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WO2018161321A1 - F通道控制方法及装置 - Google Patents

F通道控制方法及装置 Download PDF

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Publication number
WO2018161321A1
WO2018161321A1 PCT/CN2017/076198 CN2017076198W WO2018161321A1 WO 2018161321 A1 WO2018161321 A1 WO 2018161321A1 CN 2017076198 W CN2017076198 W CN 2017076198W WO 2018161321 A1 WO2018161321 A1 WO 2018161321A1
Authority
WO
WIPO (PCT)
Prior art keywords
channel
signal
mapping
control device
trigger
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/076198
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English (en)
French (fr)
Inventor
陈超彬
刘启明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2017/076198 priority Critical patent/WO2018161321A1/zh
Priority to CN201780004701.4A priority patent/CN108700855A/zh
Publication of WO2018161321A1 publication Critical patent/WO2018161321A1/zh
Priority to US16/563,817 priority patent/US20200004238A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F15/00—Digital computers in general; Data processing equipment in general
    • G06F15/16—Combinations of two or more digital computers each having at least an arithmetic unit, a program unit and a register, e.g. for a simultaneous processing of several programs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F15/00—Digital computers in general; Data processing equipment in general
    • G06F15/76—Architectures of general purpose stored program computers
    • G06F15/78—Architectures of general purpose stored program computers comprising a single central processing unit
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Definitions

  • the invention relates to the field of electrical component control, and in particular to an F channel control method and device.
  • UAV Unmanned Aerial Vehicle
  • Pin pins
  • the external device can be electronically adjusted. Speed, remote control receiver, steering gear, external camera, etc.
  • some of the pins in the UAV can be used as input or output of specific functions, such as fixed electronic governor output, remote control signal input, etc., which is used as a function of input or output of a specific function. It can not be configured by the user; there are still some open pins in the UAV, and the user can configure the open pins to conveniently add external devices to the UAV to meet specific operational requirements. For example, controlling the landing gear retraction, fan speed, etc., these open pins are called Multifunction Ports.
  • the user can configure the function of the F channel through the assistant software, which includes an alternative list in which the cured configuration functions are listed.
  • the user configures the current F channel into the specific function by selecting a configuration function corresponding to the specific function in the candidate list.
  • the specific function does not exist in the candidate list, the user cannot configure the current F channel to the specific function through the assistant software.
  • the configurable function in the alternative list is that the UAV has been set up before leaving the factory, and the over-targeting is too strong, resulting in configurable functional flexibility of the F-channel. Poor, it can be seen that the way to configure the F channel to achieve specific functions through the assistant software has the disadvantages of low openness and limited configurable functions.
  • the invention provides an F channel control method and device.
  • an F channel control method comprising:
  • an F-channel control apparatus comprising:
  • a first receiving module receiving a mapping signal
  • An analysis module which parses an F channel identifier and a designated function from the mapping signal
  • the mapping module maps the F channel corresponding to the F channel identifier to the designated function.
  • an F-channel control apparatus comprising:
  • a first memory for storing first processor executable instructions
  • the first processor is configured to:
  • an F channel control method comprising:
  • the user instruction includes an F channel identifier corresponding to the F channel to be mapped and a designated function to be mapped to the F channel;
  • mapping signal Generating a mapping signal according to the user instruction, and transmitting the mapping signal to a control device, where the mapping signal is used to instruct the control device to map an F channel corresponding to the F channel identifier to the designated function.
  • an F-channel control apparatus comprising:
  • the second receiving module receives a user instruction, where the user instruction includes an F channel identifier corresponding to the F channel to be mapped and a designated function to be mapped to the F channel;
  • a signal generating module generating a mapping signal according to the user instruction
  • the second sending module sends the mapping signal to the control device, where the mapping signal is used to instruct the control device to map the F channel corresponding to the F channel identifier to the designated function.
  • an F-channel control apparatus comprising:
  • a second memory for storing second processor executable instructions
  • the second processor is configured to:
  • the user instruction includes an F channel identifier corresponding to the F channel to be mapped and a designated function to be mapped to the F channel;
  • mapping signal Generating a mapping signal according to the user instruction, and transmitting the mapping signal to a first processor, where the mapping signal is used to instruct the first processor to map an F channel corresponding to the F channel identifier to the designated function.
  • the present invention maps the F channel to a designated function required by the user according to the configurable mapping signal, so that the user can dynamically configure the function of the F channel according to the actual operation requirement, and the system Flexibility and openness.
  • this The F-channel control method and apparatus of the embodiments can also improve the ease of use of an unmanned aerial vehicle or flight control system, providing a technical basis for the unmanned aerial vehicle industry.
  • FIG. 1 is a flow chart of a method for controlling an F channel from a control device side according to an embodiment of the present invention
  • FIG. 2 is a flow chart of a method for controlling an F channel from an external device side according to an embodiment of the present invention
  • FIG. 3 is a flow chart of another method for controlling an F channel by a control device side according to an embodiment of the present invention.
  • FIG. 4 is a flow chart of another method for controlling an F channel on an external device side according to an embodiment of the present invention.
  • Figure 5 is a partial structural schematic view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 6 is a partial structural schematic view of an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 7 is a partial structural schematic view of an unmanned aerial vehicle according to still another embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an F channel control device on a control device side according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural view of an F-channel control device on an external device side according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of an F channel control device on a control device side according to still another embodiment of the present invention.
  • FIG. 11 is a schematic structural view of an F-channel control device on an external device side according to still another embodiment of the present invention.
  • Figure 12 is a general frame view of an F-channel control device according to an embodiment of the present invention.
  • Figure 13 is a block diagram showing the structure of an F channel control device according to another embodiment of the present invention.
  • an embodiment of the present invention provides an F channel control method, which implements flexible control of an F channel by interaction between an external device 200 and a control device 100, wherein the control device 100 can The F channel communication is performed to operate on the F channel.
  • the method may include:
  • Step S101 receiving a mapping signal.
  • the mapping signal includes at least an identifier of the F channel to be mapped and a designated function, thereby determining an F channel to be mapped and a function to be mapped to the F channel.
  • Step S102 parsing the F channel identifier and the designated function from the mapping signal.
  • Step S103 Map the F channel corresponding to the F channel identifier to the designated function.
  • the control device of the embodiment maps the F channel to the designated function required by the user according to the received mapping signal, so that the user can dynamically configure the function of the F channel according to the actual operation requirement, and the flexibility and the degree of openness of the system are high.
  • the method may include:
  • Step S201 Receive a user instruction, where the user instruction includes an F channel identifier corresponding to the F channel to be mapped and a designated function to be mapped to the F channel. This step is performed by the user interacting with the external device 200. When the user needs to implement a certain function through the F channel, the user command can be input on the external device 200.
  • Step S202 generating a mapping signal according to the user instruction, and transmitting the mapping signal to the control device 100, where the mapping signal is used to instruct the control device 100 to map the F channel corresponding to the F channel identifier to the designated function.
  • the external device 200 transmits a mapping signal to the control device 100 through an API interface.
  • the wireless communication connection between the external device 200 and the control device 100 avoids the entanglement problem caused by the cable connection, and the use is more flexible.
  • the external device 200 is in wired communication with the control device 100 to ensure stability and security of signal transmission.
  • step S201 and step S202 are both performed before step S101.
  • the interaction between the external device 200 and the control device 100 enables the user to input user commands according to requirements, thereby realizing dynamic configuration of the functions of the F channel, thereby enabling the user to adjust the function of the F channel according to actual needs, and the system is flexible. Strong, adaptable and open to meet specific operational needs.
  • the control device 100 includes at least a CPU (Central Processing Unit), and the CPU can select a device capable of processing and transmitting data, such as a computer or a dedicated chip, wherein the special chip can be an ARM ( Advanced RISC Machines, RISC Microprocessors, AVR (RISC Reduced Instruction Set High-Speed 8-bit Microcontroller) and other microcontrollers, can also be ASIC (Application Specific Integrated Circuit) chips, or FPGA (FPGA (Field-Programmable) Programmable devices such as Gate Array, Field Programmable Gate Array, and CPLD (Complex Programmable Logic Device).
  • ARM Advanced RISC Machines, RISC Microprocessors, AVR (RISC Reduced Instruction Set High-Speed 8-bit Microcontroller) and other microcontrollers
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Programmable devices
  • Gate Array Field Programmable Gate Array
  • CPLD Complex Programmable Logic Device
  • the F channel can be connected to the load 300.
  • the load 300 can be connected to the F channel.
  • the load 300 can be a device selected by the user according to a specific job requirement. For example, when the user needs to map the geographical environment of a certain area, the load 300 can be selected as a camera, and when the user needs to collect the control system to work, The environmental data (eg, temperature, humidity, pressure, etc.) may be selected as a sensor or the like.
  • a load 300 only needs to be connected to an F channel, and the operation of the load can be implemented through the F channel, that is, the load 300 and the F channel are connected one-to-one, thereby implementing the pair according to actual service requirements.
  • the related operations of the load 300 may need to be coupled to at least two F-channels, at least the two F-channels cooperating to effect operation of the load 300.
  • the external device 200 may be selected as an SDK (Software Development Kit) device or a device equipped with an APP (Application), an assistant software, etc.
  • the SDK device may include an Onboard SDK (for example, fixed on An SDK device on a certain device, a device may be a device such as an unmanned aerial vehicle, and a Mobil SDK (ie, a mobile SDK device), etc., and a device equipped with an APP (Application) or an assistant software may include a mobile phone. , microcomputers, etc.
  • the mapping signal may be generated by an SDK device, an APP or an assistant software, or the like, and transmitted to the control device 100.
  • the external device 200 interacts with the control device 100 through an API (Application Programming Interface), and the user can interact with the control device 100 through the external device 200 to indicate The operation of the load 300.
  • data interaction between the external device 200 and the control device 100 can be performed according to a conventional communication protocol.
  • the specified functions may include a signal output function and a signal input function.
  • the F channel (hereinafter referred to as F3) identified as 3 is mapped into a signal output function, so that the signal can be output to the corresponding load 300 through F3 (ie, the device connected to F3).
  • the F channel (hereinafter referred to as F4) identified as 4 is mapped to a signal input function, so that the signal of the corresponding load 300 (i.e., the device connected to F4) can be acquired through F4.
  • the designated function is a signal output function
  • the control device 100 maps the F channel corresponding to the F channel identifier into a signal output function, thereby implementing control of the operation of the load 300.
  • the load 300 can be a camera or the like.
  • the signal output function includes outputting a specific type of signal, for example, PWM (Pulse Width Modulation) signal, GPIO (General Purpose Input Output), D/A (Digital to analog converter, Digital to analog conversion) signals (ie, analog signals), etc., that is, specific types may include signal types such as PWM, GPIO, or D/A.
  • PWM Pulse Width Modulation
  • GPIO General Purpose Input Output
  • D/A Digital to analog converter, Digital to analog conversion signals (ie, analog signals), etc.
  • specific types may include signal types such as PWM, GPIO, or D/A.
  • the control device 100 can output the specific type of signal to the load 300 through the F channel, thereby implementing the operation on the load 300, thereby controlling the load 300. jobs.
  • the signal indicating the operation of the load 300 may need to be dynamically adjusted according to actual operation requirements, that is, the signal output by the F channel needs to be dynamically adjusted, for example, dynamically adjusting the type, frequency, pulse width and other parameters of the signal output by the F channel.
  • the user instruction includes a characteristic parameter of the specific type of signal, so that the user can dynamically adjust the output signal of the F channel according to the service requirement, thereby enabling the F channel to output a specific type of signal with different characteristic parameters.
  • the F channel can be configured to have an output duty cycle of 10%, a duration of 1 s (seconds), or a duty cycle of 20% for a duration of 1 s.
  • PWM signal or the F channel can be configured to output PWM signal No., GPIO signal or analog signal.
  • the corresponding operation is performed according to the user's need to indicate the load 300 in real time, that is, when the user needs the load 300 to perform the corresponding operation, the F channel output is controlled to indicate that the load 300 performs the corresponding operation signal. In other cases, there is no need to control the F channel.
  • the external device 200 sends a trigger signal to the control device 100 to trigger the control device 100 to output a signal through the F channel to instruct the load 300 to perform a corresponding operation.
  • the trigger signal includes a feature parameter of the F channel identifier and a specific type of signal, and is used to instruct the control device 100 to output a specific type of signal having the feature parameter through the F channel.
  • the control device 100 after receiving the trigger signal, the control device 100 outputs a specific type of signal having the characteristic parameter through the F channel, thereby instructing the load 300 to perform a corresponding operation.
  • the trigger signal is sent to the control device 100 through the external device 200, and the control device 100 outputs a signal for triggering the operation of the load 300 through the F channel, indicating that the implementation of the corresponding operation by the load 300 is more flexible and convenient. .
  • the load 300 connected to the F3 is a camera
  • the trigger signal is used to indicate a PWM signal having an F3 output frequency of 50 Hz, a duty ratio of 10%, and a duration of 1 s. Drive and control the camera to take photos.
  • the control device 100 may trigger the F channel to output a specific type of signal having a characteristic parameter according to the configuration information of the trigger signal, thereby instructing the load 300 to perform a corresponding operation.
  • the external device 200 sends a trigger configuration signal to the control device 100, where the trigger configuration signal includes An F channel identifier, a characteristic parameter of the specific type of signal, and a parameter of a trigger signal, wherein the parameter of the trigger signal is used to indicate a trigger signal, and the trigger signal is used to indicate that the control device 100 outputs through the F channel A particular type of signal having the characteristic parameter.
  • the control device 100 associates the F channel corresponding to the F channel identifier, the specific type signal having the characteristic parameter, and the parameter of the trigger signal.
  • control device 100 correspondingly stores an F channel identifier, a specific type of signal having the characteristic parameter, and a parameter of the trigger signal (ie, a trigger ID), as shown in Table 3, thereby implementing an F channel, a specific type of signal, and Trigger signal association.
  • the trigger signal is transmitted to the control device 100 through the external device 200, and the control device 100 receives the external device.
  • the characteristic parameter of the specific type of signal associated with the trigger signal is determined according to the parameter of the trigger signal, and a specific type of signal having the characteristic parameter is output through the F channel.
  • the control device 100 when the trigger signal received by the control device 100 is 1, after the query table 3, the trigger signal is obtained and associated with the PWM signal of F3, frequency 50 Hz, duty cycle 10%, duration 1 s, the control device 100 outputs a PWM signal with a frequency of 50 Hz, a duty cycle of 10%, and a duration of 1 s through F3.
  • the user only needs to send the trigger ID (ie 1) corresponding to the trigger signal by the external device 200, that is, the control device 100 can be instructed to output through the F channel.
  • a PWM signal having a frequency of 50 Hz, a duty cycle of 10%, and a duration of 1 s, thereby indicating that the load 300 connected to F3 performs a corresponding operation.
  • the trigger F channel outputs a manner indicating the signal that the load 300 performs the corresponding operation (the manner corresponding to Table 3)
  • the control F channel performs the function of outputting the signal indicating that the load 300 performs the corresponding operation
  • the user only needs to send the trigger ID to the control device 100 through the external device 200, without the need for the F channel identifier, the characteristic parameter, etc., and the operation is convenient. .
  • the trigger configuration signal and the mapping signal are located in the same signal.
  • the trigger configuration signal and the mapping signal are located in the same signal, and the trigger configuration signal and the mapping signal are two independent signals, but when the F channel needs to be configured, the external device 200 maps The signal and the trigger configuration signal are set in the same signal and then sent to the control device 100, thereby simplifying the process of configuring the F channel configuration.
  • the trigger configuration signal and the mapping signal being located in the same signal means that the contents of the two signals of the mapping signal and the trigger configuration signal are placed in the same signal, and then the external device 200 A signal having the contents of the two signals triggering the configuration signal is sent to the control device 100.
  • the trigger configuration signal and the mapping signal can also exist independently in the two signals, that is, when the F channel needs to be configured, the external device 200 transmits the mapping signal and the trigger configuration signal to the control device 100, respectively.
  • the external device 200 sends a trigger signal to the control device 100 when it is detected that the control device 100 meets the trigger condition to meet the actual needs of the user.
  • the external device 200 acquires the location information of the control device 100.
  • the external device 200 reads the GPS information returned by the control device 100 in real time, and the triggering condition includes: determining, according to the location information of the control device 100, that the control device 100 is located in the specified location. That is, when the external device 200 determines that the control device 100 is located at the designated place according to the position signal of the control device 100, a trigger signal is transmitted to the control device 100, thereby instructing the control device 100 to output a signal indicating the operation of the load 300.
  • control device 100 outputs a specific type of signal having the characteristic parameter through the F channel, and is executed after determining that the trigger signal is from the designated device, thereby securing the F channel. The security of use, thereby preventing illegal control of load 300.
  • the specifying device is a device that transmits the mapping signal, that is, the device that transmits the mapping signal is limited to a unique control source of the F channel, and only the control device 100 determines the trigger signal. And when the mapping signal is from the same device, the specific type of signal having the characteristic parameter is output through the F channel; otherwise, the control device 100 does not need to indicate further operation of the F channel, thereby preventing illegality of the F channel. Operation to prevent illegal control of the load 300.
  • the specifying device may be selected as at least two designated external devices 200, for example, the control device 100 may save device identifications of at least two of the external devices 200, and at least two of the external devices 200 is marked as a legal device.
  • the control device 100 determines that the device that transmits the trigger signal belongs to a legitimate device, a specific type of signal having the specific parameter is output through the F channel; otherwise, the control device 100 does not need to indicate further operation of the F-channel, thereby preventing illegal operation of the F-channel to prevent illegal control of the load 300.
  • the designated device may also be unrestricted, so that the user can implement the signal output function for the control F channel by any device, thereby controlling the work of the load 300 connected to the F channel, which is convenient and flexible.
  • the control device 100 may follow the sequence of the received trigger signals. And triggering the F channel to output a sequence of specific types of signals corresponding to each externally set trigger signal.
  • the designated function is a signal input function
  • the control device 100 maps the F channel corresponding to the F channel identifier into a signal input function, thereby implementing acquisition of the signal of the load 300 through the F channel.
  • the load 300 may be a sensor or the like, such as a temperature sensor, a humidity sensor, a pressure sensor, or the like.
  • the signal input function includes inputting a specific type of signal, for example, a PWM signal, a GPIO, an A/D (Analog to digital converter) signal (ie, a digital signal), and the like.
  • a specific type of signal for example, a PWM signal, a GPIO, an A/D (Analog to digital converter) signal (ie, a digital signal), and the like.
  • the control device 100 may collect the signal input by the F channel, thereby collecting the signal of the load 300.
  • the control device 100 further collects the signal input by the F channel according to the acquisition parameter, thereby filtering out some data that does not meet the requirement.
  • the acquisition parameters may include parameters such as maximum resolution, sampling rate, and signal range.
  • the configuration of the acquisition parameters can be set according to actual needs.
  • the F channel is pre-set with an acquisition parameter of a signal input to the F channel, that is, the F channel uniformly adopts a default parameter, and after the F channel is configured as a signal input function, the control device 100 is The signals input by the F channel are collected according to the default parameters of the F channel, thereby simplifying the configuration process.
  • the control device 100 maps F4 to an A/D signal input function, and the default parameters of F4 are a sampling rate of 50 Hz, a measurement range of 0-5 V, and a resolution of 256, and the control device 100 acquires a signal input by the F4 according to the default parameter.
  • the above-mentioned data collection using default parameters may have the disadvantage that the acquisition parameters cannot be flexibly configured according to actual requirements, and the system has low customizability.
  • the mapping signal optionally includes the acquisition parameter, that is, The acquisition parameters can be flexibly configured by the external device 200 according to business requirements.
  • the control device 100 parses the acquisition parameters of the signal input to the F channel from the mapping signal, so as to implement flexible configuration of the collection parameters according to actual needs of the user.
  • the use is more flexible, the system is more customizable, and can prevent data loss.
  • the rule that the control device 100 collects the signal of the load 300 may be set according to service requirements. For example, parameters such as the type, range, frequency, and resolution of the F channel acquisition signal may be set.
  • the control device 100 performs the acquisition of the signal input by the F channel according to the acquisition parameter, and is executed after receiving the trigger signal, that is, when the user needs to acquire the signal of the load 300, the control device 100 will The signal of the load 300 is collected to prevent the control device 100 from taking signals of the load 300 when the user does not need to collect the signal of the load 300. The waste of resources caused by the collection.
  • the trigger signal includes the F channel identifier and a characteristic parameter of a specific type of signal, and the trigger signal is used to instruct the control device 100 to collect the signal input by the F channel according to the acquisition parameter.
  • the collecting, by the control device 100, the signal input by the F channel according to the acquisition parameter is performed when the mapping of the F channel is completed, that is, the control device 100 maps the F channel into After the signal input function, the signal input by the F channel is immediately acquired, thereby obtaining the signal of the load 300, and the configuration process is simple and convenient to use.
