Parameter setting method and apparatus, and multi-rotor unmanned aerial vehicle
By dividing and updating the parameter domain of the electronic speed controller in a multi-rotor UAV system, and utilizing the CAN bus network and point-to-point communication, the safety hazards during changes to the overall design were resolved, achieving efficient and accurate parameter updates and improving the flight stability and safety of the UAV.
Patent Information
- Application Number
- PCT/CN2024/129456
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-06-17
- Filing Date
- 2024-11-01
- Publication Date
- 2025-12-26
AI Technical Summary
There are high safety risks associated with changes to the overall design of existing multi-rotor drone systems, which may lead to problems such as insufficient or excessive thrust, abnormal response, etc., affecting flight stability and safety.
By acquiring the identity information of the electronic speed controller, parsing its parameter information, and dividing the parameter information into a common control parameter domain and an independent control parameter domain, the common parameters are updated via broadcast communication using the CAN bus network, and the independent parameters are updated via point-to-point communication, ensuring the accuracy and flexibility of the parameters.
It improves the system's communication efficiency and the accuracy of parameter updates, simplifies the parameter update process, enhances the system's flexibility and configurability, and ensures the stable flight of the UAV.
Smart Images
Figure CN2024129456_26122025_PF_FP_ABST
Abstract
Description
A parameter setting method, apparatus, and multi-rotor unmanned aerial vehicle
[0001] Cross-reference of related applications
[0002] This application claims priority to Chinese Patent Application No. 202410779678.8, filed on June 17, 2024, entitled "A Parameter Setting Method, Apparatus and Multi-Axis Unmanned Aerial Vehicle", the entire contents of which are incorporated herein by reference. Technical Field
[0003] This application relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a parameter setting method, a device, and a multi-rotor UAV. Background Technology
[0004] In multi-rotor unmanned aerial vehicle (UAV) systems, the UAV's propulsion system and the flight controller system (also known as the flight control system) that controls the UAV's flight attitude are crucial components. The flight control system can control the motors and propellers in the propulsion system via an electronic speed controller to achieve flight and attitude adjustments. Therefore, multi-rotor UAV systems typically require a corresponding propulsion system designed to ensure stable flight. For example, assuming a 6-rotor UAV weighs 30 kg, and the propulsion system typically needs to provide a pull force approximately twice the weight of the UAV, then each rotor needs to be designed to provide about 10 kg of pull force. Furthermore, if the overall design of the UAV system changes, such as altering the number of rotors or the weight of the fuselage, the existing design may not meet the control requirements, potentially leading to phenomena such as providing too much / too little pull force resulting in flight failure, or too slow / too fast response causing abnormal flight attitude or even a crash, posing significant safety risks.
[0005] Summary of the Invention
[0006] The embodiments of this application mainly address the technical problem that existing multi-axis unmanned aerial vehicle (UAV) systems have high safety risks when the overall design is changed.
[0007] In a first aspect, embodiments of this application provide a parameter setting method applied to a multi-rotor unmanned aerial vehicle (UAV). The multi-rotor UAV includes a parameter tuning system and multiple electronic speed controllers (ESCs). The parameter tuning system is communicatively connected to the multiple ESCs. The method includes:
[0008] Obtain all the identity information of the electronic speed controller;
[0009] The electronic speed controller's parameter information is parsed based on the identity information to support the user in modifying the target electronic speed controller's parameter information based on the identity information. The parameter information includes common control parameter domain parameters and independent control parameter domain parameters.
[0010] Obtain the common control parameter domain parameters and independent control parameter domain parameters of the target electronic speed controller after modification by the user;
[0011] Update all common control parameter domain parameters of the electronic speed controller based on the modified common control parameter domain parameters;
[0012] The independent control parameter domain parameters of the target electronic speed governor are updated based on the modified independent control parameter domain parameters.
