition control strategy is determined to be the target control strategy. The aircraft is controlled by using the preset transition control strategy until it is detected that a current stick value meets a preset control condition, and then a standard control strategy is switched to control the aircraft; and the preset transition control strategy is used to smoothly transition the aircraft to the standard control strategy.

48. The steering apparatus of claim 47, wherein, The processor is configured to determine a transition stick threshold value corresponding to the preset transition control strategy. During the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick threshold value, the standard control strategy is switched to control the aircraft. The processor is configured to determine a transition stick threshold value corresponding to the preset transition control strategy according to the initial stick value and / or the initial control value.

49. The steering apparatus of claim 48, wherein, The processor is configured to 50. The steering device of claim 49, wherein, obtain a first preset end point and a second preset end point, the first preset end point including a first preset stick end value and a first preset control end value, and the second preset end point including a second preset stick end value and a second preset control end value, an absolute value of the second preset stick end value being greater than an absolute value of the first preset stick end value, and an absolute value of the second preset control end value being greater than an absolute value of the first preset control end value; ​ When the initial stick value is between the first preset stick end value and the second preset stick end value, and the initial control value is between the first preset control end value and the second preset control end value, the first preset stick end value is taken as a first transition stick threshold value, and the second preset stick end value is taken as a second transition stick threshold value.

51. The steering apparatus of claim 49, wherein, The processor is configured to When the absolute value of the initial stick value is less than the absolute value of the first preset stick end value, or when the absolute value of the initial control value is less than the absolute value of the first preset control end value, the first preset stick value is taken as the transition stick threshold value.

52. The steering apparatus of claim 49, wherein, The processor is configured to When the initial stick value is greater than the second preset stick end value, and the second preset stick end value is greater than 0, or when the initial control value is greater than the second preset control end value, and the absolute value of the second preset control end value is greater than 0, the second preset stick value is taken as the transition stick threshold value.

53. The steering apparatus of claim 49, wherein, The processor is configured to When the initial stick value is less than the second preset stick end value, and the second preset stick end value is less than 0, or when the initial control value is less than the second preset control end value, and the second preset control end value is less than 0, the third preset stick value is taken as the transition stick threshold value.

54. The steering apparatus of claim 48, wherein, The processor is configured to, when the initial control value is greater than a preset control value, control the aircraft in the transition interval by using the preset transition control strategy until it is detected that the current stick value is the transition stick threshold value, and then switch to a standard control strategy to control the aircraft.

55. The steering apparatus of claim 48, wherein, The processor is configured to, when the initial control value is less than a preset control value, control the aircraft by using a first preset transition control strategy when the current stick value is in a first stick interval, and control the aircraft by using a second preset transition control strategy when the current stick value is in a second stick interval, the first stick interval and the second stick interval being obtained by dividing the transition interval with the initial stick value as a division point.

56. The steering apparatus of claim 55, wherein, The first preset transition control strategy is a control strategy in which the control value is 0.

57. The steering apparatus of claim 48, wherein, The processor is configured to determine a first transition stick threshold value and a second transition stick threshold value corresponding to the preset transition control strategy, the first transition stick threshold value and the second transition stick threshold value being two intersection points of the preset transition control strategy and the standard control strategy. In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the first transition stick threshold value or the second transition stick threshold value, the standard control strategy is switched to control the aircraft.

58. The steering apparatus of claim 48, wherein, The processor is configured to determine a third transition stick threshold value corresponding to the preset transition control strategy, the third transition stick threshold value being a unique intersection point of the preset transition control strategy and the standard control strategy. The processor is configured to, when the initial control value is less than a preset control value, control the aircraft by using a first preset transition control strategy when the current stick value is in a first stick interval, and control the aircraft by using a second preset transition control strategy when the current stick value is in a second stick interval, the first stick interval and the second stick interval being obtained by dividing the transition interval with the initial stick value as a division point. The first preset transition control strategy is a control strategy in which the control value is 0. The processor is configured to determine a first transition stick threshold value and a second transition stick threshold value corresponding to the preset transition control strategy, the first transition stick threshold value and the second transition stick threshold value being two intersection points of the preset transition control strategy and the standard control strategy. In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the first transition stick threshold value or the second transition stick threshold value, the standard control strategy is switched to control the aircraft. The processor is configured to determine a third transition stick threshold value corresponding to the preset transition control strategy, the third transition stick threshold value being a unique intersection point of the preset transition control strategy and the standard control strategy. In the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the transition stick threshold value, a standard control strategy is switched to control the aircraft, including: in the process of controlling the aircraft to fly by using the preset transition control strategy, when it is detected that the current stick value is the third transition stick threshold value, a standard control strategy is switched to control the aircraft.

59. The steering apparatus of claim 43, wherein, The processor is configured to If the initial stick value meets a second preset control condition, a standard control strategy is determined as the target control strategy. If the initial stick value does not meet the second preset control condition, a preset transition control strategy is determined as the target control strategy.

60. The steering apparatus of claim 59, wherein, The processor is configured to Obtain current flight state information corresponding to the aircraft at the time of switching; When the initial stick value does not meet the second preset control condition, the preset transition control strategy is used to control the aircraft according to the current flight state information, until it is detected that the current stick value corresponding to the control device meets the second preset control condition, and then the standard control strategy is used for control.

61. The steering apparatus of claim 60, wherein, The processor is configured to When the current flight state information is a current speed of the aircraft, a preset speed control algorithm is used to adjust the current speed of the aircraft, so as to control the aircraft to be at a steady speed.

62. The steering apparatus of claim 60, wherein, The processor is configured to When the current flight state information is a current attitude of the aircraft, a preset attitude control algorithm is used to adjust the current attitude of the aircraft, so as to control the aircraft to be at a steady attitude. The preset transition control strategy is to control the aircraft to keep a flight state consistent with a current flight state.

63. The steering apparatus of claim 59, wherein, The computer program is executed by the processor to realize the steps of the method in any one of claims 1 to 21.

64. A computer readable storage medium having stored thereon a computer program, wherein, ​

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