  • the control device 100 can acquire the signal input by the F channel, thereby obtaining the signal of the load 300, and increasing the flexibility of acquiring the signal.
  • the trigger signal before the external device 200 sends the trigger signal to the control device 100, the trigger signal needs to be configured.
  • the external device 200 sends a trigger configuration signal to the control device 100, where the trigger configuration signal includes the F channel identifier, a characteristic parameter of the specific type of signal, and a parameter of a trigger signal, the trigger
  • the parameter of the signal ie, the trigger ID
  • the control device 100 associates the F channel corresponding to the F channel identifier, the acquisition parameter, and the parameter of the trigger signal. Referring to Table 4, the control device 100 can save the F channel identifier, the acquisition parameter, and the parameters of the trigger signal, so as to implement the association between the trigger signal and the F channel and the acquisition parameter.
  • the control device 100 After receiving the trigger signal from the external device 200, the control device 100 determines an acquisition parameter associated with the trigger signal according to the parameter of the trigger signal, and inputs a signal to the F channel according to the associated acquisition parameter. Collect. For example, referring to Table 4, when the control device 100 receives the trigger signal sent by the external device 200, the signal of the F4 is collected according to the sampling parameter of the sampling rate of 50 Hz, the sampling signal range of 0-5 V, and the resolution of 256. The signal of the load 300 connected to the F4 is obtained.
  • the trigger control device 100 collects the signal input by the F channel, the user only needs to send the trigger ID to the control device 100 through the external device 200. It is not necessary to carry the F channel identification, etc., so that the subsequent operations are relatively simple.
  • the control device 100 needs to send the collected signals to the designated module after collecting the signals input by the F channel according to the collected parameters.
  • the specifying module is a module that sends the mapping signal, that is, the specified module is limited to a unique receiving source of the collected signal, and the security of the data is guaranteed.
  • the designated module is an external device 200, and the external device 200 receives a signal collected through the F channel.
  • the receiving, by the external device 200, the signal collected by the F channel is performed after the mapping signal is sent, that is, after the external device 200 sends the mapping signal to the control device 100, the control device 100 collects the load through the F channel.
  • the signal of 300 is returned to the external device 200, thereby ensuring the integrity of the signal of the acquisition load 300 and preventing data loss.
  • the receiving, by the external device 200, the signal collected by the F channel is performed after the external device 200 sends the trigger signal, that is, when the user needs to acquire the signal of the load 300, the trigger signal is sent to the control by the external device 200.
  • the device 100 so that the signal of the load 300 is collected by the control device 100 through the F channel and returned to the external device 200, so that data collection can be performed according to requirements, and the flexibility is strong.
  • the control device 100 before the mapping of the F channel to the designated function, the control device 100 further determines whether the F channel satisfies the mapping condition. If the F channel satisfies the mapping condition, the control device 100 performs step S103. , that is, in step S103, at the control device 100 Determining that the F channel satisfies the mapping condition; otherwise, the control device 100 does not perform mapping operation on the F channel, and by setting a mapping condition, the mapping operation can be performed after the mapping condition is satisfied, thereby Improve the security of F channel usage.
  • the mapping condition includes: the F channel does not have a mapping.
  • the control device 100 is provided with a preset mapping table, which is used to store the channel identifiers of the mapped F channels and the designated functions mapped to the F channels in one-to-one correspondence.
  • the control device 100 determines whether there is an identifier of the F channel to be mapped in the preset mapping table, and if there is no identifier of the F channel to be mapped in the preset mapping table, the F channel is determined. If the identifier of the F channel to be mapped exists in the preset mapping table, the control device 100 needs to further determine whether the identifier of the F channel to be mapped is bound to any specified function (ie, mapping).
  • the control device 100 may return the result of the failure to the device that sends the mapping signal, thereby informing the device that sends the mapping signal that the operation of performing the mapping fails; otherwise, determining the F channel No mapping occurred.
  • the mapping condition comprises: validating a parameter describing the specified function.
  • the parameter describing the specified function is included in the mapping signal sent by the external device 200.
  • the parameter describing the specified function may include a signal type that can be output by the current F channel to be mapped, a specific parameter corresponding to the outputtable signal, and the like, when the parameter describing the specified function is When the parameter is legal, it is determined that the parameter describing the specified function is valid.
  • the control device 100 sets that the F channel currently to be mapped can only output a PWM signal, and when the control device 100 determines that the mapping signal from the external device 200 includes other signals indicating that the current F channel to be mapped is mapped to an output non-PWM signal.
  • a parameter (such as a sine wave signal, etc.) determines that the parameter describing the specified function is invalid, that is, the control device 100 can only output a PWM signal through the F channel, and cannot output a non-PWM signal through the F channel.
  • Other signals are examples of the parameter describing the specified function is invalid
  • the parameter describing the specified function may include a signal type that can be input by the current F channel to be mapped and a signal inputtable
  • the acquisition parameter determines that the parameter describing the specified function is valid when the parameter describing the specified function is a legal parameter.
  • the control device 100 sets that the F channel currently to be mapped can only input the GPIO signal, and when the control device 100 determines that the mapping signal from the external device 200 includes indicating that the current F channel to be mapped is mapped to the input non-GPIO signal, In the case of a signal, it is determined that the parameter describing the specified function is invalid, that is, the control device 100 can only acquire the GPIO signal through the F channel, and cannot acquire other signals of the non-GPIO signal through the F channel. In this embodiment, the control apparatus 100 determines whether the parameter describing the specified function is valid after determining that the F channel does not have a mapping.
  • the control device 100 receives the login information of the user account sent by the external device 200, and acquires the rights of the user account according to the login information, where the mapping condition includes:
  • the specified function matches the permissions of the user account.
  • the control device 100 presets a corresponding function that can be mapped to the F channel to be mapped when each user account is configured to be mapped in the F channel to be mapped, and only needs to be mapped to the F to be mapped.
  • the control device 100 can map the F channel to be mapped to the specified function, thereby improving the security of the F channel and preventing the illegal use of the F channel.
  • the control device 100 determines whether the mapping of the F channel is performed after determining that the specified function and the rights of the user account are matched, so as to prevent illegal control of the F channel and improve the use of the F channel. Security.
  • the external device 200 needs to receive the login information of the user account before receiving the user instruction, thereby transmitting the login signal of the user account to the control device 100.
  • the login information includes a user account and a login password, etc., which are directly input by the user directly on the external device 200.
  • the user account is an administrator
  • the login password is 123456.
  • the control device 100 presets the user account configurable F channel identifiers of the administrator to be 3 and 4, wherein the F3 mapable designated function is a signal. Output function, the specified function that F4 can map is the signal input function.
  • the external device 200 sends the login information of the user account to the control device. After setting 100, only the authority to configure the F channel identified as 3 and 4 is available, and the designated function of F3 configurable is only the signal output function, and the designated function of F4 configurable is only the signal input function.
  • the control apparatus 100 further includes: canceling the mapping between the F channel and the designated function, so that the F channel can restore the configurable state in real time, thereby preventing waste of resources.
  • the control device 100 cancels the mapping between the F channel and the designated function, and is performed after determining that the F channel performs the preset function by the preset time.
  • the number of executions of the specified function currently mapped by the F channel can be set as needed. For example, the number of executions is 5, and the load 300 is a camera.
  • the control device 100 maps the F channel to an output PWM signal for 1 s each time.
  • the duty ratio is 10% to control the camera to take a picture.
  • the mapping between the F channel and the output PWM signal is immediately cancelled, thereby causing the The F channel is in an idle state, preventing waste of resources caused when the F channel is not needed.
  • the control device 100 cancels the mapping between the F channel and the designated function, and the control device 100 determines that the newly designated function corresponding to the new mapping signal from the external device 200 and the current mapping of the F channel are specified. After the functions are different, the mapping to the F channel is implemented according to the needs of the user.
  • the control device 100 cancels the mapping of the F channel and the specified function, and also needs to include the identifier of the F channel in the preset mapping table, the F channel.
  • the mapped entry of the specified function is deleted, or the specified function mapped by the F channel in the entry is deleted.
  • the control device 100 further needs to store the identifier of the currently mapped F channel and the specified function currently mapped to the F channel in the preset mapping table.
  • step S103 there may be a case where the external device 200 transmits a new mapping signal to the control device 100 again to control the mapping of the F channel.
  • the control device 100 parses out the new designated function corresponding to the F channel identifier from the new mapping signal, and executes the following three In operation One operation: a, mapping the F channel to the newly designated function again, wherein the operation a is performed when the control device 100 determines that the newly designated function is the same function as the specified function currently mapped by the F channel; b.
  • the mapping between the F channel and the specified function is cancelled, and the F channel is mapped to the newly designated function, and the mapping of the F channel is implemented in a non-preemptive mapping manner, thereby implementing flexible control of the F channel; c.
  • the new designated function is used to cover the specified function, and the coverage mapping of the F channel is implemented in a preemptive mapping manner, and the control of the F channel is relatively simple.
  • the external device 200 queries the designated function mapped by the F channel before receiving the user instruction, to determine whether the specified function mapped by the F channel is a function required by the user. For example, a preset mapping table is retrieved from the control device 100 to acquire a designated function that the F channel has mapped.
  • the F channel is a configurable pin disposed on the UAV, and the F channel control method is applicable to the UAV, so that the user can configure the F channel to be required according to actual operation requirements.
  • the designated function which in turn improves the ease of use of the UAV, provides a technical basis for the unmanned aircraft industry.
  • the F channel can also be a configurable pin on a robot, a car, etc., so that the user can implement the specified function according to actual work requirements.
  • the F channel is a configurable pin provided on the UAV.
  • the UAV may include a fuselage, a flight control system disposed on the fuselage, and an F-channel, and the F-channel control method may be applied to a flight control system.
  • the flight control system can include a control device 100.
  • the F channel is communicatively coupled to the control device 100.
  • the F channel belongs to one or more configurable pins that are open to the user by the control device 100, so as to meet the actual needs of the user, the F channel is flexibly configured to be full. Specific job requirements.
  • the control device 100 in the flight control system can communicate with the external device 200 to enable data interaction with the flight control system, such as flight control of the unmanned aerial vehicle, control of the load (when the load is a shooting control, the external device 200
  • the camera device can be controlled), wherein the external device 200 can communicate with the UAV and/or the load 300, and the communication between the flight control system and the external device 200 can be wireless communication, which can be in the UAV and the external device 200 Provide direct communication between.
  • This direct communication can occur without any intermediate device or network.
  • Indirect communication can be provided between the flight control system and the external device 200.
  • This indirect communication can occur by means of one or more intermediate devices or networks.
  • indirect communication can utilize a telecommunications network.
  • Indirect communication can occur by means of one or more routers, communication towers, satellites, or any other intermediary device or network.
  • Examples of communication types may include, but are not limited to, communication via: Internet, Local Area Network (LAN), Wide Area Network (WAN), Bluetooth, Near Field Communication (NFC) technology, based on, for example, General Packet Radio Service (GPRS), GSM, enhanced a data GSM environment (EDGE), 3G, 4G, or Long Term Evolution (LTE) protocol for mobile data protocol networks, infrared (IR) communication technologies, and/or Wi-Fi, and may be wireless, wired, or Its combination.
  • GPRS General Packet Radio Service
  • GSM Global System for Mobile communications
  • EDGE enhanced a data GSM environment
  • 3G, 4G, or Long Term Evolution (LTE) protocol for mobile data protocol networks
  • IR infrared
  • Wi-Fi wireless, wired, or Its combination.
  • the unmanned aerial vehicle may further include a power system that provides flight power to the unmanned aerial vehicle, and may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, nozzles, Motors, engines, jet engines, etc.
  • the rotating body of the power system may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit.
  • An unmanned aerial vehicle can have one or more power systems. All power systems can be of the same type. Alternatively, one or more of the power systems can be of different types.
  • the power system can be mounted to the fuselage by suitable means, such as through a support element (such as a drive shaft).
  • the power system can be mounted at any suitable location on the fuselage, such as the top, bottom, front, back, side, or any combination thereof.
  • the power system is capable of causing the UAV to take off vertically from the surface, Or land on the surface vertically without any horizontal movement of the UAV (such as no need to taxi on the runway).
  • the power system may allow the UAV to hover in a preset position and/or direction in the air.
  • One or more power systems may be independent of other power systems when controlled.
  • one or more of the power systems can be controlled simultaneously.
  • an unmanned aerial vehicle may have multiple horizontally rotating bodies to track the lifting and/or pushing of the target. The horizontally rotating body can be actuated to provide the ability of the UAV to take off vertically, vertically, and spiral.
  • one or more of the horizontally rotating bodies may be rotated in a clockwise direction, while the other one or more of the horizontally rotating bodies may be rotated in a counterclockwise direction.
  • the number of rotating bodies rotating clockwise is the same as the number of rotating bodies rotating counterclockwise.
  • the rate of rotation of each horizontally rotating body can be varied independently to achieve the lifting and/or pushing operation caused by each rotating body, thereby adjusting the spatial orientation, velocity and/or acceleration of the UAV (eg, relative to up to three Rotation and translation of degrees of freedom).
  • the UAV may also include a sensing system that may include one or more sensors to sense the spatial orientation, velocity, and/or acceleration of the UAV (eg, rotation and translation relative to up to three degrees of freedom) ), angular acceleration, attitude, position (absolute position or relative position), etc.
  • the one or more sensors include any of the sensors described above, including GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors.
  • the sensing system can also be used to collect environmental data of the UAV, such as climatic conditions, potential obstacles to be approached, location of geographic features, location of man-made structures, and the like.
  • the unmanned aerial vehicle may include a tripod, which is a contact between the unmanned aerial vehicle and the ground when the UAV is landing, and the tripod may be an unmanned aerial vehicle in a flight state (for example, when the unmanned aerial vehicle is cruising) It can only be put down when landing; it can also be fixedly mounted on the unmanned aerial vehicle and always in the state of being laid down.
  • a tripod which is a contact between the unmanned aerial vehicle and the ground when the UAV is landing
  • the tripod may be an unmanned aerial vehicle in a flight state (for example, when the unmanned aerial vehicle is cruising) It can only be put down when landing; it can also be fixedly mounted on the unmanned aerial vehicle and always in the state of being laid down.
  • the load 300 may be disposed on a fuselage of the UAV to be fixed.
  • the load may also be referred to as a mounting device.
  • the load 300 is a device that implements a specific function, such as implementing a shooting function, implementing a detection function, and realizing an agricultural operation function, etc.
  • the limitation of the body, wherein the common load 300 can be a combination of a camera, an infrared device, a radar device, a spray device, and a carrier such as a suspension or a pan/tilt.
  • the load 300 mounted on the unmanned aerial vehicle may be directly on the unmanned aerial vehicle.
  • the load 300 mounted on the unmanned aerial vehicle may further include a load coupled to the unmanned aerial vehicle.
  • the carrier can mechanically connect the UAV to the load 300, and the carrier can also include a corresponding power mechanism, and the power structure can receive the control signal and correspondingly load Control, such as adjusting the angle of the load, etc.
  • the flight control system includes a control device 100, an external device 200, and a load 300, wherein the control device 100 is connected to the external device 200 through a wired or wireless link, interacts with the external device 200 through an API interface, and passes through the F channel and the load. 300 connected.
  • the external device 200 is an Onboard computing platform (for example, an Onboard SDK device)
  • the load 300 is a camera for mapping, and the camera is driven by a PWM signal (in actual applications, different models of cameras may have different driving waveforms).
  • the request signal), and the camera's driving signal is 50Hz
  • the duty cycle is 10% of the PWM signal
  • the standby state needs to be maintained with a 50Hz, 5% duty cycle PWM signal.
  • the user desires that the flight control system can drive the camera to perform photographing work during the flight.
  • the Onboard computing platform sends a mapping signal to the control device 100 through a wired or wireless link.
  • the mapping signal includes an F channel identifier to be mapped as 3.
  • the specified function mapped to the F channel is an output PWM signal.
  • the control device 100 After receiving the mapping signal, the control device 100 first parses the F channel identifier and the designated function from the mapping signal, and then checks whether F3 has been mapped to other functions. For example, the control device 100 can save the mapped by query. If the identifier of the F channel and the preset mapping table of the specified function of the F channel are mapped, if the record entry of the F3 that has been mapped is found in the preset mapping table, it is determined that F3 is occupied, and the control is performed.
  • Device 100 returns the result of the failed request If the Onboard computing platform is used, the user is notified that F3 is unavailable; if there is no record entry containing F3 or there is a record entry containing F3 in the preset mapping table, there is no corresponding record in the record entry of F3. When the function is specified, it is judged that F3 is idle and the camera is connected to F3.
  • the control device 100 may directly map F3 to a function of outputting a PWM signal.
  • the control device 100 needs to detect whether other parameters in the mapping signal (parameters other than the F channel identifier) are legal before mapping the F3, if the control device 100 detects the mapping signal. The other parameters are all legal, and the control device 100 continues to perform the mapping operation on F3. Otherwise, the control device 100 stops the mapping operation on F3.
  • control device 100 determines that the signal type is a PWM signal, and the PWM reference frequency is within the support range, and the default duty ratio is less than 100%, then the parameter is determined to be valid, and the control device 100 may continue to perform the mapping operation on F3; Otherwise, it is illegal, and the control device 100 stops the mapping operation to F3.
  • the information about the successful configuration may be returned to the Onboard computing platform, so that the user can obtain the process of configuring the F3 in time.
  • the control device 100 can set the Onboard computing platform that sends the mapping signal as the unique control source after determining that the F3 is in the idle state, that is, the control device 100 only sends the Onboard computing platform.
  • the F3 output PWM signal is triggered to drive the camera to take a picture. If the control device receives a trigger signal sent by another device other than the Onboard computing platform, F3 will not be operated to prevent illegal user from illegally controlling F3.
  • the mapping signal sent by the Onboard computing platform further includes configuration parameters, where the configuration parameter includes: a reference frequency of 50 Hz, and a default duty ratio of 5%, after the control device 100 successfully configures F3, F3 sends a PWM signal with a duty ratio of 5% to the camera at a frequency of 50 Hz, so that after the F3 is configured, the camera can be placed in a standby state. It is convenient for subsequent actions to trigger the camera to take photos.
  • the UAV can carry out the mapping work after the camera is carried to a specific area, and the camera needs to take a picture every 3 meters.
  • the control device 100 sends the GPS signal to the Onboard computing platform in real time.
  • the Onboard computing platform determines that the control device 100 is located at the designated location according to the GPS signal sent by the control device 100, the control device 100 can automatically send the flight control device 100 every 3 meters. Trigger signal.
  • the control device 100 After receiving the trigger signal, the control device 100 determines whether the trigger signal is legal, for example, whether the signal type, the trigger duty ratio, and the like are legal. If the trigger signal is legal, the control device 100 indicates F3 according to the specific parameter corresponding to the trigger signal.
  • the PWM signal with an output duty cycle of 10% and a duration of 1 s (that is, the PWM signal is held for 1 s) activates the camera's camera function and completes the corresponding mapping work.
  • the flight control system includes a control device 100, an external device 200, and a load 300, wherein the control device 100 is connected to the external device 200 through a wired or wireless link, interacts with the external device 200 through an API interface, and passes through the F channel and the load. 300 connected.
  • the external device 200 is an Onboard computing platform (for example, an Onboard SDK device), and the load 300 is a humidity sensor.
  • the Onboard computing platform sends a mapping signal to the control device 100 through the API interface. See Table 6.
  • the mapping signal includes the F channel identifier to be mapped as 4. Mapping
  • the designated function to the F channel is the A/D signal input.
  • the control device 100 After receiving the mapping signal, the control device 100 first parses the F channel to be mapped from the mapping signal to F4, maps F4 to the A/D signal input, and then checks the validity of each parameter in the mapping signal item by item.
  • the control device 100 first checks whether F4 has been mapped to other functions (for example, a signal output function). For example, the control device 100 can query the preset of the mapped F channel and the specified function of the F channel mapped by the query. If the mapping table of the F4 that has been mapped is found in the preset mapping table, it is determined that F4 is occupied, and the control device 100 returns the result of the request failure to the Onboard computing platform, notifying the user that F4 is unavailable. If the record entry containing F4 or the record entry containing F4 does not exist in the preset mapping table, but the corresponding designated function does not exist in the record entry of F4, it is determined that F4 is in an idle state. Connect the humidity sensor to the F4.
  • other functions for example, a signal output function
  • the control device 100 After the control device 100 determines that F4 is in an idle state, optionally, the control device 100 can directly map F4 into a function of A/D signal input. In order to prevent illegal control of F4, the control device 100 needs to detect whether other parameters in the mapping signal (parameters other than the F channel identifier) are legal before mapping F4, if the control device 100 detects the mapping signal. The other parameters are all legal, and the control device 100 continues to perform the mapping operation on F4. Otherwise, the control device 100 stops the mapping operation on F4. For example, the control device 100 determines whether the signal type is an A/D signal, and if so, the control device 100 can continue to perform the mapping operation on F4; otherwise, the control device 100 stops the mapping operation on F4.