[0013] In some embodiments, the parameter adjustment system is connected to the same CAN bus network as all the electronic speed controllers, and obtaining the identity information of all the electronic speed controllers includes:
[0014] The CAN bus network sends a heartbeat query command to all the electronic speed controllers, so that after receiving the heartbeat query command, the electronic speed controllers report the heartbeat to the parameter tuning system via the CAN bus network after a delay.
[0015] The heartbeat packet is parsed by the parameter tuning system to obtain all the identity information of the electronic speed controller, including the address of the electronic speed controller.
[0016] In some embodiments, after receiving the heartbeat query command, the electronic speed controller further includes delayingly reporting the heartbeat packet to the parameter tuning system via the CAN bus network:
[0017] The preset delay time T is determined based on the address of the electronic speed controller itself;
[0018] After receiving the heartbeat packet query instruction, the heartbeat packet is reported to the parameter tuning system after a preset time T.
[0019] In some embodiments, the preset time T corresponding to each of the electronic speed controllers must at least meet the following requirements:
[0020] The address size is obtained from the address of the electronic speed controller itself.
[0021] In some embodiments, parsing the parameter information of the electronic speed controller based on the identity information includes:
[0022] Based on the address of any electronic speed controller, the common control parameter domain parameters of the electronic speed controller are obtained and parsed through point-to-point communication.
[0023] Based on the addresses of all the electronic speed controllers, the independent control parameter domain parameters of all the electronic speed controllers are obtained through point-to-point polling communication.
[0024] In some embodiments, the parameter adjustment system includes an interactive component for displaying the address and corresponding parameter information of the electronic speed controller, and responding to user interaction operations, wherein the interaction operations include the user modifying the parameter information of the target electronic speed controller according to the address of the target electronic speed controller.
[0025] In some embodiments, updating the common control parameter domain parameters of all electronic speed controllers based on the modified common control parameter domain parameters includes:
[0026] The modified common control parameter domain parameters are broadcast on the CAN bus network so that all electronic speed controllers can obtain and store the modified common control parameter domain parameters through the CAN bus network.
[0027] In some embodiments, updating the independent control parameter domain parameters of the target electronic speed governor based on the modified independent control parameter domain parameters includes:
[0028] The modified independent control parameter field parameters are then used for point-to-point polling communication with the address of the target electronic speed controller to write the independent control parameter field parameters into the target electronic speed controller corresponding to the address, thereby enabling the target electronic speed controller to store the corresponding independent control parameter field parameters.
[0029] Secondly, embodiments of this application also provide a parameter setting device applied to a multi-rotor unmanned aerial vehicle (UAV). The multi-rotor UAV includes a parameter setting system and multiple electronic speed controllers. The parameter setting system is communicatively connected to the multiple electronic speed controllers. The device includes:
[0030] The electronic speed controller identification module is used to obtain the identity information of all the electronic speed controllers.
[0031] The address resolution module is used to parse the parameter information of the electronic speed controller based on the identity information, so as to support the user to modify the parameter information of the target electronic speed controller based on the identity information. The parameter information includes common control parameter domain parameters and independent control parameter domain parameters.
[0032] The parameter modification module is used to obtain the common control parameter domain parameters and independent control parameter domain parameters of the target electronic speed controller after modification by the user.
[0033] The first parameter setting module is used to update the common control parameter domain parameters of all the electronic speed controllers based on the modified common control parameter domain parameters.
[0034] The second parameter setting module is used to update the independent control parameter domain parameters of the target electronic speed governor based on the modified independent control parameter domain parameters.
[0035] Thirdly, embodiments of this application also provide a multi-axis unmanned aerial vehicle (UAV), including:
[0036] At least one processor and memory;
[0037] The memory is coupled to the processor and is used to store instructions or programs. When the instructions or programs are executed by the at least one processor, the at least one processor performs the parameter setting method as described above.
[0038] Fourthly, embodiments of this application also provide a non-volatile computer-readable storage medium storing computer-executable instructions, which, when executed by an electronic device, cause the electronic device to perform the parameter setting method as described above.
[0039] Fifthly, embodiments of this application also provide a computer program product, the computer program product including a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, which, when executed by an electronic device, cause the electronic device to perform the parameter setting method as described above.