  • the control device 100 determines whether the signal type is an A/D signal, and if so, the control device 100 can continue to perform the mapping operation on F4; otherwise, the control device 100 stops the mapping operation on F4.
  • the information about the successful configuration may be returned to the Onboard computing platform, so that the user can obtain the process of configuring the F4 in time.
  • the mapping signal sent by the Onboard computing platform further includes acquisition parameters, for example, a sampling rate of 50 Hz, a sampling range of 0 to 5 V, a resolution of 256, and the like.
  • F channel is configured as A/D
  • the control device 100 starts sampling the data of the F4 channel at a sampling rate of 50 Hz, and returns the sampling result to the Onboard computing platform, thereby enabling the user to obtain the humidity data detected by the humidity sensor.
  • Computer readable storage media include, but are not limited to, volatile memory, nonvolatile memory, magnetic and optical storage devices (such as disk drives, magnetic tapes, optical disks, digital versatile disks, or digital video disks, etc.) or capable of storing code and/or Or other medium of data.
  • modules or devices may include, but are not limited to, application specific integrated circuit (ASIC) chips, field programmable gate arrays (FPGAs), dedicated or shared processors that execute particular software modules or a piece of code at specific times, and/or other programmable Logic device.
  • ASIC application specific integrated circuit
  • FPGA field programmable gate arrays
  • dedicated or shared processors that execute particular software modules or a piece of code at specific times, and/or other programmable Logic device.
  • the embodiment of the present invention further provides an F channel control device.
  • the F channel control device is simply referred to as a control device.
  • the control device 100 may include a first receiving module 101, a parsing module 102, and a mapping module 103.
  • the first receiving module 101 is configured to receive the mapping signal
  • the parsing module 102 is configured to parse the F channel identifier and the specified function from the mapping signal
  • the mapping module 103 is configured to map the F channel corresponding to the F channel identifier to The specified function.
  • the control device 100 of the embodiment maps the F channel to the designated function required by the user according to the received mapping signal, so that the user can dynamically configure the function of the F channel according to the actual operation requirement, and the system has high flexibility and openness.
  • the F-channel control device of the present embodiment can also improve the ease of use of the control system and provide a technical basis for the unmanned aircraft industry.
  • the external device 200 can include a second receiving module 201, and a signal generating The module 202 and the second sending module 203.
  • the second receiving module 201 is configured to receive a user command, where the user command includes an F channel identifier corresponding to the F channel to be mapped and a designated function to be mapped to the F channel.
  • the signal generation module 202 is configured to generate a mapping signal according to the user instruction.
  • the second sending module 203 is configured to send the mapping signal to the first receiving module 101, where the mapping signal is used to instruct the mapping module 103 to map the F channel corresponding to the F channel identifier to the designated function.
  • the interaction between the external device 200 and the control device 100 enables the user to input user commands according to requirements, thereby realizing dynamic configuration of the functions of the F channel, thereby enabling the user to adjust the function of the F channel according to actual needs, and the system is flexible. Strong, adaptable and open to meet specific operational needs.
  • the second sending module 203 sends a mapping signal to the first receiving module 101 through an API interface.
  • the second sending module 203 and the second receiving module 201 can communicate by wireless or wired.
  • the external device may be an SDK device or a device configured with an APP or assistant software
  • the first receiving module 101 is configured to receive a mapping signal sent by the SDK device, the APP, or the assistant software.
  • control device 100 may further include a trigger module 104, an association module 105, a determination module 106, a preset module 107, an acquisition module 108, and a first transmission module 109.
  • the external device 200 may further include a detection module 204 and a query module 205.
  • the designated function may include a signal output function and a signal input function.
  • the designated function is a signal output function
  • the mapping module 103 maps the F channel corresponding to the F channel identifier into a signal output function, thereby instructing the load 300 to perform a corresponding operation, completing the pair. Control of load 300.
  • the load 300 can be a camera or the like.
  • the signal output function comprises outputting a specific type of signal, for example, a PWM signal No., GPIO, D/A signal, etc., that is, specific types may include signal types such as PWM, GPIO or D/A.
  • the signal indicating the operation of the load 300 may need to be dynamically adjusted according to actual operation requirements, that is, the signal output by the F channel needs to be dynamically adjusted.
  • the user instruction further includes a feature parameter of the specific type of signal. Therefore, the user can dynamically adjust the output signal of the F channel according to the business requirement, thereby enabling the F channel to output a specific type of signal of different characteristic parameters or a different type of signal to instruct the load 300 to perform a corresponding operation.
  • the corresponding operation is performed according to the user's need to indicate the load 300 in real time, that is, when the user needs the load 300 to perform the corresponding operation, the F channel output is controlled to indicate that the load 300 performs the corresponding operation signal. In other cases, there is no need to control the F channel.
  • the second sending module 203 is further configured to send a trigger signal to the first receiving module 101, where the trigger signal includes the F channel identifier and a characteristic parameter of a specific type of signal, used to indicate The trigger module 104 outputs a specific type of signal having the characteristic parameter through the F channel.
  • the triggering module 104 After the first receiving module 101 receives the trigger signal from the second sending module 203, the triggering module 104 outputs a specific type of signal having the characteristic parameter through the F channel.
  • the F channel output triggers the signal indicating that the load 300 performs the corresponding operation according to the actual needs of the user, which is flexible and convenient.
  • the first receiving module 101 may trigger the F channel to output a specific type of signal having the characteristic parameter according to the configuration information of the trigger signal, thereby indicating the load 300.
  • the second sending module 203 is further configured to send a trigger configuration signal to the first receiving module 101, where the trigger configuration signal includes the F channel identifier, a characteristic parameter of the specific type of signal And a parameter of the trigger signal, the parameter of the trigger signal is used to indicate a trigger signal, and the trigger signal is used to instruct the trigger module 104 to output a specific type of signal having the characteristic parameter through the F channel.
  • the first receiving module 101 receives a trigger configuration signal from the second sending module 203, and the association module 105 identifies an F channel corresponding to the F channel identifier, a specific type of signal having the characteristic parameter, and the The parameter association of the trigger signal enables the F channel, the specific type of signal and the trigger signal association.
  • the second transmitting module 203 sends a trigger signal to the first receiving The module 101, the first receiving module 101 receives a trigger signal from the second sending module 203, and the association module 105 determines a characteristic parameter of a specific type of signal associated with the trigger signal according to the parameter of the trigger signal.
  • the triggering module 104 outputs a specific type of signal having the characteristic parameter through the F channel, which is convenient to operate.
  • the trigger configuration signal and the mapping signal are located in the same signal.
  • the trigger configuration signal and the mapping signal are located in the same signal, and the trigger configuration signal and the mapping signal are Two independent signals, but when the F channel needs to be configured, the signal generating module 202 sets the mapping signal and the trigger configuration signal in the same signal and then sends the second sending module 203 to the first receiving module 101, thereby simplifying the configuration F.
  • the process of channel configuration the triggering configuration signal and the mapping signal being located in the same signal means that the contents of the two signals of the mapping signal and the trigger configuration signal are placed in the same signal, and then the signal generating module 202 A signal having the contents of the two signals triggering the configuration signal is transmitted to the first receiving module 101.
  • the trigger configuration signal and the mapping signal can also exist in the two signals independently.
  • the second sending module 203 sends the mapping signal and the trigger configuration signal to the first receiving module 101, respectively.
  • the second sending module 203 is configured to send a trigger signal when the detecting module 204 detects that the control device 100 meets a trigger condition.
  • the detecting module 204 is configured to acquire the location information of the control device 100.
  • the detecting module 204 reads the GPS information returned by the control device 100 in real time, and the triggering condition includes: the detecting module 204 is configured according to the The position information of the control device 100 determines that the control device 100 is located at a designated place.
  • the second transmitting module 203 sends a trigger signal to the first receiving module 101, thereby instructing the triggering module 104 to output a signal indicating the operation of the load 300.
  • the triggering module 104 outputs a specific type of signal having the characteristic parameter through the F channel, and is executed after the determining module 106 determines that the trigger signal is from the designated device, thereby ensuring the security of the F channel, thereby preventing illegal control. Load 300.
  • the specifying device is a device that transmits the mapping signal, that is, the device that transmits the mapping signal is limited to a unique control source of the F channel, and the security of the F channel control is improved.
  • the designation device may select at least two designated external devices 200 or not.
  • the designated function is a signal input function
  • the mapping module 103 maps the F channel corresponding to the F channel identifier into a signal input function, thereby implementing the load 300 through the F channel.
  • the load 300 may be a sensor or the like, such as a temperature sensor, a humidity sensor, a pressure sensor, or the like.
  • the signal input function comprises inputting a specific type of signal, for example, a PWM signal, a GPIO, an A/D signal, and the like.
  • the collecting module 108 collects the signal input by the F channel according to the collection parameter, thereby filtering Drop some data that does not meet the demand.
  • the acquisition parameters may include parameters such as maximum resolution, sampling rate, and signal range.
  • the configuration of the acquisition parameters can be set according to actual needs.
  • the preset module 107 presets a collection parameter of the signal input to the F channel, that is, the F channel uniformly adopts a default parameter, and is configured in the F channel. After the signal input function is performed, the acquisition module 108 collects the signal input by the F channel according to the default parameters of the F channel, thereby simplifying the configuration process.
  • the mapping signal optionally includes the acquisition parameter, that is, The acquisition parameters can be flexibly configured by the external device 200 according to business requirements.
  • the parsing module 102 parses out the signal input to the F channel from the mapping signal.
  • the rules for the collection module 108 to collect the signals of the load 300 may be set according to service requirements.
  • the collecting module 108 performs the acquisition of the signal input by the F channel according to the acquisition parameter, and is performed after the first receiving module 101 receives the trigger signal, so as to avoid when the user does not need to collect the signal of the load 300.
  • the collection module 108 wastes resources caused by collecting the signals of the load 300.
  • the trigger signal includes the F channel identifier and a characteristic parameter of a specific type of signal, and the trigger signal is used to instruct the collection module 108 to collect the signal input by the F channel according to the acquisition parameter.
  • the collecting module 108 performs the acquisition of the signal input by the F channel according to the acquisition parameter, and is performed when the mapping module 103 completes mapping of the F channel, that is, the mapping module 103 After the F channel is mapped into the signal input function, the signal input by the F channel is immediately acquired, thereby obtaining the signal of the load 300, and the configuration process is simple and convenient to use.
  • the collecting module 108 can collect the signal input by the F channel, thereby obtaining the signal of the load 300, and increasing the flexibility of acquiring the signal.
  • the trigger signal before the second sending module 203 sends the trigger signal to the first receiving module 101, the trigger signal needs to be configured.
  • the second sending module 203 sends a trigger configuration signal to the first receiving module 101, where the trigger configuration signal includes the F a channel identifier, a characteristic parameter of the specific type of signal, and a parameter of the trigger signal, where the parameter of the trigger signal is used to indicate a trigger signal, and the trigger signal is used to instruct the acquisition module 108 to input the F channel according to the acquisition parameter.
  • the signal is collected.
  • the association module 105 associates the F channel corresponding to the F channel identifier, the collection parameter, and the parameter of the trigger signal, Realize the association between the trigger signal and the F channel and acquisition parameters.
  • the parsing module 102 determines the collecting parameter associated with the trigger signal according to the parameter of the trigger signal, and the collecting module 108 is configured according to the The associated acquisition parameters are used to acquire signals input by the F channel.
  • the trigger signal is pre-configured, and the triggering acquisition module 108 collects the signal input by the F channel, the user only needs to send the parameter of the trigger signal to the first receiving module of the control device 100 through the second sending module 203 of the external device 200. 101 is OK, no need to carry the F channel identification, etc., so that the subsequent operation is relatively simple
  • the first sending module 109 sends the signal collected by the collecting module 108 to the designated module.
  • the specifying module is a module that sends the mapping signal, that is, the specified module is limited to a unique receiving source of the collected signal, and the security of the data is guaranteed.
  • the specifying module is the second receiving module 201 of the external device 200, and the second receiving module 201 receives the signal collected by the F channel.
  • the receiving, by the second receiving module 201, the signal collected by the F channel is performed after the second sending module 203 sends the mapping signal, that is, after the second sending module 203 sends the mapping signal to the first receiving module 101,
  • the acquisition module 108 collects the signal of the load 300 through the F channel and returns to the second receiving module 201, thereby ensuring the integrity of the signal of the collection load 300 and preventing data loss.
  • the first receiving module 201 receives the signal collected by the F channel, and is executed after the second sending module 203 sends the trigger signal, that is, when the user needs to acquire the signal of the load 300, the second sending module 203 Sending a trigger signal to the first receiving module 101, so that the signal of the load 300 is collected by the collecting module 108 through the F channel and returned to the second receiving module 201, Therefore, data collection can be performed according to requirements, and flexibility is strong.
  • the determining module 106 determines whether the F channel satisfies the mapping condition, and if the determining module 106 determines that the F channel satisfies the mapping condition, the mapping The module 103 maps the F channel to the specified function, that is, the mapping module 103 maps the F channel corresponding to the F channel identifier to the specified function, after determining that the F channel satisfies the mapping condition; otherwise, The mapping module 103 does not perform the mapping operation on the F channel. By setting the mapping condition, the mapping operation can be performed after the mapping condition is satisfied, thereby improving the security of the F channel usage.
  • the mapping condition includes: the determining module 106 determines that the F channel does not have a mapping.
  • the control device 100 is provided with a preset mapping table, which is used to store the channel identifiers of the mapped F channels and the designated functions mapped to the F channels in one-to-one correspondence.
  • the determining module 106 determines whether there is an identifier of the F channel to be mapped in the preset mapping table, and when the determining module 106 determines that the preset mapping table does not exist, Mapping the identifier of the F channel, determining that the mapping of the F channel does not occur; when the determining module 106 determines that the identifier of the F channel to be mapped exists in the preset mapping table, the determining module 106 needs to further determine that the F is to be mapped.
  • the first sending module 109 may return the failed result to the device that sends the mapping signal, thereby notifying the user of the The device that transmits the mapping signal fails the operation of performing mapping at this time; otherwise, it is determined that the mapping of the F channel does not occur.
  • the mapping condition includes the determining module 106 determining that the parameter describing the specified function is valid.
  • the parameter describing the specified function is included in the mapping signal.
  • the designated function is a signal output function
  • the parameter describing the specified function may include a signal type that can be output by the current F channel to be mapped, and a specific parameter corresponding to the outputtable signal, etc., when the determining module 106 determines the description.
  • the specified function is a signal input function
  • the parameter describing the specified function may include the type of the signal that can be input by the F channel to be mapped and the acquisition parameter corresponding to the input signal.
  • the determining module 106 determines that the parameter describing the specified function is a legal parameter, it is determined.
  • the parameters describing the specified function are valid.
  • the determining module 106 determines whether the parameter describing the specified function is valid after the determining module 106 determines that the F channel has not been mapped.
  • the second receiving module 201 before receiving the user instruction, is further configured to receive login information of the user account; the second sending module 203 sends a login signal of the user account to the first receiving Module 101.
  • the first receiving module 101 Before receiving the mapping signal from the second sending module 203, the first receiving module 101 is further configured to receive login information of the user account sent by the second sending module 203, where the parsing module 102 acquires the user according to the login information.
  • the mapping condition includes: the determining module 106 determines that the specified function matches the authority of the user account, thereby improving the security of the F channel and preventing illegal control of the F channel.
  • the determining module 106 determines whether the mapping of the F channel is performed after the determining module 106 determines that the specified function and the rights of the user account are matched, so as to prevent illegal control of the F channel. Improve the security of F channel usage.
  • the method further includes: canceling the mapping between the F channel and the specified function, so that the F channel can be restored in real time and configured. The state, thus preventing the waste of resources.
  • the mapping module 103 cancels the mapping between the F channel and the specified function, and is performed after the determining module 106 determines that the F channel performs the preset function, so that the user completes using the F channel. After the related task, the F channel is in an idle state to prevent waste of resources.
  • the mapping module 103 cancels the mapping between the F channel and the specified function, and the determining module 106 determines that the newly specified function corresponding to the new mapping signal from the second sending module 203 is currently mapped with the F channel. After the specified functions are different, the mapping to the F channel is implemented according to the needs of the user.
  • the mapping module 103 maps the F channel corresponding to the F channel identifier to the specified function. After that, there may be a case where the second sending module 203 sends the new mapping signal to the first receiving module 101 again to trigger the mapping module 103 to map the F channel again. In this embodiment, when the first receiving module 101 receives a new mapping signal from the second sending module 203, the parsing module 102 parses out the new corresponding mapping of the F channel identifier from the new mapping signal.
  • the F channel is mapped to the newly designated function by the mapping module 103, or the mapping of the F channel and the specified function is cancelled by the mapping module 103, and the F is The channel is mapped to the newly designated function, or the new designated function is overwritten by the mapping module 103.
  • the query module 205 queries the specified function that the F channel has mapped to determine whether the specified function mapped by the F channel is a function required by the user.
  • the F channel of the embodiment may be one or more configurable pins disposed on the unmanned aerial vehicle, and the F channel control device of the embodiment may be applied. In unmanned aerial vehicles or flight control systems.
  • the embodiment of the present invention further provides another F channel control device, where the device may include a first processor 101, a second processor 201, and a first memory. 102 and a second memory 202.
  • the first memory 102 is configured to store first processor 101 executable instructions
  • the second memory 202 is configured to store second processor 201 executable instructions.
  • the F channel control device implements flexible control of the F channel by interaction between the first processor 101 and the second processor 201, wherein the first processor 101 can communicate with the F channel to the F Channel operation.
  • the first processor 101 can be configured to:
  • the mapping signal includes at least an identifier of the F channel to be mapped and a designated function, thereby determining an F channel to be mapped and a function to be mapped to the F channel.
  • the first processor 101 of the present embodiment maps the F channel to a designated function required by the user according to the received mapping signal, so that the user can dynamically configure the function of the F channel according to actual operation requirements, and the flexibility and openness of the system. Higher.
  • the second processor 201 can be configured to:
  • a user instruction receives a user instruction, where the user instruction includes an F channel identifier corresponding to the F channel to be mapped and a specified function to be mapped to the F channel; and interacting with the second processor 201 by the user, when the user needs to implement through the F channel When a certain function is specified, a user command can be input on the second processor 201.
  • the second processor 201 sends a mapping signal to the first processor 101 through an API interface.
  • the second processor 201 and the first processor 101 are wirelessly connected to each other to avoid the entanglement problem caused by the cable connection, and the use is more flexible.
  • the second processor 201 is in wired communication with the first processor 101 to ensure stability and security of signal transmission.
  • the interaction between the first processor 101 and the second processor 201 enables the user to input user instructions according to requirements, thereby realizing dynamic configuration of the functions of the F channel, thereby enabling the user to adjust the F channel according to actual needs.
  • the interaction between the first processor 101 and the second processor 201 enables the user to input user instructions according to requirements, thereby realizing dynamic configuration of the functions of the F channel, thereby enabling the user to adjust the F channel according to actual needs.
  • the first processor 101 and the second processor 201 may select a device capable of processing and transmitting data, such as a computer or a special chip, wherein the special chip may be ARM, AVR and other single-chip microcomputers can also be ASIC chips, or FPGA, CPLD and other programmable devices.
  • a device capable of processing and transmitting data such as a computer or a special chip, wherein the special chip may be ARM, AVR and other single-chip microcomputers can also be ASIC chips, or FPGA, CPLD and other programmable devices.
  • the F channel can be connected to the load 300.
  • the load 300 can be connected to the F channel.
  • the first processor 101 and the second processor 201 are communicably connected through an API interface, and a user may interact with the second processor 201 to indicate a pair.
  • data interaction between the first processor 101 and the second processor 201 may be performed according to a conventional communication protocol.
  • the specified function may include a signal output function and a signal input function.
  • the designated function is a signal output function
  • the first processor 101 maps the F channel corresponding to the F channel identifier into a signal output function, thereby implementing control of the load 300 operation.
  • the load 300 can be a camera or the like.
  • the signal output function includes outputting a specific type of signal, for example, a PWM signal, a GPIO, a D/A signal (ie, an analog signal), etc., that is, a specific type may include a signal type such as PWM, GPIO, or D/A.
  • a specific type may include a signal type such as PWM, GPIO, or D/A.
  • the first processor 101 can output the specific type of signal to the load 300 through the F channel, thereby implementing operation on the load 300, and then controlling The load 300 works.
  • the signal indicating the operation of the load 300 may need to be dynamically adjusted according to actual operation requirements, that is, the signal output by the F channel needs to be dynamically adjusted, for example, dynamically adjusting the type, frequency, pulse width and other parameters of the signal output by the F channel.