[0040] The parameter setting method, apparatus, and multi-axis UAV provided in this application obtain the identity information of all the electronic speed controllers; and parse the parameter information of the electronic speed controllers according to the identity information to support users in modifying the parameter information of the target electronic speed controller according to the identity information. The parameter information includes common control parameter domain parameters and independent control parameter domain parameters. Then, the user-modified common control parameter domain parameters and independent control parameter domain parameters of the target electronic speed controller are obtained; the common control parameter domain parameters of all the electronic speed controllers are updated based on the modified common control parameter domain parameters; and the independent control parameter domain parameters of the target electronic speed controller are updated based on the modified independent control parameter domain parameters. This method divides the parameter information of the electronic speed controller into common control parameter domain parameters and independent control parameter domain parameters, and publishes the modified common control parameter domain parameters through broadcast communication, ensuring that the entire system can coordinate operations based on the latest common control parameter domain parameters, thereby improving the system's communication efficiency and simplifying the parameter update process. Furthermore, by using a point-to-point polling communication strategy, the modified independent control parameter domain parameters are directly written to the target electronic speed controller at the corresponding address, ensuring the accuracy of parameter updates and the uniqueness of the target device, thus improving the system's flexibility and configurability. Attached Figure Description
[0041] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.
[0042] Figure 1 is a flowchart illustrating a parameter setting method provided in an embodiment of this application;
[0043] Figure 2 is a schematic diagram of a parameter setting device provided in an embodiment of this application;
[0044] Figure 3 is a structural schematic diagram of a multi-axis unmanned aerial vehicle provided in an embodiment of this application. Detailed Implementation
[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0046] It should be noted that, unless otherwise specified, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device schematic diagram or the order in the flowchart. Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.
[0047] For multi-rotor drones, to ensure stable flight, a parameter tuning system and an Electronic Speed Control (ESC) are typically used to adjust flight control parameters to adapt to a customized power system. If the overall design is changed, the power system must be redesigned to avoid flight problems caused by insufficient thrust or abnormal response. Based on this, this application provides a parameter setting method for multi-rotor drones, which includes a parameter tuning system and multiple ESCs. The parameter tuning system is communicatively connected to the multiple ESCs. Typically, each ESC is connected to a corresponding motor. The parameter tuning system is used to adjust the motors via the ESCs. The number of ESCs in a multi-rotor drone is the same as the number of axes of the drone. For example, a small quadcopter drone typically has four ESCs and four motors. The ESCs can control the motor speed via received PWM signals, thereby adjusting the drone's flight attitude.
[0048] Please refer to Figure 1. The parameter setting method provided in this application embodiment includes:
[0049] S11. Obtain the identity information of all the electronic speed controllers.
[0050] In this embodiment, the parameter tuning system and all electronic speed controllers (ESCs) of the multi-axis UAV are connected to the same CAN bus network. This CAN bus network allows for data interaction with each ESC based on CAN communication. Each ESC in this network has a unique address representing its own node identity. The host can also broadcast information or specific address information within this network. If the host broadcasts information, all nodes (ESCs) in the CAN bus network can receive it. If the host broadcasts specific address information, such as a point-to-point addressing data frame using the specific address of a target node, only the ESC corresponding to that specific address information will receive it. In this embodiment, the parameter tuning system can act as the host of the CAN bus network. In other embodiments, a separate control device can also be used as the host.
[0051] Specifically, the parameter tuning system can send heartbeat query commands to all electronic speed controllers via a CAN bus network in a broadcast manner. Upon receiving the command, each node on the CAN bus, i.e., all electronic speed controllers, will report a heartbeat packet to the parameter tuning system after a preset delay. The parameter tuning system parses the heartbeat packet data, which typically contains the identification information of the electronic speed controller that sent the heartbeat packet, such as the address of the electronic speed controller. The parameter tuning system can identify which electronic speed controller sent which heartbeat packet based on the data content of the heartbeat packet. In some other embodiments, the identification information may also include a unique identifier, which the parameter tuning system (or the host) can use to distinguish different electronic speed controllers.