  • the user instruction includes a characteristic parameter of the specific type of signal, so that the user can dynamically adjust the output signal of the F channel according to the service requirement, thereby enabling the F channel to output a specific type of signal with different characteristic parameters. Or different types of signals to instruct the load 300 to perform the corresponding operations.
  • the first processor 101 After the F channel is mapped to the signal output function, the first processor 101 performs a corresponding operation for indicating the load 300 in real time according to the user's needs, that is, the user needs the load 300 to execute the phase. When operating, the F channel output is controlled to indicate that the load 300 is performing the corresponding operation. In other cases, there is no need to control the F channel.
  • the second processor 201 sends a trigger signal to the first processor 101 to trigger the first processor 101 to output a signal through the F channel to instruct the load 300 to perform a corresponding operation.
  • the trigger signal includes a feature parameter of the F channel identifier and a specific type of signal, and is used to instruct the first processor 101 to output a specific type of signal having the feature parameter through the F channel.
  • the first processor 101 after receiving the trigger signal, the first processor 101 outputs a specific type of signal having the characteristic parameter through the F channel, thereby instructing the load 300 to perform a corresponding operation.
  • the second processor 201 sends a trigger signal to the first processor 101, and the first processor 101 outputs a signal triggering the operation of the load 300 through the F channel, instructing the load 300 to perform the corresponding operation.
  • the implementation is more flexible and convenient.
  • the first processor 101 may trigger the F channel to output a specific type of signal having a characteristic parameter according to the configuration information of the trigger signal, thereby indicating the load 300. Take the appropriate action.
  • the second processor 201 sends a trigger configuration signal to the first processor 101, where the trigger configuration signal includes the F channel identifier, a characteristic parameter of the specific type of signal, and a parameter of a trigger signal.
  • the parameter of the trigger signal is used to indicate a trigger signal, and the trigger signal is used to instruct the first processor 101 to output a specific type of signal having the characteristic parameter through the F channel.
  • the first processor 101 associates the F channel corresponding to the F channel identifier, the specific type signal having the feature parameter, and the parameter of the trigger signal.
  • the first processor 101 correspondingly saves the F channel identifier, the specific type of the signal having the feature parameter, and the parameter of the trigger signal (ie, the trigger ID), as shown in Table 3 above, thereby implementing the F channel and the specific type.
  • the signal is associated with the trigger signal.
  • the trigger signal is sent to the first processor 101 by the second processor 201, and after receiving the trigger signal from the second processor 201, the first processor 101 Determining, according to a parameter of the trigger signal, a characteristic parameter of a specific type of signal associated with the trigger signal, and outputting, by the F channel, a specific type of signal having the characteristic parameter.
  • the trigger configuration signal and the mapping signal are located in the same signal.
  • the trigger configuration signal and the mapping signal are located in the same signal, and the trigger configuration signal and the mapping signal are two independent signals, but when the F channel needs to be configured, the second processor 201 The mapping signal and the trigger configuration signal are set in the same signal and then sent to the first processor 101, thereby simplifying the process of configuring the F channel configuration.
  • the triggering configuration signal and the mapping signal being located in the same signal means that the contents of the two signals of the mapping signal and the trigger configuration signal are placed in the same signal, and then by the second processor.
  • the 201 transmits a signal having the contents of the two signals triggering the configuration signal to the first processor 101.
  • the trigger configuration signal and the mapping signal can also exist independently in the two signals, that is, when the F channel needs to be configured, the second processor 201 sends the mapping signal and the trigger configuration signal to the first processor 101, respectively.
  • the second processor 201 sends a trigger signal to the first processor 101 to be sent when detecting that the first processor 101 meets the trigger condition, to meet the actual needs of the user.
  • the second processor 201 acquires location information of the first processor 101.
  • the second processor 201 reads the GPS information returned by the first processor 101 in real time, where the trigger condition includes: according to the first processor.
  • the location information of 101 determines that the first processor 101 is located at the designated location. That is, when the second processor 201 determines that the first processor 101 is located at the designated location according to the position signal of the first processor 101, the trigger signal is sent to the first processor 101, thereby instructing the first processor 101 to output the indication load 300. Signal of operation.
  • the outputting, by the first processor 101, the specific type of the signal having the characteristic parameter by using the F channel is performed after determining that the trigger signal is from the designated device, thereby ensuring the F pass.
  • the security of the channel is used to prevent illegal control of the load 300.
  • the specifying device is a device that transmits the mapping signal, that is, the device that transmits the mapping signal is limited to a unique control source of the F channel, and only the first processor 101 determines the When the trigger signal and the mapping signal are from the same device, a specific type of signal having the characteristic parameter is output through the F channel; otherwise, the first processor 101 does not need to indicate further operation of the F channel, thereby preventing Illegal operation of the F channel to prevent illegal control of the load 300.
  • the specifying device may select at least two designated second processors 201.
  • the first processor 101 may save the device identifiers of at least two of the second processors 201, and at least The two processors 201 are labeled as legal devices.
  • the F processor when the first processor 101 determines that the device that sends the trigger signal belongs to a legal device, the F processor outputs the specific parameter through the F channel. A particular type of signal; otherwise, the first processor 101 need not indicate further operation of the F-channel, thereby preventing illegal operation of the F-channel to prevent illegal control of the load 300.
  • the designated device may also be unrestricted, so that the user can implement the signal output function for the control F channel by any device, thereby controlling the work of the load 300 connected to the F channel, which is convenient and flexible.
  • the first processor 101 may The sequence of the received trigger signals triggers the F channel to output the sequence of the specific types of signals corresponding to each externally set trigger signal.
  • the designated function is a signal input function
  • the first processor 101 maps the F channel corresponding to the F channel identifier into a signal input function, thereby implementing acquisition of the signal of the load 300 through the F channel.
  • the load 300 may be a sensor or the like, such as a temperature sensor, a humidity sensor, a pressure sensor, or the like.
  • the signal input function comprises inputting a specific type of signal, for example, a PWM signal, a GPIO, an A/D signal (ie, a digital signal), and the like.
  • the first processor 101 may collect the signal input by the F channel, thereby collecting the signal of the load 300.
  • the first processor 101 further collects the signal input by the F channel according to the collection parameter, thereby filtering out the part.
  • the acquisition parameters may include parameters such as maximum resolution, sampling rate, and signal range.
  • the configuration of the acquisition parameters can be set according to actual needs.
  • the F channel is pre-set with an acquisition parameter of a signal input to the F channel, that is, the F channel uniformly adopts a default parameter, and after the F channel is configured as a signal input function, the first processor 101 is configured to collect signals input by the F channel according to default parameters of the F channel, thereby simplifying the configuration process.
  • the mapping signal optionally includes the acquisition parameter, that is, The acquisition parameters can be flexibly configured by the second processor 201 according to the business requirements.
  • the first processor 101 further parses out the signal input to the F channel from the mapping signal before mapping the F channel corresponding to the F channel identifier to the designated function.
  • the parameters can be flexibly configured according to the actual needs of the user. The use is flexible, the system is highly customizable, and data loss can be prevented.
  • the rule that the first processor 101 collects the signal of the load 300 may be set according to service requirements. For example, parameters such as the type, range, frequency, and resolution of the F channel acquisition signal may be set.
  • the collecting, by the first processor 101, the signal input by the F channel according to the acquisition parameter is performed after receiving the trigger signal, that is, when the user needs to acquire the signal of the load 300, the first processor The signal of the load 300 is collected by the 101 to avoid waste of resources caused by the first processor 101 collecting the signal of the load 300 when the user does not need to collect the signal of the load 300.
  • the trigger signal includes the F channel identifier and A characteristic parameter of a specific type of signal
  • the trigger signal is used to instruct the first processor 101 to collect a signal input by the F channel according to an acquisition parameter.
  • the collecting, by the first processor 101, the signal input by the F channel according to the acquisition parameter is performed when the mapping of the F channel is completed, that is, the first processor 101 After the F channel is mapped into the signal input function, the signal input by the F channel is immediately acquired, thereby obtaining the signal of the load 300, and the configuration process is simple and convenient to use.
  • the first processor 101 can acquire the signal input by the F channel, thereby obtaining the signal of the load 300, and increasing the flexibility of the collected signal. Sex.
  • the trigger signal before the second processor 201 sends the trigger signal to the first processor 101, the trigger signal needs to be configured.
  • the second processor 201 sends a trigger configuration signal to the first processor 101, where the trigger configuration signal includes the F channel identifier, a characteristic parameter of the specific type of signal, and a parameter of a trigger signal.
  • the parameter of the trigger signal ie, the trigger ID
  • the trigger signal is used to instruct the first processor 101 to collect the signal input by the F channel according to the acquisition parameter.
  • the first processor 101 After receiving the trigger configuration signal from the second processor 201, the first processor 101 associates the F channel corresponding to the F channel identifier, the acquisition parameter, and the parameter of the trigger signal. Referring to Table 4 above, the first processor 101 can save the F channel identifier, the acquisition parameter, and the trigger signal parameter, so as to implement the association between the trigger signal and the F channel and the acquisition parameter.
  • the first processor 101 After receiving the trigger signal from the second processor 201, the first processor 101 determines an acquisition parameter associated with the trigger signal according to the parameter of the trigger signal, and pairs the F according to the associated acquisition parameter.
  • the signals input by the channel are collected. For example, referring to Table 4, when the first processor 101 receives the trigger signal sent by the second processor 201, the sampling parameter is 50 Hz, the sampling signal range is 0-5V, and the resolution parameter is 256. The signal is collected to obtain the signal of the load 300 connected to the F4.
  • the trigger signal when the trigger signal is pre-configured, when the first processor 101 is triggered to collect the signal input by the F channel, the user only It is only necessary to send the trigger ID to the first processor 101 through the second processor 201, and it is not necessary to carry the F channel identifier or the like, so that the subsequent operation is relatively simple.
  • the first processor 101 after acquiring the signal input by the F channel according to the acquisition parameter, also needs to send the collected signal to the designated module.
  • the specifying module is a module that sends the mapping signal, that is, the specified module is limited to a unique receiving source of the collected signal, and the security of the data is guaranteed.
  • the specifying module is the second processor 201, and the second processor 201 receives the signal collected by the F channel.
  • the receiving, by the second processor 201, the signal collected by the F channel is performed after the mapping signal is sent, that is, after the second processor 201 sends the mapping signal to the first processor 101, the first processor 101 That is, the signal of the load 300 is collected by the F channel and returned to the second processor 201, thereby ensuring the integrity of the signal of the collection load 300 and preventing data loss.
  • the first processor 201 receives the signal collected by the F channel, and is executed after the second processor 201 sends the trigger signal, that is, when the user needs to acquire the signal of the load 300, the second processor is used.
  • the 201 sends a trigger signal to the first processor 101, so that the signal of the load 300 is collected by the first processor 101 through the F channel and returned to the second processor 201, so that data can be collected according to requirements, flexibility. Stronger.
  • the first processor 101 before mapping the F channel to the designated function, the first processor 101 further needs to determine whether the F channel satisfies the mapping condition, and if the F channel satisfies the mapping condition, the first processor 101 The F channel corresponding to the F channel identifier is mapped to the specified function, that is, the first processor 101 maps the F channel corresponding to the F channel identifier to the designated function, and the first processor 101 determines the location. After the F channel satisfies the mapping condition, the first processor 101 does not perform the mapping operation on the F channel, and the mapping operation is performed, so that the mapping operation can be performed after the mapping condition is satisfied, thereby improving The safety of the F channel.
  • the mapping condition includes: the F channel does not have a mapping.
  • the first processor 101 is provided with a preset mapping table, where the preset mapping table is used to The channel identifier of the mapped F channel is saved in one-to-one correspondence with the specified function mapped to the F channel. Before mapping the F channel corresponding to the F channel identifier to the specified function, the first processor 101 determines whether there is an identifier of the F channel to be mapped in the preset mapping table, where the preset mapping table is in the preset mapping table.
  • the first processor 101 needs to further determine that the F is to be mapped. Whether the identifier of the channel is bound (ie, mapped) to any of the specified functions, and if so, determining that the F channel has been mapped, the first processor 101 may return the result of the failure to the device transmitting the mapping signal, thereby informing the sending The device that maps the signal fails to perform the mapping operation this time; otherwise, it determines that the mapping of the F channel does not occur.
  • the mapping condition comprises: validating a parameter describing the specified function.
  • the parameter describing the specified function is included in the mapping signal sent by the second processor 201.
  • the parameter describing the specified function may include a signal type that can be output by the current F channel to be mapped, a specific parameter corresponding to the outputtable signal, and the like, when the parameter describing the specified function is When the parameter is legal, it is determined that the parameter describing the specified function is valid.
  • the first processor 101 sets the current F-channel to be mapped to output only the PWM signal, and when the first processor 101 determines that the mapping signal from the second processor 201 includes indicating that the current F-channel to be mapped is mapped to an output.
  • the parameter of the other signal of the non-PWM signal determines that the parameter describing the specified function is invalid, that is, the first processor 101 can only output the PWM signal through the F channel, but cannot pass
  • the F channel outputs other signals of the non-PWM signal.
  • the parameter describing the specified function may include a signal type that can be input by the current F-mapable channel and an acquisition parameter corresponding to the inputtable signal, when the parameter describing the specified function is legal When the parameter is determined, it is determined that the parameter describing the specified function is valid.
  • the first processor 101 sets that the current F-channel to be mapped can only input the GPIO signal, and when the first processor 101 determines that the mapping signal from the second processor 201 includes indicating that the current F-map to be mapped is mapped to When inputting other signals of the non-GPIO signal, determining that the parameter describing the specified function is invalid, that is, the first place
  • the processor 101 can only acquire GPIO signals through the F channel, and cannot acquire other signals of non-GPIO signals through the F channel.
  • the determining, by the first processor 101, whether the parameter describing the specified function is valid is performed after determining that the F channel does not have a mapping.
  • the first processor 101 before receiving the mapping signal, the first processor 101 needs to receive login information of the user account sent by the second processor 201, and obtain the permission of the user account according to the login information,
  • the mapping condition includes: the specified function matches the authority of the user account.
  • the first processor 101 presets to save a corresponding function that can be mapped to the F channel to be mapped when each user account is configured to be mapped in the F channel to be mapped, only when to be mapped to the to-be-mapped
  • the first processor 101 can map the F channel to be mapped to the specified function, thereby improving the security of the F channel and preventing the pair. Illegal control of the F channel.
  • the determining, by the first processor 101, whether the F channel is mapped is performed after determining that the specified function and the user account are matched, to prevent illegal control of the F channel, and improve F. The security of the channel used.
  • the second processor 201 needs to receive the login information of the user account before receiving the user instruction, so as to send the login signal of the user account to the first processor 101.
  • the login information includes a user account and a login password, etc., which are directly input by the user directly on the second processor 201.
  • the user account is an administrator
  • the login password is 123456.
  • the identifier of the F channel that the first processor 101 presets to set the user account of the administrator is 3 and 4, wherein the F3 can be mapped with a specified function.
  • the specified function that F4 can map is the signal input function.
  • the second processor 201 After transmitting the login information of the user account to the first processor 101, the second processor 201 only has the authority to configure the F channels identified as 3 and 4, and the F3 configurable designated function is only the signal output function.
  • the specified function of the F4 configurable function is only the signal input function.
  • the first processor 101 identifies the F channel corresponding to the F channel identifier. After being mapped to the specified function, the method is further configured to: cancel the mapping of the F channel and the specified function, so that the F channel can restore the configurable state in real time, thereby preventing waste of resources.
  • the first processor 101 cancels the mapping between the F channel and the specified function, and is performed after determining that the F channel performs the preset function.
  • the number of executions of the specified function currently mapped by the F channel may be set according to requirements, for example, the number of executions is 5, the load 300 is a camera, and the first processor 101 maps the F channel to an output PWM signal, each time. For 1 s, the duty ratio is 10% to control the camera to take a picture.
  • the mapping between the F channel and the output PWM signal is immediately cancelled. Thereby, the F channel is in an idle state, preventing waste of resources caused when the F channel is not needed.
  • the first processor 101 cancels the mapping between the F channel and the specified function, and the first processor 101 determines a new designated function corresponding to the new mapping signal from the second processor 201, and the The specified functions of the current mapping of the F channel are executed differently, so that the mapping of the F channel is implemented according to the needs of the user.
  • the first processor 101 cancels the mapping of the F channel and the specified function, and further includes the identifier of the F channel included in the preset mapping table.
  • the entry of the specified function mapped by the F channel is deleted, or the specified function mapped by the F channel in the entry is deleted.
  • the first processor 101 further needs to store the identifier of the currently mapped F channel and the current mapping to the F channel in the preset mapping table. The specified function.
  • the second processor 201 may send a new mapping signal to the first processor 101 to control the F channel.
  • the case of mapping In this embodiment, after receiving the new mapping signal from the second processor 201, the first processor 101 parses out the new designated function corresponding to the F channel identifier from the new mapping signal, and Performing one of the following three operations: a, mapping the F channel to the newly specified function again, where operation a is determined by the first processor 101 to determine that the newly specified function is currently mapped to the F channel The specified function is Performing the same function; b, canceling the mapping between the F channel and the specified function, and mapping the F channel to the newly designated function, and implementing mapping of the F channel in a non-preemptive mapping manner, thereby implementing Flexible control of the F channel; c, the new designated function is covered by the specified function, and the coverage mapping of the F channel is implemented in a preemptive mapping manner, and the control of the F channel is relatively simple.
  • the second processor 201 queries the designated function mapped by the F channel before receiving the user instruction, to determine whether the specified function mapped by the F channel is a function required by the user. For example, a preset mapping table is retrieved from the first processor 101 to obtain a designated function that the F channel has mapped.
  • the F channel of the present embodiment may be one or more configurable pins disposed on the unmanned aerial vehicle.
  • the F-channel control device of the present embodiment can be applied to an unmanned aerial vehicle or a flight control system.
  • the first processor 101 and the first memory 102 are part of the control device 100, and the second processor 201 and the second memory 202 are part of the external device 200.
  • the F channel control method and apparatus of the present invention maps the F channel to a designated function required by the user according to the configurable mapping signal, so that the user can dynamically configure the function of the F channel according to the actual operation requirement, and the system Flexibility and openness.
  • the F channel control method and apparatus of the present embodiment can also improve the ease of use of the unmanned aerial vehicle or the flight control system, and provide a technical basis for the unmanned aerial vehicle industry.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

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Abstract

一种F通道控制方法和装置，所述方法包括：接收映射信号（S101）；从所述映射信号中解析出F通道标识、指定功能（S102）；将所述F通道标识对应的F通道映射至所述指定功能（S103）。该方案根据可配置的映射信号，将F通道映射成用户所需的指定功能，使得用户可根据实际作业需求来动态配置F通道的功能，系统的灵活性、开放程度较高。

Description

F通道控制方法及装置 技术领域
本发明涉及电器元件控制领域，尤其涉及一种F通道控制方法及装置。
背景技术
无人飞行器(英文：Unmanned Aerial Vehicle，缩写：UAV)中，存在一些针脚(Pin)可以接收或输出信号，从而实现无人飞行器与外部装置之间的信息交换，所述外部装置可以为电子调速器、遥控器接收机、舵机、外挂相机等。
其中，无人飞行器中的部分针脚可用作特定功能的输入或输出，例如固定的电子调速器输出、遥控器信号输入等，这部分用作特定功能的输入或输出的针脚的功能是固化的，不能由用户再进行配置；无人飞行器中还存在部分开放的针脚，用户可通过对这部分开放的针脚进行功能配置，以方便地为无人飞行器添加外部装置，从而满足特定的作业需求，例如控制起落架收放、风扇转速等，这些开放的针脚被称作F通道(Multifunction Port)。
目前，用户可通过调参软件来配置F通道的功能，所述调参软件包括备选列表，所述备选列表中列出了固化了的配置功能。在需要控制当前F通道实现某一特定功能时，用户通过在备选列表中选择实现所述特定功能所对应的配置功能，从而将当前F通道配置成所述特定功能。但是，如果所述备选列表中不存在所述特定功能，用户就不能够通过调参软件来将当前F通道配置成所述特定功能。备选列表中的可配置功能是无人飞行器在出厂前就已经设定好的，针对性过强，导致F通道可配置的功能灵活性 较差，由此可见，通过调参软件配置F通道实现特定功能的方式存在开放程度低、可配置的功能有限等缺点。如果用户需要挂载一些特殊的行业应用装置，而所述备选列表并不存在实现挂载这些特殊的行业应用装置对应的功能项，往往需要将无人飞行器返厂，由厂家根据用户需求来修改无人飞行器的相关固件，大大降低效率。
发明内容
本发明提供一种F通道控制方法及装置。
根据本发明的第一方面，提供一种F通道控制方法，所述方法包括：
接收映射信号；
从所述映射信号中解析出F通道标识、指定功能；
将所述F通道标识对应的F通道映射至所述指定功能。
根据本发明的第二方面，提供一种F通道控制装置，所述装置包括：
第一接收模块，接收映射信号；
解析模块，从所述映射信号中解析出F通道标识、指定功能；
映射模块，将所述F通道标识对应的F通道映射至所述指定功能。
根据本发明的第三方面，提供一种F通道控制装置，所述装置包括：
第一处理器；
用于存储第一处理器可执行指令的第一存储器；
其中，所述第一处理器被配置为：
接收映射信号；
从所述映射信号中解析出F通道标识、指定功能；
将所述F通道标识对应的F通道映射至所述指定功能。
根据本发明的第四方面，提供一种F通道控制方法，所述方法包括：
接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能；
根据所述用户指令生成映射信号，发送所述映射信号至控制装置，所述映射信号用于指示所述控制装置将所述F通道标识对应的F通道映射至所述指定功能。
根据本发明的第五方面，提供一种F通道控制装置，所述装置包括：
第二接收模块，接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能；
信号生成模块，根据所述用户指令生成映射信号；
第二发送模块，发送所述映射信号至控制装置，所述映射信号用于指示所述控制装置将所述F通道标识对应的F通道映射至所述指定功能。
根据本发明的第六方面，提供一种F通道控制装置，所述装置包括：
第二处理器；
用于存储第二处理器可执行指令的第二存储器；
其中，所述第二处理器被配置为：
接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能；
根据所述用户指令生成映射信号，发送所述映射信号至第一处理器，所述映射信号用于指示所述第一处理器将所述F通道标识对应的F通道映射至所述指定功能。
由以上本发明实施例提供的技术方案可见，本发明根据可配置的映射信号，将F通道映射成用户所需的指定功能，使得用户可根据实际作业需求来动态配置F通道的功能，系统的灵活性、开放程度较高。另外，本 实施例的F通道控制方法和装置还能够提高无人飞行器或者飞行控制系统的易用性，为无人飞行器行业提供技术基础。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例从控制装置侧对F通道进行控制的方法流程图；
图2是本发明一实施例从外部装置侧对F通道进行控制的方法流程图；
图3是本发明一实施例又一控制装置侧对F通道进行控制的方法流程图；
图4是本发明一实施例又一外部装置侧对F通道进行控制的方法流程图；
图5是本发明一实施例无人飞行器的部分结构示意图；
图6是本发明另一实施例的无人飞行器的部分结构示意图；
图7是本发明又一实施例的无人飞行器的部分结构示意图；
图8是本发明一实施例的控制装置侧的F通道控制装置结构示意图；
图9是本发明一实施例的外部装置侧的F通道控制装置的结构示意图；
图10是本发明又一实施例的控制装置侧的F通道控制装置结构示意图；
图11是本发明又一实施例的外部装置侧的F通道控制装置的结构示意图；
图12是本发明一实施例的F通道控制装置的总框架图；
图13是本发明另一实施例的F通道控制装置结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的F通道控制方法及装置进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
结合图1和图2，本发明实施例提供一种F通道控制方法，该方法通过外部装置200和控制装置100之间的交互实现对F通道的灵活控制，其中所述控制装置100能够与所述F通道通信以对所述F通道操作。
参见图1，在控制装置100侧，所述方法可包括：
步骤S101，接收映射信号。其中，所述映射信号至少包括待映射的F通道的标识和指定功能，从而确定待映射的F通道和待映射至所述F通道的功能。
步骤S102，从所述映射信号中解析出F通道标识、指定功能。
步骤S103，将所述F通道标识对应的F通道映射至所述指定功能。
本实施例的控制装置根据接收到的映射信号，将F通道映射成用户所需的指定功能，使得用户可根据实际作业需求来动态配置F通道的功能，系统的灵活性、开放程度较高。
参见图2，在外部装置200侧，所述方法可包括：
步骤S201，接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能。该步骤通过用户与外部装置200进行交互，当用户需要通过F通道实现某一指定功能时，在外部装置200上输入用户指令即可。
步骤S202，根据所述用户指令生成映射信号，发送所述映射信号至控制装置100，所述映射信号用于指示所述控制装置100将所述F通道标识对应的F通道映射至所述指定功能。可选地，外部装置200通过API接口发送映射信号至所述控制装置100。在一些例子中，外部装置200与控制装置100之间无线通信连接，避免线缆连接所造成的缠绕问题，使用更加灵活。在其他一些例子中，外部装置200与控制装置100之间有线通信连接，保证信号传输的稳定性与安全性。
其中，步骤S201和步骤S202均在步骤S101之前执行。
本实施例通过外部装置200与控制装置100之间的交互，使得用户可根据需求输入用户指令，实现对F通道的功能的动态配置，进而使得用户可根据实际需求调整F通道的功能，系统灵活性强、适配性与开放程度较高，能够满足特定的作业需求。
其中，所述控制装置100至少包括CPU(Central Processing Unit，中央处理器)，所述CPU可选择计算机或者专门的芯片等能够处理和传输数据的器件，其中，这种专门的芯片可以是ARM(Advanced RISC Machines，RISC微处理器)、AVR(RISC精简指令集高速8位单片机)等单片机，还可以是ASIC(Application Specific Integrated Circuit，专用集成电路)芯片，也可以是FPGA(FPGA(Field－Programmable Gate Array，现场可编程门阵列)、CPLD(Complex Programmable Logic Device，复杂可编程逻辑器件)等可编程器件。
所述F通道可连接负载300，例如，在用户需要通过F通道对负载300进行操作时，可将负载300与F通道相连。
所述负载300可为用户根据特定的作业需求所选择的装置，例如，当用户需要对某一区域的地理环境进行测绘时，则所述负载300可选择为相机，当用户需要采集控制系统工作的环境数据(例如温度、湿度、压力等)，则所述负载300可选择为传感器等。在一些例子中，一个负载300只需要与某一个F通道连接，就能够通过该F通道实现对该负载的操作，即负载300与F通道是一一对应相连的，从而根据实际业务需求实现对该负载300的相关操作。在其他一些例子中，一个负载300可能需要与至少两个以上的F通道连接，至少所述两个F通道相配合来实现对该负载300的操作。
所述外部装置200可选择为SDK(Software Development Kit，软件开发工具包)装置或者配备有APP(Application，应用程序)、调参软件等的装置，其中，SDK装置可包括Onboard SDK(例如固定在某一装置上的SDK装置，某一装置可为无人飞行器等装置)和Mobil SDK(即可移动SDK装置)等，配备有APP(Application，应用程序)或者调参软件等的装置可以包括手机、微型电脑等。所述映射信号可由SDK装置、APP或者调参软件等生成并发送至控制装置100。
可选地，所述外部装置200与所述控制装置100通过API接口(Application Programming Interface，应用程序编程接口)交互，用户可通过所述外部装置200与控制装置100之间的进行交互，以指示对负载300的操作。本实施例中，所述外部装置200与所述控制装置100之间可根据常规的通信协议进行数据的交互。
结合图3和图4，所述指定功能可包括信号输出功能和信号输入功能。例如，表1中，将标识为3的F通道(以下简称F3)映射成信号输出功能，从而可通过F3输出信号至相应负载300(即与F3连接的装置)， 以指示该相应挂载的操作。将标识为4的F通道(以下简称F4)映射成信号输入功能，从而可通过F4采集相应负载300(即与F4连接的装置)的信号。
表1
F通道标识 指定功能
3 信号输出功能
4 信号输入功能
在一实施例中，所述指定功能为信号输出功能，控制装置100将F通道标识对应的F通道映射成信号输出功能，从而实现对负载300工作的控制。所述负载300可为相机等。
其中，所述信号输出功能包括输出特定类型的信号，例如，PWM(Pulse Width Modulation，脉冲宽度调制)信号、GPIO(General Purpose Input Output，通用输入/输出)、D/A(Digital to analog converter，数模转换)信号(即模拟信号)等，即特定类型可包括PWM、GPIO或D/A等信号类型。本实施例中，在将F通道映射成信号输出功能后，所述控制装置100可通过所述F通道输出所述特定类型的信号至负载300，从而实现对负载300的操作，进而控制负载300工作。
在实际作业中，指示负载300操作的信号可能需要根据实际作业需求动态调节，即需要动态调节F通道所输出的信号，例如，动态调节F通道所输出的信号的类型、频率、脉宽等参数。本实施例中，所述用户指令包括所述特定类型的信号的特征参数，从而使得用户可根据业务需求来动态调节F通道的输出信号，进而使得F通道能够输出不同特征参数的特定类型的信号或者不同类型的信号，以指示负载300执行相应的操作，例如，可将F通道配置成输出占空比为10％、持续时间为1s(秒)或者占空比为20％、持续时间为1s的PWM信号，或者可将F通道配置成输出PWM信 号、GPIO信号或者模拟信号等。
所述F通道被映射成信号输出功能后，为根据用户需要实时指示负载300执行相应操作，即在用户需要负载300执行相应操作时，才会控制F通道输出指示负载300执行相应操作的信号，其他情况下则无需控制F通道。
在一些例子中，外部装置200发送触发信号至所述控制装置100，以触发控制装置100通过F通道输出信号，以指示负载300执行相应操作。其中，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述控制装置100通过所述F通道输出具有所述特征参数的特定类型的信号。本实施例中，控制装置100在接收触发信号后，会通过所述F通道输出具有所述特征参数的特定类型的信号，从而指示负载300执行相应操作。当用户需要控制负载300执行相应操作时，通过外部装置200发送触发信号至控制装置100，控制装置100则通过F通道输出触发负载300操作的信号，指示负载300执行相应操作的实现较为灵活、方便。
参见表2，在一实施例中，与F3连接的负载300为相机，触发信号用于指示F3输出频率为50Hz、占空比为10％、持续时间为1s的PWM信号，对所述相机进行驱动，控制相机进行拍照。
表2
Figure PCTCN2017076198-appb-000001
在其他一些例子中，控制装置100在接收到外部装置200发送的触发信号后，可根据触发信号的配置信息来触发F通道输出具备特征参数的特定类型的信号，从而指示负载300执行相应操作。可选地，外部装置200发送触发配置信号至所述控制装置100，其中，所述触发配置信号包括所 述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述控制装置100通过所述F通道输出具有所述特征参数的特定类型的信号。而控制装置100在接收触发配置信号后，会将所述F通道标识对应的F通道、具有所述特征参数的特定类型的信号和所述触发信号的参数关联。
可选地，控制装置100对应保存F通道标识、具有所述特征参数的特定类型的信号和触发信号的参数(即触发ID)，如表3所示，从而实现F通道、特定类型的信号和触发信号关联。
表3
Figure PCTCN2017076198-appb-000002
当用户需要触发控制装置100通过F通道输出具有所述特征参数的特定类型的信号以指示负载300执行相应操作时，通过外部装置200发送触发信号至控制装置100，控制装置100在接收到来自外部装置200的触发信号后，则根据所述触发信号的参数确定所述触发信号所关联的特定类型的信号的特征参数，通过所述F通道输出具有所述特征参数的特定类型的信号。
参见表3，当控制装置100接收到的触发信号为1时，在查询表3后，获得该触发信号与F3、频率50Hz、占空比10％、持续时间1s的PWM信号相关联，控制装置100则通过F3输出频率50Hz、占空比10％、持续时间1s的PWM信号。本实施例中，用户只需要通过外部装置200发送触发信号所对应的触发ID(即1)，即可指示控制装置100通过F通道输出 频率50Hz、占空比10％、持续时间1s的PWM信号，从而指示与F3相连的负载300执行相应操作。可见，相比上一种触发F通道输出执行负载300执行相应操作的信号的方式(表2对应的方式)，该触发F通道输出指示负载300执行相应操作的信号的方式(表3对应的方式)在控制F通道执行输出指示负载300执行相应操作的信号的功能时，只需要用户通过外部装置200发送触发ID至控制装置100即可，而无需附带F通道标识、特征参数等，操作较为方便。
可选地，所述触发配置信号和所述映射信号位于同一个信号内。在一实施例中，所述触发配置信号和所述映射信号位于同一个信号内是指触发配置信号和映射信号为两个独立的信号，但在需要配置F通道时，外部装置200会将映射信号和触发配置信号设于同一信号内再一并发送至控制装置100，从而简化配置F通道配置的流程。在另一实施例中，所述触发配置信号和所述映射信号位于同一个信号内是指将映射信号和触发配置信号这两个信号的内容放置在同一个信号中，再由外部装置200将具有触发配置信号这两个信号的内容的信号发送至控制装置100。当然，触发配置信号和映射信号也可独立存在于两个信号内，即在需要配置F通道时，外部装置200会分别发送映射信号和触发配置信号至控制装置100。
进一步地，外部装置200发送触发信号至控制装置100是在检测到控制装置100满足触发条件时发送的，以满足用户的实际需求。可选地，外部装置200获取控制装置100的位置信息，例如，外部装置200实时读取控制装置100返回的GPS信息，所述触发条件包括：根据控制装置100的位置信息确定控制装置100位于指定地点。即当外部装置200在根据控制装置100的位置信号确定控制装置100位于指定地点后，则发送触发信号至控制装置100，从而指示控制装置100输出指示负载300操作的信号。
而所述控制装置100通过F通道输出具有所述特征参数的特定类型的信号是在判断出所述触发信号来自指定装置后执行的，从而保障F通道 使用的安全性，进而防止非法控制负载300。
在一些例子中，所述指定装置为发送所述映射信号的装置，即将所述发送所述映射信号的装置限制为所述F通道的唯一控制源，只有在控制装置100判断出所述触发信号和所述映射信号是来自同一装置时，才会通过F通道输出具有所述特征参数的特定类型的信号；否则，控制装置100无需指示所述F通道的进一步操作，从而防止对F通道的非法操作，以防止对负载300的非法控制。
在其他一些例子中，所述指定装置可以选择为至少两个指定的外部装置200，例如，控制装置100可保存至少两个所述外部装置200的装置标识，并将至少两个所述外部装置200标记为合法装置，本实施例中，当控制装置100在判断出发送所述触发信号的装置属于合法装置时，则通过F通道输出具有所述特定参数的特定类型的信号；否则，控制装置100无需指示所述F通道的进一步操作，从而防止对F通道的非法操作，以防止对负载300的非法控制。
当然，所述指定装置也可不进行限制，这样用户即可以通过任意装置来实现对控制F通道实现信号输出功能，从而控制与所述F通道相连的负载300的工作，方便灵活。
当所述指定装置为至少两个指定的外部装置200或者无限制时，若控制装置100接到来自至少两个外部装置200的触发信号时，控制装置100会根据接收到的触发信号的先后顺序，触发所述F通道输出每一外部设的触发信号所对应的特定类型的信号的先后顺序。
在另一实施例中，所述指定功能为信号输入功能，控制装置100将F通道标识对应的F通道映射成信号输入功能，从而通过所述F通道实现对负载300的信号的采集。所述负载300可为传感器等，例如温度传感器、湿度传感器、压力传感器等。
其中，所述信号输入功能包括输入特定类型的信号，例如，PWM信号、GPIO、A/D(Analog to digital converter，模数转换)信号(即数字信号)等。本实施例中，在将F通道映射成信号输入功能后，所述控制装置100可对所述F通道输入的信号进行采集，从而采集负载300的信号。
本实施例中，在步骤S103后，控制装置100进一步根据采集参数对所述F通道输入的信号进行采集，从而过滤掉部分不符合需求的数据。其中，采集参数可包括最大分辨率、采样率、信号范围等参数。而采集参数的配置方式可根据实际需求来设定。可选地，所述F通道预设有对所述F通道输入的信号的采集参数，即所述F通道统一采用默认参数，在所述F通道被配置成信号输入功能后，控制装置100是根据所述F通道的默认参数对所述F通道输入的信号进行采集的，从而简化配置流程。例如，控制装置100将F4映射成A/D信号输入功能，而F4的默认参数为采样率50Hz、测量范围0-5V、分辨率256，控制装置100则根据该默认参数来采集F4输入的信号。然而，上述采用默认参数进行数据采集存在不能根据实际需求来灵活配置采集参数，系统的可定制性较低的缺陷，为克服该缺陷，可选地，所述映射信号包括所述采集参数，即采集参数可由外部装置200根据业务需求实现灵活配置。本实施例中，在步骤S103之前，所述控制装置100从所述映射信号中解析出对所述F通道输入的信号的采集参数，即可实现根据用户实际需求来实现对采集参数的灵活配置，使用较为灵活，系统的可定制性较强，且能够防止数据的丢包。
本实施例中，可根据业务需求设定所述控制装置100采集负载300的信号的规则，例如，可设定F通道采集信号的类型、范围、频率、分辨率等参数。在一些例子中，所述控制装置100根据采集参数对所述F通道输入的信号进行采集是在接收到触发信号后执行的，即在用户需要获取负载300的信号时，控制装置100才会对负载300的信号进行采集，避免在用户无需采集负载300的信号时，控制装置100对负载300的信号进行采 集而造成的资源浪费。其中，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，所述触发信号用于指示所述控制装置100根据采集参数对所述F通道输入的信号进行采集。在其他一些例子中，所述控制装置100根据采集参数对所述F通道输入的信号进行采集是在完成对所述F通道的映射时执行的，即在控制装置100将所述F通道映射成信号输入功能后，立即采集F通道输入的信号，从而获得负载300的信号，配置流程较为简单，使用方便。
在一实施例中，外部装置200发送触发信号至控制装置100后，控制装置100即可采集所述F通道输入的信号，从而获得负载300的信号，增加采集信号的灵活性。