[0052] It is understandable that when multiple devices send data to the bus simultaneously or almost simultaneously, a "frame collision" phenomenon may occur, where multiple data packets (such as the heartbeat packet in this solution) conflict with each other on the bus, leading to data corruption or loss. Based on this, in this embodiment, when the electronic speed controller receives a heartbeat packet query command, it will report the heartbeat packet to the parameter tuning system after a preset delay time T. The electronic speed controller determines the preset delay time T based on its own address to reduce the occurrence of frame collisions or frame loss on the bus.
[0053] In this embodiment of the application, the preset time T at least meets the following requirements:
[0054] The address size is obtained from the address of the electronic speed controller itself; therefore, the preset time T for each electronic speed controller may be different. Understandably, if the preset time T is too long, it may also lead to reduced communication efficiency. Therefore, in practical applications, a relatively suitable preset time T can be set based on experience, while meeting the above requirements, and considering the specific system scenario and needs; or a suitable preset time T can be set through testing and experimentation.
[0055] S12. Parse the parameter information of the electronic speed controller according to the identity information to support the user in modifying the parameter information of the target electronic speed controller according to the identity information, wherein the parameter information includes common control parameter domain parameters and independent control parameter domain parameters.
[0056] In this embodiment, the electronic speed controller (ESC) control parameter domain is divided into a common control parameter domain and an independent control parameter domain. Accordingly, the ESC parameter information also includes parameters from both the common and independent control parameter domains. The common control parameter domain refers to parameters that are universally applicable across all or most ESCs and require unified management and configuration, such as tension-related parameters, response-related parameters, and other parameters related to the basic operation and safety of the system. The independent control parameter domain refers to parameters that are likely to differ across different ESCs and require separate configuration and management, such as steering (left turn on one side, right turn on the other) and light color (different light color requirements for different axes of the drone), and other parameters related to specific functions or optimizations of the equipment.
[0057] After the parameter tuning system obtains all heartbeat packets in the CAN bus network, it can parse the addresses of all electronic speed controllers (ESCs) based on these heartbeat packets. Since the common control parameter field parameters of each ESC are the same, this embodiment obtains and parses the common control parameter field parameters of any ESC through point-to-point communication based on its address. However, the independent control parameter field parameters of different ESCs may be different. Therefore, this embodiment obtains the independent control parameter field parameters of all ESCs through point-to-point polling communication based on their addresses. Thus, the parameter tuning system can obtain the addresses of all ESCs based on the heartbeat packets and further obtain the parameter information of each ESC based on its address.
[0058] This method allows users to precisely adjust the parameters of a target electronic speed controller (ESC) based on its address, dividing the ESC's parameter information into common control parameter domain parameters and independent control parameter domain parameters. To achieve accurate parameter information acquisition, two methods are employed: first, point-to-point communication is used, specifying the address of any ESC to obtain the common control parameter domain parameters; second, a polling communication strategy is used to establish a connection with each ESC one by one to obtain its corresponding independent control parameter domain parameters, ensuring both accuracy and flexibility in parameter management.
[0059] S13. Obtain the common control parameter domain parameters and independent control parameter domain parameters of the target electronic speed controller after modification by the user.
[0060] In this embodiment, the parameter adjustment system further includes an interactive component that displays the address and corresponding parameter information of the electronic speed controller, namely, the addresses, common control parameter domain parameters, and independent control parameter domain parameters of all electronic speed controllers parsed in step S12 above, for user convenience. This interactive component can also respond to user interaction operations, including modifying the parameter information of the target electronic speed controller (including common control parameter domain parameters and independent control parameter domain parameters) based on the target electronic speed controller's address, for user convenience.