在另一实施例中，外部装置200发送触发信号至控制装置100之前，还需要对触发信号进行配置。可选地，外部装置200发送触发配置信号至所述控制装置100，其中，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数(即触发ID)用于指示触发信号，所述触发信号用于指示所述控制装置100根据采集参数对所述F通道输入的信号进行采集。所述控制装置100接收来自外部装置200的触发配置信号后，将所述F通道标识对应的F通道、所述采集参数和所述触发信号的参数关联。参见表4，控制装置100对应保存F通道标识、所述采集参数和所述触发信号的参数，即可实现触发信号与F通道、采集参数的关联。
表4
Figure PCTCN2017076198-appb-000003
所述控制装置100接收到来自外部装置200的触发信号后，会根据所述触发信号的参数确定所述触发信号所关联的采集参数，并且根据所关联的采集参数对所述F通道输入的信号进行采集。例如，参见表4，当控制装置100接收到外部装置200发送的触发信号为1时，则根据采样率50Hz、采样信号范围0-5V、分辨率256的采样参数对F4的信号进行采集，从而获得与F4相连的负载300的信号，本实施例通过对触发信号进行预先配置，触发控制装置100采集F通道输入的信号时，用户只需要通过外部装置200发送触发ID至控制装置100即可，无需携带F通道标识等，从而使得后续的操作较为简单。
为方便采集数据的查看和存储，所述控制装置100根据采集参数对所述F通道输入的信号进行采集后，还需要将采集到的信号发送至指定模块。可选地，所述指定模块为发送所述映射信号的模块，即将指定模块限定为采集到的信号唯一的接收源，保障数据的安全性。本实施例中，所述指定模块为外部装置200，所述外部装置200接收通过所述F通道采集到的信号。可选地，外部装置200接收通过所述F通道采集到的信号是在发送映射信号后执行的，即外部装置200发送映射信号至控制装置100后，控制装置100即通过所述F通道采集负载300的信号并返回至该外部装置200，从而保证采集负载300的信号的完整性，防止数据丢失。可先地，外部装置200接收通过所述F通道采集到的信号是在该外部装置200发送触发信号后执行的，即在用户需要获取负载300的信号时，通过外部装置200发送触发信号至控制装置100，从而由控制装置100通过所述F通道采集负载300的信号并返回至该外部装置200，从而可根据需求来进行数据的采集，灵活性较强。
参见图3，本实施例中，控制装置100在将F通道映射至指定功能之前，还需判断所述F通道是否满足映射条件，若所述F通道满足映射条件，控制装置100则执行步骤S103，即步骤S103中是在所述控制装置100 判断出所述F通道满足映射条件后执行的；否则，控制装置100则不会对所述F通道进行映射的操作，通过设置映射条件，使得映射的操作在满足映射条件后才能够执行，从而提高F通道使用的安全性。
在一实施例中，所述映射条件包括：所述F通道未发生映射。本实施例中，所述控制装置100设有预设映射表，所述预设映射表用于将已映射的F通道的通道标识和映射至所述F通道的指定功能一一对应保存。控制装置100在执行步骤S103之前，会判断所述预设映射表中是否存在待映射F通道的标识，当所述预设映射表中不存在待映射F通道的标识，则确定所述F通道未发生映射；当所述预设映射表中存在待映射F通道的标识，控制装置100则需要进一步判断具有所述待映射F通道的标识是否与任一指定功能绑定(即映射)，若是，则确定所述F通道已经发生映射，控制装置100可返回失败的结果至发送映射信号的装置，从而告知所述发送映射信号的装置该次执行映射的操作失败；否则，确定所述F通道未发生映射。
在另一实施例中，所述映射条件包括：描述所述指定功能的参数有效。其中，所述描述指定功能的参数是包含在外部装置200发送的映射信号中的。可选地，在指定功能为信号输出功能时，描述指定功能的参数可包括当前待映射F通道可输出的信号类型以及可输出的信号对应的特定参数等，当所述描述指定功能的参数为合法参数时，即确定所述描述指定功能的参数有效。例如，控制装置100设定当前待映射F通道仅可输出PWM信号，当所述控制装置100判断出来自外部装置200的映射信号包含指示将当前待映射F通道映射为输出非PWM信号的其他信号(如正弦波信号等)的参时，则确定所述描述指定功能的参数无效，即所述控制装置100只能通过所述F通道输出PWM信号，而不能通过所述F通道输出非PWM信号的其他信号。可选地，在指定功能为信号输入功能时，描述指定功能的参数可包括当前待映射F通道可输入的信号类型以及可输入的信号对应 的采集参数，当所述描述指定功能的参数为合法参数时，即确定所述描述指定功能的参数有效。例如，控制装置100设定当前待映射F通道仅可输入GPIO信号，则当所述控制装置100判断出来自外部装置200的映射信号包含指示将当前待映射F通道映射为输入非GPIO信号的其他信号时，则确定所述描述指定功能的参数无效，即所述控制装置100只能通过所述F通道采集GPIO信号，而不能通过所述F通道采集非GPIO信号的其他信号。本实施例中，所述控制装置100判断所述描述指定功能的参数是否有效是在判断出所述F通道未发生映射后执行的。
在又一实施例中，步骤S101之前，所述控制装置100接收外部装置200发送的用户账号的登录信息，并根据所述登录信息获取所述用户账号的权限，所述映射条件包括：所述指定功能和所述用户账号的权限匹配。可选地，所述控制装置100预设保存各用户账号在对待映射F通道进行映射配置时，相应的可映射至所述待映射F通道的指定功能，只有当待映射至所述待映射F通道的指定功能在当前用户账号的权限范围内时，所述控制装置100才能够将所述待映射F通道映射到所述指定功能，从而提高F通道使用的安全性，防止对F通道的非法控制。本实施例中，所述控制装置100判断所述F通道是否发生映射是在判断出所述指定功能和所述用户账号的权限匹配后执行的，以防止F通道的非法控制，提高F通道使用的安全性。
而外部装置200在接收用户指令之前，需要接收用户账号的登录信息，从而将用户账号的登录信号发送给控制装置100。可选地，登录信息包括用户账号和登录密码等，其由用户直接在外部装置200上直接输入。例如，在一实施例中，用户账号为Administrator，登录密码为123456，控制装置100预设设置Administrator的用户账号可配置的F通道的标识为3和4，其中，F3可映射的指定功能为信号输出功能，F4可映射的指定功能为信号输入功能。外部装置200在将该用户账号的登录信息发送至控制装 置100后，只具备对标识为3和4的F通道进行配置的权限，并且F3可配置的指定功能仅是信号输出功能，F4可配置的指定功能仅是信号输入功能。
本实施例中，在步骤S103后，所述控制装置100进一步包括：取消所述F通道与所述指定功能的映射，使得F通道能够实时恢复可配置的状态，从而防止资源的浪费。可选地，所述控制装置100取消F通道与所述指定功能的映射是在判断出所述F通道执行预设次所述指定功能后执行。其中，F通道当前映射的指定功能的执行次数可根据需要设定，例如，执行次数为5，负载300为相机，所述控制装置100将所述F通道映射成输出PWM信号，每次持续1s，占空比为10％，以控制相机拍照，当控制装置100在判断出通过所述F通道输出了5次PWM信号，则立即取消所述F通道与输出PWM信号的映射，从而使得所述F通道处于空闲状态，防止不需要使用所述F通道时所造成的资源浪费。可选地，所述控制装置100取消F通道与所述指定功能的映射是在该控制装置100判断出来自外部装置200的新的映射信号对应的新指定功能与所述F通道当前映射的指定功能不同后执行，从而根据用户的需求实现对F通道的映射。
另外，为实时更新F通道的映射信息，在控制装置100取消所述F通道与所述指定功能的映射的同时，还需将预设映射表中的包含所述F通道的标识、该F通道所映射的指定功能的表项删除，或者将所述表项中的该F通道所映射的指定功能删除。并且，控制装置100在执行步骤S103之后，还需要在预设映射表中存储当前映射的F通道的标识和当前映射至所述F通道的指定功能。
在步骤S103后，可能存在外部装置200再次发送新映射信号至控制装置100以控制所述F通道进行映射的情况。本实施例中，所述控制装置100在接收到来自外部装置200的新的映射信号后，从所述新的映射信号中解析出所述F通道标识对应的新指定功能，并执行以下三个操作中的其 中一个操作：a，将所述F通道再次映射至所述新指定功能，其中，操作a是在控制装置100判断新指定功能与所述F通道当前映射的指定功能为同一功能时执行的；b，取消所述F通道与所述指定功能的映射，并将所述F通道映射至所述新指定功能，以非抢占映射的方式实现F通道的映射，从而实现对F通道的灵活控制；c，将所述新指定功能覆盖所述指定功能，以抢占映射的方式实现F通道的覆盖映射，较为简单地实现了对F通道的控制。
本实施例中，外部装置200在接收用户指令前会查询F通道已映射的指定功能，以判断所述F通道已映射的指定功能是否为用户所需的功能。例如，从控制装置100中调取预设映射表，从而获取F通道已映射的指定功能。
可选地，所述F通道为设置在无人飞行器上的可配置针脚，上述F通道控制方法可应用于无人飞行器，从而使得用户可根据实际作业需求将所述F通道配置成其所需的指定功能，进而提高无人飞行器的易用性，为无人飞行器行业提供技术基础。当然，所述F通道还可为设置机器人、汽车等上的可配置针脚，从而使得用户能够根据实际作业需求来实现指定功能。
以下将以F通道为设置在无人飞行器上的可配置针脚为例进一步说明。
所述无人飞行器可包括机身、设于所述机身的飞行控制系统以及F通道，上述F通道控制方法可应用于飞行控制系统。
参见图5，所述飞行控制系统可包括控制装置100。其中，所述F通道与所述控制装置100通信连接。
本实施例中，所述F通道属于所述控制装置100开放给用户的一个或多个可配置针脚，从而满足用户的实际需要来灵活配置该F通道，以满 足特定的作业需求。
飞行控制系统中的控制装置100可与外部装置200进行通信，以实现与飞行控制系统的数据交互，例如对无人飞行器的飞行控制、对负载的控制(当负载为拍摄控制时，外部装置200可以控制该拍摄装置)，其中外部装置200可以与无人飞行器和/或负载300进行通信，飞行控制系统与外部装置200之间的通信可以是无线通信，可以在无人飞行器和外部装置200之间提供直接通信。这种直接通信可以无需任何中间装置或网络地发生的。可以在飞行控制系统与外部装置200之间提供间接通信。这种间接通信可以借助于一个或多个中间装置或网络来发生。例如，间接通信可以利用电信网络。间接通信可以借助于一个或多个路由器、通信塔、卫星、或任何其他的中间装置或网络来进行。通信类型的实例可以包括但不限于经由以下方式的通信：因特网，局域网(LAN)，广域网(WAN)，蓝牙，近场通信(NFC)技术，基于诸如通用分组无线电服务(GPRS)、GSM、增强型数据GSM环境(EDGE)、3G、4G、或长期演进(LTE)协议的移动数据协议的网络，红外线(IR)通信技术，和/或Wi-Fi，并且可以是无线式、有线式、或其组合。
又参见图5，无人飞行器还可以包括动力系统，动力系统为无人飞行器提供飞行动力，可以包括一个或者多个旋转体、螺旋桨、桨叶、引擎、电机、轮子、轴承、磁铁、喷嘴、电机、发动机、喷气式发动机等。例如，所述动力系统的旋转体可以是自紧固(self-tightening)旋转体、旋转体组件、或者其它的旋转体动力单元。无人飞行器可以有一个或多个动力系统。所有的动力系统可以是相同的类型。可选的，一个或者多个动力系统可以是不同的类型。动力系统可以通过合适的手段安装在机身上，如通过支撑元件(如驱动轴)。动力系统可以安装在机身任何合适的位置，如顶端、下端、前端、后端、侧面或者其中的任意结合。
在某些实施例中，动力系统能够使无人飞行器垂直地从表面起飞， 或者垂直地降落在表面上，而不需要无人飞行器任何水平运动(如不需要在跑道上滑行)。可选的，动力系统可以允许无人飞行器在空中预设位置和/或方向盘旋。一个或者多个动力系统在受到控制时可以独立于其它的动力系统。可选的，一个或者多个动力系统可以同时受到控制。例如，无人飞行器可以有多个水平方向的旋转体，以追踪目标的提升及/或推动。水平方向的旋转体可以被致动以提供无人飞行器垂直起飞、垂直降落、盘旋的能力。在某些实施例中，水平方向的旋转体中的一个或者多个可以顺时针方向旋转，而水平方向的旋转体中的其它一个或者多个可以逆时针方向旋转。例如，顺时针旋转的旋转体与逆时针旋转的旋转体的数量一样。每一个水平方向的旋转体的旋转速率可以独立变化，以实现每个旋转体导致的提升及/或推动操作，从而调整无人飞行器的空间方位、速度及/或加速度(如相对于多达三个自由度的旋转及平移)。
无人飞行器还可以包括传感系统，传感系统可以包括一个或者多个传感器，以感测无人飞行器的空间方位、速度及/或加速度(如相对于多达三个自由度的旋转及平移)、角加速度、姿态、位置(绝对位置或者相对位置)等。所述一个或者多个传感器包括前述描述的任何传感器，包括GPS传感器、运动传感器、惯性传感器、近程传感器或者影像传感器。可选的，传感系统还可以用于采集无人飞行器所处的环境数据，如气候条件、要接近的潜在的障碍、地理特征的位置、人造结构的位置等。
另外，无人飞行器可以包括脚架，所述脚架是无人飞行器降落时，无人飞行器与地面的接触件，脚架可以是无人飞行器在飞行状态(例如无人飞行器在巡航时)收起，在降落时才放下；也可以固定安装在无人飞行器上，一直处于放下的状态。
所述负载300可设于所述无人飞行器的机身以进行固定，本实施例中，所述负载也可称作挂载装置。其中负载300是实现特定功能的装置，例如实现拍摄功能、实现侦测功能、实现农业作业功能等，在这里不做具 体的限定，其中常见的负载300可以为拍摄装置、红外装置、雷达装置、喷洒装置及其与悬架或云台等承载件的组合。在某些实施例中，挂载在无人飞行器上的负载300可以直接位于无人飞行器上，备选的，挂载在无人飞行器上的负载300也可以进一步包括与无人飞行器连接的承载件，比如悬架、云台等；其中所述承载件可以将无人飞行器与负载300进行机械性连接，同时承载件也可以包括相应的动力机构，动力结构可以接收控制信号，对负载进行相应的控制，例如调整负载的角度等。
参见图6，为本发明另一实施例的无人飞行器的部分结构示意图。所述飞行控制系统包括控制装置100、外部装置200和负载300，其中，控制装置100通过有线或无线链路与外部装置200相连，通过API接口与外部装置200进行交互，并通过F通道与负载300相连。本实施例中，外部装置200为Onboard计算平台(例如Onboard SDK装置)，负载300为用于测绘的相机，该相机由PWM信号进行驱动(实际应用中，不同型号的相机可能对驱动波形存在不同的要求)，并且，该相机的驱动信号是50Hz，占空比为10％的PWM信号，待机状态需要使用50Hz、占空比为5％的PWM信号保持。另外，本实施例中，用户期望飞行控制系统能够在飞行的过程中驱动该相机进行拍照工作。
飞行控制系统初始化后，用户需要通过外Onboard计算平台来指示控制装置100完成对F通道的配置工作。Onboard计算平台通过有线或无线链路向控制装置100发送映射信号，参见表5，映射信号包括待映射的F通道标识为3、映射至所述F通道的指定功能为输出PWM信号。
控制装置100在接收到所述映射信号后，首先从映射信号中解析出F通道标识和指定功能，接着，检查F3是否已经被映射到其它功能，例如，控制装置100可通过查询保存有已映射的F通道的标识和所述F通道已映射的指定功能的预设映射表，若查询到所述预设映射表中存在已被映射的F3的记录表项，则判断出F3已占用，控制装置100则返回请求失败的结 果至Onboard计算平台，通知用户F3不可用；若查询到所述预设映射表中不存在包含F3的记录表项或者存在包含F3的记录表项，但F3的记录表项中不存在对应的指定功能，则判断出F3为空闲状态，并将相机与F3相连。
控制装置100在判断出F3为空闲状态后，可选地，控制装置100可直接将F3映射成输出PWM信号的功能。而为防止对F3的非法控制，控制装置100在对F3进行映射之前，还需要检测映射信号中的其他参数(除F通道标识之外的参数)是否合法，如果控制装置100检测出映射信号中的其他参数均合法，控制装置100才会继续执行对F3的映射操作，否则，控制装置100停止对F3的映射操作。例如，控制装置100当判断所述信号类型是PWM信号，且PWM基准频率位于支持范围内、默认占空比小于100％时，则确定参数合法，控制装置100可继续执行对F3的映射操作；否则，不合法，控制装置100停止对F3的映射操作。
可选地，在控制装置100检出映射信号中的其他参数均合法后，可返回配置成功的信息至Onboard计算平台，以使得用户能够及时获得对F3进行配置的进程。
为进一步防止对F3的非法控制，控制装置100在判断出F3为空闲状态后，可将发送映射信号的Onboard计算平台设定为唯一控制源，即控制装置100只有在接收到该Onboard计算平台发送的触发信号时，才会触发F3输出PWM信号来驱动相机进行拍照。若控制装置接收到非该Onboard计算平台的其他装置发送的触发信号，则不会对F3进行操作，防止非法用户对F3的非法控制。
可选地，参见表5，Onboard计算平台发送的映射信号还包含配置参数，所述配置参数包括：基准频率50Hz，默认占空比5％，则在控制装置100成功对F3进行配置后，该F3则以50Hz的频率向相机发送占空比为5％的PWM信号，从而在配置完F3后，即可使得相机处于待机状态， 方便后续触发相机拍照的操作。
表5
Figure PCTCN2017076198-appb-000004
上述对F3的配置过程结束后，无人飞行器可携带相机飞行到特定区域之后开展测绘工作，并且，该相机需要每隔3米拍摄一张照片。可选地，控制装置100实时发送GPS信号至Onboard计算平台，当Onboard计算平台根据控制装置100发送的GPS信号判断出控制装置100位于指定地点后，可每隔3米自动向飞行控制装置100发送触发信号。
参见表2或表3，为触发信号的两种实现方式。控制装置100在接收到触发信号后，会判断触发信号是否合法，例如，信号类型、触发占空比等参数是否合法，若触发信号合法，控制装置100则按照触发信号所对应的特定参数指示F3输出占空比为10％、持续时间为1s(即PWM信号保持的时间为1s)的PWM信号，从而激活相机的拍照功能，完成相应的测绘工作。
参见图7，为本发明又一实施例的无人飞行器的部分结构示意图。所述飞行控制系统包括控制装置100、外部装置200和负载300，其中，控制装置100通过有线或无线链路与外部装置200相连，通过API接口与外部装置200进行交互，并通过F通道与负载300相连。本实施例中，外部装置200为Onboard计算平台(例如Onboard SDK装置)，负载300为湿度传感器。
系统初始化后，用户需要通过Onboard计算平台来指示控制装置100完成对F通道的配置工作。Onboard计算平台通过API接口向控制装置100发送映射信号，参见表6，映射信号包括待映射的F通道标识为4、映射 至所述F通道的指定功能为A/D信号输入。
控制装置100在接收到所述映射信号后，首先从映射信号中解析出待映射的F通道为F4、将F4映射成A/D信号输入，接着逐项检查映射信号中各参数的有效性。
控制装置100首先检查F4是否已经被映射到其它功能(例如信号输出功能)，例如，控制装置100可通过查询保存有已映射的F通道的标识和所述F通道已映射的指定功能的预设映射表，若查询到所述预设映射表中存在已被映射的F4的记录表项，则判断出F4已占用，控制装置100则返回请求失败的结果至Onboard计算平台，通知用户F4不可用；若查询到所述预设映射表中不存在包含F4的记录表项或者存在包含F4的记录表项，但F4的记录表项中不存在对应的指定功能，则判断出F4为空闲状态，并将湿度传感器与F4相连。
控制装置100在判断出F4为空闲状态后，可选地，控制装置100可直接将F4映射成A/D信号输入的功能。而为防止对F4的非法控制，控制装置100在对F4进行映射之前，还需要检测映射信号中的其他参数(除F通道标识之外的参数)是否合法，如果控制装置100检测出映射信号中的其他参数均合法，控制装置100才会继续执行对F4的映射操作，否则，控制装置100停止对F4的映射操作。例如，控制装置100判断所述信号类型是否为A/D信号，若是，则合法，控制装置100可继续执行对F4的映射操作；否则，不合法，控制装置100停止对F4的映射操作。
可选地，在控制装置100检出映射信号中的其他参数均合法后，可返回配置成功的信息至Onboard计算平台，以使得用户能够及时获得对F4进行配置的进程。
本实施例中，Onboard计算平台发送的映射信号还包含采集参数，例如，采样率50Hz、采样范围0～5V、分辨率256等。F通道配置成A/D 信号输入后，控制装置100即开始按50Hz的采样率对F4通道的数据进行采样，并将采样的结果返回至Onboard计算平台，从而使得用户获得湿度传感器检测的湿度数据。
需要说明的是，本发明实施例部分所描述的方法和过程可以体现为代码和/或数据，这些代码和/或数据可以存储在计算机可读存储介质上，所述存储介质可以是能够存储由计算机系统使用的代码和/或数据的任何装置或介质。计算机可读存储介质包括但不限于：易失性存储器、非易失性存储器、磁和光存储装置(诸如盘驱动器、磁带、光盘、数字多功能盘或数字视频盘等)或能够存储代码和/或数据的其它介质。
此外，本发明实施例所描述的方法和过程可以包含在硬件模块或装置中。这些模块或装置可以包括但不限于：专用集成电路(ASIC)芯片、现场可编程门阵列(FPGA)、在特定时刻执行特定软件模块或一段代码的专用或共享处理器、和/或其他可编程逻辑器件。当所述硬件模块或装置激活时，它们执行包括在其中的方法和过程。
与上述F通道控制方法的实施例相对应，本发明实施例还提供一种F通道控制装置，为描述简便，本中将F通道控制装置简称为控制装置。
结合图8和图12，控制装置100可包括第一接收模块101、解析模块102和映射模块103。其中，第一接收模块101用于接收映射信号，解析模块102用于从所述映射信号中解析出F通道标识、指定功能，映射模块103用于将所述F通道标识对应的F通道映射至所述指定功能。本实施例的控制装置100根据接收到的映射信号，将F通道映射成用户所需的指定功能，使得用户可根据实际作业需求来动态配置F通道的功能，系统的灵活性、开放程度较高。另外，本实施例的F通道控制装置还能够提高控制系统的易用性，为无人飞行器行业提供技术基础。