[0061] Specifically, in some embodiments, the interactive component can be a remote control, displaying the address and parameter information of the electronic speed controller on a screen. Users can modify relevant parameters using buttons, switches, and joysticks on the remote control. In other embodiments, the interactive component can be a device carrying a program. For example, some customized drones allow users to adjust relevant parameters through a control program on a computer. Users can access the parameter setting interface through the control program, select the parameters to be adjusted, and make corresponding modifications. In this case, users usually need to have certain professional knowledge and technical background. For example, for consumer drones, manufacturers may provide a mobile app as a tool for drone parameter adjustment. Users can connect to the drone through the mobile app to modify relevant parameters. In other embodiments, the interactive component can also be a touchscreen. For example, a touchscreen can be equipped on the drone as an auxiliary operating interface, allowing users to intuitively view and modify relevant drone parameters. It is understood that the various interactive components shown above are merely examples for illustrative purposes and do not represent limitations thereof.
[0062] Users can modify the parameter information of the target electronic speed controller through interactive components. Depending on the actual application scenario, the target electronic speed controller can be all electronic speed controllers in the CAN bus network, some electronic speed controllers, or just one electronic speed controller. Users can modify the common control parameter field parameters and / or independent control parameter field parameters of the target electronic speed controller. The modification of the common control parameter field parameters of all target electronic speed controllers should be the same.
[0063] S14. Update the common control parameter domain parameters of all electronic speed controllers based on the modified common control parameter domain parameters.
[0064] When a user modifies the parameter information of the target electronic speed controller, the parameter adjustment system can obtain the modified common control parameter domain parameters through the interactive component. Since the common control parameter domain parameters of the electronic speed controller need to be kept consistent, this embodiment of the application publishes the modified common control parameter domain parameters on the CAN bus network through broadcast communication, so that all the electronic speed controllers can obtain and store the modified common control parameter domain parameters through the CAN bus network.
[0065] This method can broadcast the modified parameters via the CAN bus network. All electronic speed controller nodes connected to the CAN bus network will receive and store these updated parameters, ensuring that the entire system can coordinate operations based on the latest common control parameter domain parameters. This improves the system's communication efficiency and reliability, while simplifying the parameter update process.
[0066] S15. Update the independent control parameter domain parameters of the target electronic speed controller based on the modified independent control parameter domain parameters.
[0067] When a user modifies the parameter information of a target electronic speed controller, the parameter tuning system can obtain the modified independent control parameter domain parameters through the interactive component. However, the independent control parameter domain parameters of different target electronic speed controllers may be different. Therefore, in this embodiment, the modified independent control parameter domain parameters are used for point-to-point polling communication with the address of the target electronic speed controller to write the independent control parameter domain parameters into the target electronic speed controller corresponding to the address, thereby enabling the target electronic speed controller to store the corresponding independent control parameter domain parameters.
[0068] This method matches the modified independent control parameter domain parameters with the address of the target electronic speed controller (ESC). Through a point-to-point polling communication strategy, the modified parameters are directly written to the target ESC at the corresponding address, ensuring the accuracy of parameter updates and the uniqueness of the target device, thus avoiding data conflicts that may arise from broadcast communication. In this way, the target ESC can store and apply the latest independent control parameter domain parameters, thereby achieving precise control of specific equipment (such as motors) and improving the system's flexibility and configurability.
[0069] This application provides a parameter setting method for multi-axis unmanned aerial vehicles (UAVs). The method involves acquiring the identity information of all electronic speed controllers (ESCs); parsing the ESC parameter information based on the identity information to allow users to modify the target ESC parameter information according to the identity information. The parameter information includes common control parameter domain parameters and independent control parameter domain parameters. Then, the modified common control parameter domain parameters and independent control parameter domain parameters of the target ESC are acquired. The common control parameter domain parameters of all ESCs are updated based on the modified common control parameter domain parameters. Finally, the independent control parameter domain parameters of the target ESC are updated based on the modified independent control parameter domain parameters. This method divides the parameter information of the electronic speed controller into common control parameter domain parameters and independent control parameter domain parameters, and publishes the modified common control parameter domain parameters through broadcast communication, ensuring that the entire system can coordinate operations based on the latest common control parameter domain parameters, thereby improving the system's communication efficiency and simplifying the parameter update process. Furthermore, by using a point-to-point polling communication strategy, the modified independent control parameter domain parameters are directly written to the target electronic speed controller at the corresponding address, ensuring the accuracy of parameter updates and the uniqueness of the target device, thus improving the system's flexibility and configurability.
[0070] This application provides a parameter setting device for a multi-rotor unmanned aerial vehicle (UAV). The multi-rotor UAV includes a parameter adjustment system and multiple electronic speed controllers (ESCs). The parameter adjustment system is communicatively connected to the multiple ESCs. Referring to Figure 2, the parameter setting device 200 includes: an ESC identification module 201, an address parsing module 202, a parameter modification module 203, a first parameter setting module 204, and a second parameter setting module 205.
[0071] Specifically, the ESC identification module 201 can obtain the identity information of all the ESCs; the address parsing module 202 can parse the parameter information of the ESC based on the identity information to support the user in modifying the parameter information of the target ESC based on the identity information, wherein the parameter information includes common control parameter domain parameters and independent control parameter domain parameters; the parameter modification module 203 can obtain the common control parameter domain parameters and independent control parameter domain parameters of the target ESC modified by the user; the first parameter setting module 204 can update the common control parameter domain parameters of all the ESCs based on the modified common control parameter domain parameters; and the second parameter setting module 205 can update the independent control parameter domain parameters of the target ESC based on the modified independent control parameter domain parameters.
[0072] It should be noted that the parameter setting device described above can execute the parameter setting method provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the parameter setting device embodiments can be found in the parameter setting method provided in the embodiments of this application.
[0073] This application provides a multi-rotor drone. Please refer to Figure 3. The multi-rotor drone includes one or more processors 310 and a memory 320. Figure 3 shows an example of one processor 310.
[0074] The processor 310 and the memory 320 can be connected via a bus or other means, as shown in Figure 3, which illustrates a connection via a bus.
[0075] The memory 320, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the parameter setting method in the embodiments of the present invention. The processor 310 executes various functional applications and data processing of the solid-state drive by running the non-volatile software programs, instructions, and modules stored in the memory 320, thereby implementing the parameter setting method in the above method embodiments.
[0076] The memory 320 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and application programs required for at least one function. Furthermore, the memory 320 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 320 may optionally include memory remotely located relative to the processor 310.
[0077] The one or more modules are stored in the memory 320. When executed by the one or more processors 310, they perform the parameter setting method in any of the above method embodiments, for example, the method steps in FIG1 described above.
[0078] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
[0079] This application also provides a computer storage medium storing instructions or programs that, when executed by at least one processor, cause the at least one processor to perform the parameter setting method described in the above method embodiments.
[0080] The above-described product can execute the parameter setting method provided in the embodiments of the present invention and has the corresponding functional modules for executing the method. Technical details not described in detail in this embodiment can be found in the parameter setting method provided in the embodiments of the present invention.
[0081] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software and a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.
[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A parameter setting method applied to a multi-rotor unmanned aerial vehicle (UAV), the multi-rotor UAV comprising a parameter setting system and multiple electronic speed controllers, the parameter setting system being communicatively connected to the multiple electronic speed controllers, characterized in that, The method includes: Obtain all the identity information of the electronic speed controller; The electronic speed controller's parameter information is parsed based on the identity information to support the user in modifying the target electronic speed controller's parameter information based on the identity information. The parameter information includes common control parameter domain parameters and independent control parameter domain parameters. Obtain the common control parameter domain parameters and independent control parameter domain parameters of the target electronic speed controller after modification by the user; Update all common control parameter domain parameters of the electronic speed controller based on the modified common control parameter domain parameters; The independent control parameter domain parameters of the target electronic speed governor are updated based on the modified independent control parameter domain parameters.