结合图9和图12，外部装置200可包括第二接收模块201、信号生 成模块202和第二发送模块203。其中，第二接收模块201用于接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能。信号生成模块202用于根据所述用户指令生成映射信号。第二发送模块203用于发送所述映射信号至第一接收模块101，所述映射信号用于指示所述映射模块103将所述F通道标识对应的F通道映射至所述指定功能。本实施例通过外部装置200与控制装置100之间的交互，使得用户可根据需求输入用户指令，实现对F通道的功能的动态配置，进而使得用户可根据实际需求调整F通道的功能，系统灵活性强、适配性与开放程度较高，能够满足特定的作业需求。
可选地，所述第二发送模块203通过API接口发送映射信号至所述第一接收模块101。其中，第二发送模块203和第二接收模块201可通过无线或有线的方式通信。
可选地，外部装置可为SDK装置或者配置有APP或者调参软件的装置等，所述第一接收模块101用于接收SDK装置、APP或者调参软件发送的映射信号。
结合图10和图12，所述控制装置100还可包括触发模块104、关联模块105、判断模块106、预设模块107、采集模块108和第一发送模块109。
结合图11和图12，所述外部装置200还可包括检测模块204和查询模块205。
可选地，所述指定功能可包括信号输出功能和信号输入功能。
结合图10和图12，在一实施例中，所述指定功能为信号输出功能，映射模块103将F通道标识对应的F通道映射成信号输出功能，从而指示负载300执行相应的操作，完成对负载300的控制。所述负载300可为相机等。
其中，所述信号输出功能包括输出特定类型的信号，例如，PWM信 号、GPIO、D/A信号等，即特定类型可包括PWM、GPIO或D/A等信号类型。
在实际作业中，指示负载300操作的信号可能需要根据实际作业需求动态调节，即需要动态调节F通道所输出的信号。本实施例中，所述用户指令还包括所述特定类型的信号的特征参数。，从而使得用户可根据业务需求来动态调节F通道的输出信号，进而使得F通道能够输出不同特征参数的特定类型的信号或者不同类型的信号，以指示负载300执行相应的操作。
所述F通道被映射成信号输出功能后，为根据用户需要实时指示负载300执行相应操作，即在用户需要负载300执行相应操作时，才会控制F通道输出指示负载300执行相应操作的信号，其他情况下则无需控制F通道。
在一些例子中，所述第二发送模块203还用于发送触发信号至所述第一接收模块101，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述触发模块104通过所述F通道输出具有所述特征参数的特定类型的信号。
所述第一接收模块101在接收到来自第二发送模块203的触发信号后，所述触发模块104通过所述F通道输出具有所述特征参数的特定类型的信号。可根据用户实际需要触发F通道输出指示负载300执行相应操作的信号，灵活、方便。
在其他一些例子中，第一接收模块101在接收到第二发送模块203发送的触发信号后，可根据触发信号的配置信息来触发F通道输出具备特征参数的特定类型的信号，从而指示负载300执行相应操作。可选地，所述第二发送模块203还用于发送触发配置信号至所述第一接收模块101，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数 和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述触发模块104通过所述F通道输出具有所述特征参数的特定类型的信号。
所述第一接收模块101接收来自所述第二发送模块203的触发配置信号，所述关联模块105将所述F通道标识对应的F通道、具有所述特征参数的特定类型的信号和所述触发信号的参数关联，从而实现F通道、特定类型的信号和触发信号关联。
当用户需要控制装置100的触发模块104触发通过F通道输出具有所述特征参数的特定类型的信号以指示负载300执行相应操作时，所述第二发送模块203发送触发信号至所述第一接收模块101，所述第一接收模块101接收到来自第二发送模块203的触发信号，所述关联模块105则根据所述触发信号的参数确定所述触发信号所关联的特定类型的信号的特征参数，所述触发模块104则通过所述F通道输出具有所述特征参数的特定类型的信号，操作较为方便。
可选地，所述触发配置信号和所述映射信号位于同一个信号内，在一实施例中，所述触发配置信号和所述映射信号位于同一个信号内是指触发配置信号和映射信号为两个独立的信号，但在需要配置F通道时，信号生成模块202会将映射信号和触发配置信号设于同一信号内再由第二发送模块203发送至第一接收模块101，从而简化配置F通道配置的流程。在另一实施例中，所述触发配置信号和所述映射信号位于同一个信号内是指将映射信号和触发配置信号这两个信号的内容放置在同一个信号中，再由信号生成模块202将具有触发配置信号这两个信号的内容的信号发送至第一接收模块101。当然，触发配置信号和映射信号也可独立存在于两个信号内，即在需要配置F通道时，第二发送模块203会分别发送映射信号和触发配置信号至第一接收模块101。进一步地，所述第二发送模块203是在检测模块204检测到所述控制装置100满足触发条件时发送触发信号的。 可选地，所述检测模块204用于获取所述控制装置100的位置信息，例如，检测模块204实时读取控制装置100返回的GPS信息，所述触发条件包括：所述检测模块204根据所述控制装置100的位置信息确定所述控制装置100位于指定地点。即当检测模块204在根据控制装置100的位置信号确定控制装置100位于指定地点后，由第二发送模块203发送触发信号至第一接收模块101，从而指示触发模块104输出指示负载300操作的信号。
所述触发模块104通过F通道输出具有所述特征参数的特定类型的信号是在判断模块106判断出所述触发信号来自指定装置后执行的，从而保障F通道使用的安全性，进而防止非法控制负载300。
在一些例子中，所述指定装置为发送所述映射信号的装置，即将所述发送所述映射信号的装置限制为所述F通道的唯一控制源，提高F通道控制的安全性。在其他一些例子中，所述指定装置可以选择为至少两个指定的外部装置200或者不限定所述指定装置。
结合图11和图12，在另一实施例中，所述指定功能为信号输入功能，映射模块103将F通道标识对应的F通道映射成信号输入功能，从而通过所述F通道实现对负载300的信号的采集。所述负载300可为传感器等，例如温度传感器、湿度传感器、压力传感器等。
其中，所述信号输入功能包括输入特定类型的信号，例如，PWM信号、GPIO、A/D信号等。
本实施例中，在所述映射模块103将所述F通道标识对应的F通道映射至所述指定功能之后，采集模块108根据所述采集参数对所述F通道输入的信号进行采集，从而过滤掉部分不符合需求的数据。其中，采集参数可包括最大分辨率、采样率、信号范围等参数。而采集参数的配置方式可根据实际需求来设定。可选地，预设模块107预设对所述F通道输入的信号的采集参数，即所述F通道统一采用默认参数，在所述F通道被配置 成信号输入功能后，采集模块108是根据所述F通道的默认参数对所述F通道输入的信号进行采集的，从而简化配置流程。然而，上述采用默认参数进行数据采集存在不能根据实际需求来灵活配置采集参数，系统的可定制性较低的缺陷，为克服该缺陷，可选地，所述映射信号包括所述采集参数，即采集参数可由外部装置200根据业务需求实现灵活配置。本实施例中，所述映射模块103将所述F通道标识对应的F通道映射至所述指定功能之前，所述解析模块102从所述映射信号中解析出对所述F通道输入的信号的采集参数，即可实现根据用户实际需求来实现对采集参数的灵活配置，使用较为灵活，系统的可定制性较强，且能够防止数据的丢包。
本实施例中，可根据业务需求设定采集模块108采集负载300的信号的规则。在一些例子中，所述采集模块108根据采集参数对所述F通道输入的信号进行采集是在所述第一接收模块101接收到触发信号后执行的，避免在用户无需采集负载300的信号时，采集模块108对负载300的信号进行采集而造成的资源浪费。其中，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，所述触发信号用于指示所述采集模块108根据采集参数对所述F通道输入的信号进行采集。在其他一些例子中，所述采集模块108根据采集参数对所述F通道输入的信号进行采集是在所述映射模块103完成对所述F通道的映射时执行的，即在映射模块103将所述F通道映射成信号输入功能后，立即采集F通道输入的信号，从而获得负载300的信号，配置流程较为简单，使用方便。
在一实施例中，第二发送模块203发送触发信号至第一接收模块101后，采集模块108即可采集所述F通道输入的信号，从而获得负载300的信号，增加采集信号的灵活性。
在另一实施例中，第二发送模块203发送触发信号至第一接收模块101之前，还需要对触发信号进行配置。可选地，第二发送模块203发送触发配置信号至第一接收模块101，其中，所述触发配置信号包括所述F 通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示采集模块108根据采集参数对所述F通道输入的信号进行采集。所述第一接收模块101接收来自第二发送模块203触发配置信号后，所述关联模块105将所述F通道标识对应的F通道、所述采集参数和所述触发信号的参数关联，即可实现触发信号与F通道、采集参数的关联。
所述第一接收模块101接收到来自第二发送模块203的触发信号后，所述解析模块102会根据所述触发信号的参数确定所述触发信号所关联的采集参数，所述采集模块108根据所关联的采集参数对所述F通道输入的信号进行采集。本实施例通过对触发信号进行预先配置，触发采集模块108采集F通道输入的信号时，用户只需要通过外部装置200的第二发送模块203发送触发信号的参数至控制装置100的第一接收模块101即可，无需携带F通道标识等，从而使得后续的操作较为简单
为方便采集数据的查看和存储，第一发送模块109将采采集模块108集到的信号发送至指定模块。可选地，所述指定模块为发送所述映射信号的模块，即将指定模块限定为采集到的信号唯一的接收源，保障数据的安全性。本实施例中，所述指定模块为外部装置200的第二接收模块201，所述第二接收模块201接收通过所述F通道采集到的信号。可选地，第二接收模块201接收通过所述F通道采集到的信号是在第二发送模块203发送映射信号后执行的，即第二发送模块203发送映射信号至第一接收模块101后，采集模块108即通过所述F通道采集负载300的信号并返回至第二接收模块201，从而保证采集负载300的信号的完整性，防止数据丢失。可先地，第二接收模块201接收通过所述F通道采集到的信号是在第二发送模块203发送触发信号后执行的，即在用户需要获取负载300的信号时，通过第二发送模块203发送触发信号至第一接收模块101，从而由采集模块108通过所述F通道采集负载300的信号并返回至第二接收模块201， 从而可根据需求来进行数据的采集，灵活性较强。
参见图10，本实施例中，映射模块103在将F通道映射至指定功能之前，判断模块106判断所述F通道是否满足映射条件，若判断模块106判断出所述F通道满足映射条件，映射模块103则将F通道映射至指定功能，即所述映射模块103将所述F通道标识对应的F通道映射至所述指定功能是在判断出所述F通道满足映射条件后执行的；否则，映射模块103不会对所述F通道进行映射的操作，通过设置映射条件，使得映射的操作在满足映射条件后才能够执行，从而提高F通道使用的安全性。
在一实施例中，所述映射条件包括：所述判断模块106判断出所述F通道未发生映射。本实施例中，所述控制装置100设有预设映射表，所述预设映射表用于将已映射的F通道的通道标识和映射至所述F通道的指定功能一一对应保存。映射模块103在将F通道映射至指定功能之前，判断模块106会判断所述预设映射表中是否存在待映射F通道的标识，当判断模块106判断出所述预设映射表中不存在待映射F通道的标识，则确定所述F通道未发生映射；当判断模块106判断出所述预设映射表中存在待映射F通道的标识，判断模块106则需要进一步判断具有所述待映射F通道的标识是否与任一指定功能绑定(即映射)，若是，则确定所述F通道已经发生映射，第一发送模块109可返回失败的结果至发送映射信号的装置，从而告知用户所述发送映射信号的装置该次执行映射的操作失败；否则，确定所述F通道未发生映射。
在另一实施例中，所述映射条件包括：所述判断模块106判断出描述所述指定功能的参数有效。其中，所述描述指定功能的参数是包含在映射信号中的。可选地，在指定功能为信号输出功能时，描述指定功能的参数可包括当前待映射F通道可输出的信号类型以及可输出的信号对应的特定参数等，当判断模块106判断出所述描述指定功能的参数为合法参数时，即确定所述描述指定功能的参数有效。可选地，在指定功能为信号输入功 能时，描述指定功能的参数可包括当前待映射F通道可输入的信号类型以及可输入的信号对应的采集参数，当判断模块106判断出所述描述指定功能的参数为合法参数时，即确定所述描述指定功能的参数有效。本实施例中，所述判断模块106判断所述描述指定功能的参数是否有效是在该判断模块106判断出所述F通道未发生映射后执行的。
在又一实施例中，所述第二接收模块201接收用户指令之前，还用于接收用户账号的登录信息；所述第二发送模块203发送所述用户账号的登录信号至所述第一接收模块101。所述第一接收模块101接收来自第二发送模块203的映射信号之前，还用于接收第二发送模块203发送的用户账号的登录信息，所述解析模块102根据所述登录信息获取所述用户账号的权限，所述映射条件包括：所述判断模块106判断出所述指定功能和所述用户账号的权限匹配，从而提高F通道使用的安全性，防止对F通道的非法控制。本实施例中，所述判断模块106判断所述F通道是否发生映射是在该判断模块106判断出所述指定功能和所述用户账号的权限匹配后执行的，以防止F通道的非法控制，提高F通道使用的安全性。
本实施例中，所述映射模块103将F通道标识对应的F通道映射至所述指定功能后，进一步包括：取消所述F通道与所述指定功能的映射，使得F通道能够实时恢复可配置的状态，从而防止资源的浪费。
可选地，所述映射模块103取消F通道与所述指定功能的映射是在判断模块106判断出所述F通道执行预设次所述指定功能后执行，从而在用户使用所述F通道完成了相关作业任务后，所述F通道则处于空闲状态，防止资源浪费。可选地，所述映射模块103取消F通道与所述指定功能的映射是在判断模块106判断出来自第二发送模块203的新的映射信号对应的新指定功能与所述F通道当前映射的指定功能不同后执行，从而根据用户的需求实现对F通道的映射。
所述映射模块103将F通道标识对应的F通道映射至所述指定功能 后，可能存在第二发送模块203再次发送新映射信号至第一接收模块101以再次触发映射模块103对所述F通道进行映射的情况。本实施例中，当所述第一接收模块101接收到来自第二发送模块203的新的映射信号，所述解析模块102从所述新的映射信号中解析出所述F通道标识对应的新指定功能，则由所述映射模块103将所述F通道再次映射至所述新指定功能，或者，由所述映射模块103取消所述F通道与所述指定功能的映射，并将所述F通道映射至所述新指定功能，或者，由所述映射模块103将所述新指定功能覆盖所述指定功能。
本实施例中，所述第二接收模块201接收用户指令之前，查询模块205会查询所述F通道已经映射的指定功能，以判断所述F通道已映射的指定功能是否为用户所需的功能。需要说明的是，与上述F通道控制方法相对应，本实施例的F通道可为设置在无人飞行器上的一个或多个可配置针脚，并且，本实施例的F通道控制装置可应用于无人飞行器或者飞行控制系统中。
参见图13，与上述F通道控制方法的实施例相对应，本发明实施例还提供另一种F通道控制装置，所述装置可包括第一处理器101、第二处理器201、第一存储器102以及第二存储器202。其中，所述第一存储器102用于存储第一处理器101可执行指令，所述第二存储器202用于存储第二处理器201可执行指令。
所述F通道控制装置通过第一处理器101和第二处理器201之间的交互实现对F通道的灵活控制，其中所述第一处理器101能够与所述F通道通信以对所述F通道操作。
本实施例中，所述第一处理器101可被配置为：
接收映射信号；
从所述映射信号中解析出F通道标识、指定功能；
将所述F通道标识对应的F通道映射至所述指定功能。
其中，所述映射信号至少包括待映射的F通道的标识和指定功能，从而确定待映射的F通道和待映射至所述F通道的功能。
本实施例的第一处理器101根据接收到的映射信号，将F通道映射成用户所需的指定功能，使得用户可根据实际作业需求来动态配置F通道的功能，系统的灵活性、开放程度较高。
在第一处理器101执行上述操作之前，所述第二处理器201可被配置为：
接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能；通过用户与第二处理器201进行交互，当用户需要通过F通道实现某一指定功能时，在第二处理器201上输入用户指令即可。
根据所述用户指令生成映射信号，发送所述映射信号至第一处理器101，所述映射信号用于指示所述第一处理器101将所述F通道标识对应的F通道映射至所述指定功能。可选地，第二处理器201通过API接口发送映射信号至所述第一处理器101。在一些例子中，第二处理器201与第一处理器101之间无线通信连接，避免线缆连接所造成的缠绕问题，使用更加灵活。在其他一些例子中，第二处理器201与第一处理器101之间有线通信连接，保证信号传输的稳定性与安全性。
本实施例通过第一处理器101与第二处理器201之间的交互，使得用户可根据需求输入用户指令，实现对F通道的功能的动态配置，进而使得用户可根据实际需求调整F通道的功能，系统灵活性强、适配性与开放程度较高，能够满足特定的作业需求。
其中，所述第一处理器101和第二处理器201可选择计算机或者专门的芯片等能够处理和传输数据的器件，其中，这种专门的芯片可以是 ARM、AVR等单片机，还可以是ASIC芯片，也可以是FPGA、CPLD等可编程器件。
所述F通道可连接负载300，例如，在用户需要通过F通道对负载300进行操作时，可将负载300与F通道相连。
可选地，所述第一处理器101与所述第二处理器201通过API接口通信连接，用户可通过所述第一处理器101与第二处理器201之间的进行交互，以指示对负载300的操作。本实施例中，所述第一处理器101与所述第二处理器201之间可根据常规的通信协议进行数据的交互。
所述指定功能可包括信号输出功能和信号输入功能。
在一实施例中，所述指定功能为信号输出功能，第一处理器101将F通道标识对应的F通道映射成信号输出功能，从而实现对负载300工作的控制。所述负载300可为相机等。
其中，所述信号输出功能包括输出特定类型的信号，例如，PWM信号、GPIO、D/A信号(即模拟信号)等，即特定类型可包括PWM、GPIO或D/A等信号类型。本实施例中，在将F通道映射成信号输出功能后，所述第一处理器101可通过所述F通道输出所述特定类型的信号至负载300，从而实现对负载300的操作，进而控制负载300工作。
在实际作业中，指示负载300操作的信号可能需要根据实际作业需求动态调节，即需要动态调节F通道所输出的信号，例如，动态调节F通道所输出的信号的类型、频率、脉宽等参数。本实施例中，所述用户指令包括所述特定类型的信号的特征参数，从而使得用户可根据业务需求来动态调节F通道的输出信号，进而使得F通道能够输出不同特征参数的特定类型的信号或者不同类型的信号，以指示负载300执行相应的操作。
所述第一处理器101在将F通道被映射成信号输出功能后，为根据用户需要实时指示负载300执行相应操作，即在用户需要负载300执行相 应操作时，才会控制F通道输出指示负载300执行相应操作的信号，其他情况下则无需控制F通道。
在一些例子中，所述第二处理器201发送触发信号至所述第一处理器101，以触发所述第一处理器101通过F通道输出信号，以指示负载300执行相应操作。其中，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述第一处理器101通过所述F通道输出具有所述特征参数的特定类型的信号。本实施例中，第一处理器101在接收触发信号后，会通过所述F通道输出具有所述特征参数的特定类型的信号，从而指示负载300执行相应操作。当用户需要控制负载300执行相应操作时，通过第二处理器201发送触发信号至第一处理器101，第一处理器101则通过F通道输出触发负载300操作的信号，指示负载300执行相应操作的实现较为灵活、方便。
在其他一些例子中，第一处理器101在接收到第二处理器201发送的触发信号后，可根据触发信号的配置信息来触发F通道输出具备特征参数的特定类型的信号，从而指示负载300执行相应操作。可选地，第二处理器201发送触发配置信号至所述第一处理器101，其中，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述第一处理器101通过所述F通道输出具有所述特征参数的特定类型的信号。而第一处理器101在接收触发配置信号后，会将所述F通道标识对应的F通道、具有所述特征参数的特定类型的信号和所述触发信号的参数关联。
可选地，第一处理器101对应保存F通道标识、具有所述特征参数的特定类型的信号和触发信号的参数(即触发ID)，可参见上述表3，从而实现F通道、特定类型的信号和触发信号关联。
当用户需要触发第一处理器101通过F通道输出具有所述特征参数 的特定类型的信号以指示负载300执行相应操作时，通过第二处理器201发送触发信号至第一处理器101，第一处理器101在接收到来自第二处理器201的触发信号后，则根据所述触发信号的参数确定所述触发信号所关联的特定类型的信号的特征参数，通过所述F通道输出具有所述特征参数的特定类型的信号。
可选地，所述触发配置信号和所述映射信号位于同一个信号内。在一实施例中，所述触发配置信号和所述映射信号位于同一个信号内是指触发配置信号和映射信号为两个独立的信号，但在需要配置F通道时，第二处理器201会将映射信号和触发配置信号设于同一信号内再一并发送至第一处理器101，从而简化配置F通道配置的流程。在另一实施例中，所述触发配置信号和所述映射信号位于同一个信号内是指将映射信号和触发配置信号这两个信号的内容放置在同一个信号中，再由第二处理器201将具有触发配置信号这两个信号的内容的信号发送至第一处理器101。当然，触发配置信号和映射信号也可独立存在于两个信号内，即在需要配置F通道时，第二处理器201会分别发送映射信号和触发配置信号至第一处理器101。