2. The method according to claim 1, characterized in that, The parameter adjustment system is connected to the same CAN bus network as all the electronic speed controllers, and obtaining the identity information of all the electronic speed controllers includes: The CAN bus network sends a heartbeat query command to all the electronic speed controllers, so that after receiving the heartbeat query command, the electronic speed controllers report the heartbeat to the parameter tuning system via the CAN bus network after a delay. The heartbeat packet is parsed by the parameter tuning system to obtain all the identity information of the electronic speed controller, including the address of the electronic speed controller.
3. The method according to claim 2, characterized in that, After receiving the heartbeat query command, the electronic speed controller further includes reporting the heartbeat packet to the parameter tuning system via the CAN bus network after a delay: The preset delay time T is determined based on the address of the electronic speed controller itself; After receiving the heartbeat packet query instruction, the heartbeat packet is reported to the parameter tuning system after a preset time T.
4. The method according to claim 3, characterized in that, The preset time T corresponding to each of the electronic speed controllers must at least meet the following requirements: The address size is obtained from the address of the electronic speed controller itself.
5. The method according to claim 2, characterized in that, The step of parsing the parameter information of the electronic speed controller based on the identity information includes: Based on the address of any electronic speed controller, the common control parameter domain parameters of the electronic speed controller are obtained and parsed through point-to-point communication. Based on the addresses of all the electronic speed controllers, the independent control parameter domain parameters of all the electronic speed controllers are obtained through point-to-point polling communication.
6. The method according to claim 2, characterized in that, The parameter adjustment system includes an interactive component, which is used to display the address and corresponding parameter information of the electronic speed controller, and to respond to user interactive operations, wherein the interactive operations include the user modifying the parameter information of the target electronic speed controller according to the address of the target electronic speed controller.
7. The method according to claim 2, characterized in that, The update of all common control parameter domain parameters of the electronic speed controller based on the modified common control parameter domain parameters includes: The modified common control parameter domain parameters are broadcast on the CAN bus network so that all electronic speed controllers can obtain and store the modified common control parameter domain parameters through the CAN bus network.
8. The method according to claim 2, characterized in that, The step of updating the independent control parameter domain parameters of the target electronic speed governor based on the modified independent control parameter domain parameters includes: The modified independent control parameter field parameter is used to perform point-to-point polling communication with the address of the target electronic speed controller, so as to write the independent control parameter field parameter into the target electronic speed controller corresponding to the address, thereby enabling the target electronic speed controller to store the corresponding independent control parameter field parameter.
9. A parameter setting device applied to a multi-rotor unmanned aerial vehicle (UAV), the multi-rotor UAV comprising a parameter setting system and multiple electronic speed controllers, the parameter setting system being communicatively connected to the multiple electronic speed controllers, characterized in that, The device includes: The electronic speed controller identification module is used to obtain the identity information of all the electronic speed controllers. The address resolution module is used to parse the parameter information of the electronic speed controller based on the identity information, so as to support the user to modify the parameter information of the target electronic speed controller based on the identity information. The parameter information includes common control parameter domain parameters and independent control parameter domain parameters. The parameter modification module is used to obtain the common control parameter domain parameters and independent control parameter domain parameters of the target electronic speed controller after modification by the user. The first parameter setting module is used to update the common control parameter domain parameters of all the electronic speed controllers based on the modified common control parameter domain parameters. The second parameter setting module is used to update the independent control parameter domain parameters of the target electronic speed governor based on the modified independent control parameter domain parameters.
10. A multi-rotor unmanned aerial vehicle (UAV), characterized in that, include: At least one processor and memory; The memory is coupled to the processor and is used to store instructions or programs that, when executed by the at least one processor, cause the at least one processor to perform the parameter setting method as described in any one of claims 1-8.
11. A non-volatile computer-readable storage medium, characterized in that, The non-volatile computer-readable storage medium stores computer-executable instructions, which, when executed by an electronic device, cause the electronic device to perform the parameter setting method according to any one of claims 1-8.
12. A computer program product, characterized in that, The computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions that, when executed by an electronic device, cause the electronic device to perform the parameter setting method according to any one of claims 1-8.