进一步地，第二处理器201发送触发信号至第一处理器101是在检测到第一处理器101满足触发条件时发送的，以满足用户的实际需求。可选地，第二处理器201获取第一处理器101的位置信息，例如，第二处理器201实时读取第一处理器101返回的GPS信息，所述触发条件包括：根据第一处理器101的位置信息确定第一处理器101位于指定地点。即当第二处理器201在根据第一处理器101的位置信号确定第一处理器101位于指定地点后，则发送触发信号至第一处理器101，从而指示第一处理器101输出指示负载300操作的信号。
而所述第一处理器101通过F通道输出具有所述特征参数的特定类型的信号是在判断出所述触发信号来自指定装置后执行的，从而保障F通 道使用的安全性，进而防止非法控制负载300。
在一些例子中，所述指定装置为发送所述映射信号的装置，即将所述发送所述映射信号的装置限制为所述F通道的唯一控制源，只有在第一处理器101判断出所述触发信号和所述映射信号是来自同一装置时，才会通过F通道输出具有所述特征参数的特定类型的信号；否则，第一处理器101无需指示所述F通道的进一步操作，从而防止对F通道的非法操作，以防止对负载300的非法控制。
在其他一些例子中，所述指定装置可以选择为至少两个指定的第二处理器201，例如，第一处理器101可保存至少两个所述第二处理器201的装置标识，并将至少两个所述第二处理器201标记为合法装置，本实施例中，当第一处理器101在判断出发送所述触发信号的装置属于合法装置时，则通过F通道输出具有所述特定参数的特定类型的信号；否则，第一处理器101无需指示所述F通道的进一步操作，从而防止对F通道的非法操作，以防止对负载300的非法控制。
当然，所述指定装置也可不进行限制，这样用户即可以通过任意装置来实现对控制F通道实现信号输出功能，从而控制与所述F通道相连的负载300的工作，方便灵活。
当所述指定装置为至少两个指定的第二处理器201或者无限制时，若第一处理器101接到来自至少两个第二处理器201的触发信号时，第一处理器101会根据接收到的触发信号的先后顺序，触发所述F通道输出每一外部设的触发信号所对应的特定类型的信号的先后顺序。
在另一实施例中，所述指定功能为信号输入功能，第一处理器101将F通道标识对应的F通道映射成信号输入功能，从而通过所述F通道实现对负载300的信号的采集。所述负载300可为传感器等，例如温度传感器、湿度传感器、压力传感器等。
其中，所述信号输入功能包括输入特定类型的信号，例如，PWM信号、GPIO、A/D信号(即数字信号)等。本实施例中，在将F通道映射成信号输入功能后，所述第一处理器101可对所述F通道输入的信号进行采集，从而采集负载300的信号。
本实施例中，所述第一处理器101在将所述F通道标识对应的F通道映射至所述指定功能后，进一步根据采集参数对所述F通道输入的信号进行采集，从而过滤掉部分不符合需求的数据。其中，采集参数可包括最大分辨率、采样率、信号范围等参数。而采集参数的配置方式可根据实际需求来设定。可选地，所述F通道预设有对所述F通道输入的信号的采集参数，即所述F通道统一采用默认参数，在所述F通道被配置成信号输入功能后，第一处理器101是根据所述F通道的默认参数对所述F通道输入的信号进行采集的，从而简化配置流程。然而，上述采用默认参数进行数据采集存在不能根据实际需求来灵活配置采集参数，系统的可定制性较低的缺陷，为克服该缺陷，可选地，所述映射信号包括所述采集参数，即采集参数可由第二处理器201根据业务需求实现灵活配置。
本实施例中，所述第一处理器101在将所述F通道标识对应的F通道映射至所述指定功能之前，还从所述映射信号中解析出对所述F通道输入的信号的采集参数，即可实现根据用户实际需求来实现对采集参数的灵活配置，使用较为灵活，系统的可定制性较强，且能够防止数据的丢包。
本实施例中，可根据业务需求设定所述第一处理器101采集负载300的信号的规则，例如，可设定F通道采集信号的类型、范围、频率、分辨率等参数。在一些例子中，所述第一处理器101根据采集参数对所述F通道输入的信号进行采集是在接收到触发信号后执行的，即在用户需要获取负载300的信号时，第一处理器101才会对负载300的信号进行采集，避免在用户无需采集负载300的信号时，第一处理器101对负载300的信号进行采集而造成的资源浪费。其中，所述触发信号包括所述F通道标识和 特定类型的信号的特征参数，所述触发信号用于指示所述第一处理器101根据采集参数对所述F通道输入的信号进行采集。在其他一些例子中，所述第一处理器101根据采集参数对所述F通道输入的信号进行采集是在完成对所述F通道的映射时执行的，即在第一处理器101将所述F通道映射成信号输入功能后，立即采集F通道输入的信号，从而获得负载300的信号，配置流程较为简单，使用方便。
在一实施例中，第二处理器201发送触发信号至第一处理器101后，第一处理器101即可采集所述F通道输入的信号，从而获得负载300的信号，增加采集信号的灵活性。
在另一实施例中，第二处理器201发送触发信号至第一处理器101之前，还需要对触发信号进行配置。可选地，第二处理器201发送触发配置信号至所述第一处理器101，其中，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数(即触发ID)用于指示触发信号，所述触发信号用于指示所述第一处理器101根据采集参数对所述F通道输入的信号进行采集。所述第一处理器101接收来自第二处理器201的触发配置信号后，将所述F通道标识对应的F通道、所述采集参数和所述触发信号的参数关联。又参见上述表4，第一处理器101对应保存F通道标识、所述采集参数和所述触发信号的参数，即可实现触发信号与F通道、采集参数的关联。
所述第一处理器101接收到来自第二处理器201的触发信号后，会根据所述触发信号的参数确定所述触发信号所关联的采集参数，并且根据所关联的采集参数对所述F通道输入的信号进行采集。例如，又参见表4，当第一处理器101接收到第二处理器201发送的触发信号为1时，则根据采样率50Hz、采样信号范围0-5V、分辨率256的采样参数对F4的信号进行采集，从而获得与F4相连的负载300的信号，本实施例通过对触发信号进行预先配置，触发第一处理器101采集F通道输入的信号时，用户只 需要通过第二处理器201发送触发ID至第一处理器101即可，无需携带F通道标识等，从而使得后续的操作较为简单。
为方便采集数据的查看和存储，所述第一处理器101根据采集参数对所述F通道输入的信号进行采集后，还需要将采集到的信号发送至指定模块。可选地，所述指定模块为发送所述映射信号的模块，即将指定模块限定为采集到的信号唯一的接收源，保障数据的安全性。本实施例中，所述指定模块为第二处理器201，所述第二处理器201接收通过所述F通道采集到的信号。可选地，第二处理器201接收通过所述F通道采集到的信号是在发送映射信号后执行的，即第二处理器201发送映射信号至第一处理器101后，第一处理器101即通过所述F通道采集负载300的信号并返回至该第二处理器201，从而保证采集负载300的信号的完整性，防止数据丢失。可先地，第二处理器201接收通过所述F通道采集到的信号是在该第二处理器201发送触发信号后执行的，即在用户需要获取负载300的信号时，通过第二处理器201发送触发信号至第一处理器101，从而由第一处理器101通过所述F通道采集负载300的信号并返回至该第二处理器201，从而可根据需求来进行数据的采集，灵活性较强。
本实施例中，第一处理器101在将F通道映射至指定功能之前，还需判断所述F通道是否满足映射条件，若所述F通道满足映射条件，第一处理器101则将所述F通道标识对应的F通道映射至所述指定功能，即所述第一处理器101将所述F通道标识对应的F通道映射至所述指定功能是在所述第一处理器101判断出所述F通道满足映射条件后执行的；否则，第一处理器101则不会对所述F通道进行映射的操作，通过设置映射条件，使得映射的操作在满足映射条件后才能够执行，从而提高F通道使用的安全性。
在一实施例中，所述映射条件包括：所述F通道未发生映射。本实施例中，所述第一处理器101设有预设映射表，所述预设映射表用于将已 映射的F通道的通道标识和映射至所述F通道的指定功能一一对应保存。第一处理器101在将所述F通道标识对应的F通道映射至所述指定功能之前，会判断所述预设映射表中是否存在待映射F通道的标识，当所述预设映射表中不存在待映射F通道的标识，则确定所述F通道未发生映射；当所述预设映射表中存在待映射F通道的标识，第一处理器101则需要进一步判断具有所述待映射F通道的标识是否与任一指定功能绑定(即映射)，若是，则确定所述F通道已经发生映射，第一处理器101可返回失败的结果至发送映射信号的装置，从而告知所述发送映射信号的装置该次执行映射的操作失败；否则，确定所述F通道未发生映射。
在另一实施例中，所述映射条件包括：描述所述指定功能的参数有效。其中，所述描述指定功能的参数是包含在第二处理器201发送的映射信号中的。可选地，在指定功能为信号输出功能时，描述指定功能的参数可包括当前待映射F通道可输出的信号类型以及可输出的信号对应的特定参数等，当所述描述指定功能的参数为合法参数时，即确定所述描述指定功能的参数有效。例如，第一处理器101设定当前待映射F通道仅可输出PWM信号，当所述第一处理器101判断出来自第二处理器201的映射信号包含指示将当前待映射F通道映射为输出非PWM信号的其他信号(如正弦波信号等)的参时，则确定所述描述指定功能的参数无效，即所述第一处理器101只能通过所述F通道输出PWM信号，而不能通过所述F通道输出非PWM信号的其他信号。可选地，在指定功能为信号输入功能时，描述指定功能的参数可包括当前待映射F通道可输入的信号类型以及可输入的信号对应的采集参数，当所述描述指定功能的参数为合法参数时，即确定所述描述指定功能的参数有效。例如，第一处理器101设定当前待映射F通道仅可输入GPIO信号，则当所述第一处理器101判断出来自第二处理器201的映射信号包含指示将当前待映射F通道映射为输入非GPIO信号的其他信号时，则确定所述描述指定功能的参数无效，即所述第一处 理器101只能通过所述F通道采集GPIO信号，而不能通过所述F通道采集非GPIO信号的其他信号。本实施例中，所述第一处理器101判断所述描述指定功能的参数是否有效是在判断出所述F通道未发生映射后执行的。
在又一实施例中，所述第一处理器101接收映射信号之前，需要接收第二处理器201发送的用户账号的登录信息，并根据所述登录信息获取所述用户账号的权限，所述映射条件包括：所述指定功能和所述用户账号的权限匹配。可选地，所述第一处理器101预设保存各用户账号在对待映射F通道进行映射配置时，相应的可映射至所述待映射F通道的指定功能，只有当待映射至所述待映射F通道的指定功能在当前用户账号的权限范围内时，所述第一处理器101才能够将所述待映射F通道映射到所述指定功能，从而提高F通道使用的安全性，防止对F通道的非法控制。本实施例中，所述第一处理器101判断所述F通道是否发生映射是在判断出所述指定功能和所述用户账号的权限匹配后执行的，以防止F通道的非法控制，提高F通道使用的安全性。
而第二处理器201在接收用户指令之前，需要接收用户账号的登录信息，从而将用户账号的登录信号发送给第一处理器101。可选地，登录信息包括用户账号和登录密码等，其由用户直接在第二处理器201上直接输入。例如，在一实施例中，用户账号为Administrator，登录密码为123456，第一处理器101预设设置Administrator的用户账号可配置的F通道的标识为3和4，其中，F3可映射的指定功能为信号输出功能，F4可映射的指定功能为信号输入功能。第二处理器201在将该用户账号的登录信息发送至第一处理器101后，只具备对标识为3和4的F通道进行配置的权限，并且F3可配置的指定功能仅是信号输出功能，F4可配置的指定功能仅是信号输入功能。
本实施例中，所述第一处理器101将所述F通道标识对应的F通道 映射至所述指定功能后，进一步被配置为：取消所述F通道与所述指定功能的映射，使得F通道能够实时恢复可配置的状态，从而防止资源的浪费。可选地，所述第一处理器101取消F通道与所述指定功能的映射是在判断出所述F通道执行预设次所述指定功能后执行。其中，F通道当前映射的指定功能的执行次数可根据需要设定，例如，执行次数为5，负载300为相机，所述第一处理器101将所述F通道映射成输出PWM信号，每次持续1s，占空比为10％，以控制相机拍照，当第一处理器101在判断出通过所述F通道输出了5次PWM信号，则立即取消所述F通道与输出PWM信号的映射，从而使得所述F通道处于空闲状态，防止不需要使用所述F通道时所造成的资源浪费。可选地，所述第一处理器101取消F通道与所述指定功能的映射是在该第一处理器101判断出来自第二处理器201的新的映射信号对应的新指定功能与所述F通道当前映射的指定功能不同后执行，从而根据用户的需求实现对F通道的映射。
另外，为实时更新F通道的映射信息，在第一处理器101取消所述F通道与所述指定功能的映射的同时，还需将预设映射表中的包含所述F通道的标识、该F通道所映射的指定功能的表项删除，或者将所述表项中的该F通道所映射的指定功能删除。并且，第一处理器101在将所述F通道标识对应的F通道映射至所述指定功能之后，还需要在预设映射表中存储当前映射的F通道的标识和当前映射至所述F通道的指定功能。
所述第一处理器101在将所述F通道标识对应的F通道映射至所述指定功能后，可能存在第二处理器201再次发送新映射信号至第一处理器101以控制所述F通道进行映射的情况。本实施例中，所述第一处理器101在接收到来自第二处理器201的新的映射信号后，从所述新的映射信号中解析出所述F通道标识对应的新指定功能，并执行以下三个操作中的其中一个操作：a，将所述F通道再次映射至所述新指定功能，其中，操作a是在第一处理器101判断新指定功能与所述F通道当前映射的指定功能为 同一功能时执行的；b，取消所述F通道与所述指定功能的映射，并将所述F通道映射至所述新指定功能，以非抢占映射的方式实现F通道的映射，从而实现对F通道的灵活控制；c，将所述新指定功能覆盖所述指定功能，以抢占映射的方式实现F通道的覆盖映射，较为简单地实现了对F通道的控制。
本实施例中，第二处理器201在接收用户指令前会查询F通道已映射的指定功能，以判断所述F通道已映射的指定功能是否为用户所需的功能。例如，从第一处理器101中调取预设映射表，从而获取F通道已映射的指定功能。
还需要说明的是，与上述F通道控制方法相对应，本实施例的F通道可为设置在无人飞行器上的一个或多个可配置针脚。并且，本实施例的F通道控制装置可应用于无人飞行器或者飞行控制系统中。所述第一处理器101、第一存储器102为控制装置100的一部分，所述第二处理器201、第二存储器202为外部装置200的一部分。
综上所述，本发明的F通道控制方法及装置根据可配置的映射信号，将F通道映射成用户所需的指定功能，使得用户可根据实际作业需求来动态配置F通道的功能，系统的灵活性、开放程度较高。另外，本实施例的F通道控制方法和装置还能够提高无人飞行器或者飞行控制系统的易用性，为无人飞行器行业提供技术基础。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
另外需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者装置中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (133)

  1. 一种F通道控制方法，其特征在于，所述方法包括：
    接收映射信号；
    从所述映射信号中解析出F通道标识、指定功能；
    将所述F通道标识对应的F通道映射至所述指定功能。
  2. 根据权利要求1所述的F通道控制方法，其特征在于，指定功能包括信号输出功能。
  3. 根据权利要求2所述的F通道控制方法，其特征在于，所述信号输出功能包括输出特定类型的信号。
  4. 根据权利要求3所述的F通道控制方法，其特征在于，所述方法还包括：
    接收触发信号，所述触发信号包括所述F通道标识和所述特定类型的信号的特征参数；
    通过所述F通道输出具有所述特征参数的特定类型的信号。
  5. 根据权利要求3所述的F通道控制方法，其特征在于，所述方法还包括：
    接收触发配置信号，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于触发所述F通道输出具有所述特征参数的特定类型的信号；
    将所述F通道标识对应的F通道、具有所述特征参数的特定类型的信号和所述触发信号的参数关联。
  6. 根据权利要求5所述的F通道控制方法，其特征在于，所述方法还包括：
    接收触发信号；
    根据所述触发信号的参数确定所述触发信号所关联的特定类型的信号 的特征参数，通过所述F通道输出具有所述特征参数的特定类型的信号。
  7. 根据权利要求4或6所述的F通道控制方法，其特征在于，所述通过F通道输出具有所述特征参数的特定类型的信号是在判断出所述触发信号来自指定装置后执行的。
  8. 根据权利要求7所述的F通道控制方法，其特征在于，所述指定装置为发送所述映射信号的装置。
  9. 根据权利要求5所述的F通道控制方法，其特征在于，所述触发配置信号和所述映射信号位于同一个信号内。
  10. 根据权利要求1所述的F通道控制方法，其特征在于，指定功能包括信号输入功能。
  11. 根据权利要求10所述的F通道控制方法，其特征在于，所述F通道预设有对所述F通道输入的信号的采集参数，
    或者，所述将所述F通道标识对应的F通道映射至所述指定功能，之前还包括：
    从所述映射信号中解析出对所述F通道输入的信号的采集参数。
  12. 根据权利要求11所述的F通道控制方法，其特征在于，所述将所述F通道标识对应的F通道映射至所述指定功能，之后还包括：
    根据所述采集参数对所述F通道输入的信号进行采集。
  13. 根据权利要求12所述的F通道控制方法，其特征在于，所述根据采集参数对所述F通道输入的信号进行采集是在接收到触发信号后执行的；或者，
    所述根据采集参数对所述F通道输入的信号进行采集是在完成对所述F通道的映射时执行的。
  14. 根据权利要求10所述的F通道控制方法，其特征在于，所述方法还包括：
    接收触发配置信号，所述触发配置信号包括所述F通道标识、采集参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发 信号用于触发所述根据采集参数对所述F通道输入的信号进行采集；
    将所述F通道标识对应的F通道、所述采集参数和所述触发信号的参数关联。
  15. 根据权利要求14所述的F通道控制方法，其特征在于，所述方法还包括：
    接收触发信号；
    根据所述触发信号的参数确定所述触发信号所关联的采集参数，根据所关联的采集参数对所述F通道输入的信号进行采集。
  16. 根据权利要求12或15所述的F通道控制方法，其特征在于，所述方法还包括：
    将采集到的信号发送至指定模块。
  17. 根据权利要求16所述的F通道控制方法，其特征在于，所述指定模块为发送所述映射信号的模块。
  18. 根据权利要求1所述的F通道控制方法，其特征在于，将所述F通道标识对应的F通道映射至所述指定功能是在判断出所述F通道满足映射条件后执行的。
  19. 根据权利要求18所述的F通道控制方法，其特征在于，所述映射条件包括：所述F通道未发生映射。
  20. 根据权利要求18所述的F通道控制方法，其特征在于，所述映射条件包括：描述所述指定功能的参数有效。
  21. 根据权利要求18所述的F通道控制方法，其特征在于，所述接收映射信号，之前还包括：
    接收用户账号的登录信息；
    根据所述登录信息获取所述用户账号的权限；
    所述映射条件包括：所述指定功能和所述用户账号的权限匹配。
  22. 根据权利要求1所述的F通道控制方法，其特征在于，所述接收映射信号，包括：
    接收SDK装置、APP或者调参软件发送的映射信号。
  23. 根据权利要求1所述的F通道控制方法，其特征在于，所述将F通道标识对应的F通道映射至所述指定功能后，进一步包括：
    取消所述F通道与所述指定功能的映射。
  24. 根据权利要求23所述的F通道控制方法，其特征在于，所述取消F通道与所述指定功能的映射是在判断出所述F通道执行预设次所述指定功能后执行。
  25. 根据权利要求1所述的F通道控制方法，其特征在于，所述将F通道标识对应的F通道映射至所述指定功能后，进一步包括：
    当接收到新的映射信号，从所述新的映射信号中解析出所述F通道标识对应的新指定功能，并执行以下三个操作中的其中一个操作：
    将所述F通道再次映射至所述新指定功能；
    或，
    取消所述F通道与所述指定功能的映射，并将所述F通道映射至所述新指定功能；
    或，
    将所述新指定功能覆盖所述指定功能。
  26. 一种F通道控制装置，其特征在于，所述装置包括：
    第一接收模块，接收映射信号；
    解析模块，从所述映射信号中解析出F通道标识、指定功能；
    映射模块，将所述F通道标识对应的F通道映射至所述指定功能。
  27. 根据权利要求26所述的F通道控制装置，其特征在于，指定功能包括信号输出功能。
  28. 根据权利要求27所述的F通道控制装置，其特征在于，所述信号输出功能包括输出特定类型的信号。
  29. 根据权利要求28所述的F通道控制装置，其特征在于，所述第一接收模块接收触发信号，所述触发信号包括所述F通道标识和所述特定 类型的信号的特征参数；
    所述装置还包括：
    触发模块，通过所述F通道输出具有所述特征参数的特定类型的信号。
  30. 根据权利要求28所述的F通道控制装置，其特征在于，所述第一接收模块接收触发配置信号，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于触发所述F通道输出具有所述特征参数的特定类型的信号；
    所述装置还包括：
    关联模块，将所述F通道标识对应的F通道、具有所述特征参数的特定类型的信号和所述触发信号的参数关联。
  31. 根据权利要求30所述的F通道控制装置，其特征在于，所述第一接收模块接收触发信号；
    所述关联模块根据所述触发信号的参数确定所述触发信号所关联的特定类型的信号的特征参数，所述触发模块通过所述F通道输出具有所述特征参数的特定类型的信号。
  32. 根据权利要求29或31所述的F通道控制装置，其特征在于，所述触发模块通过F通道输出具有所述特征参数的特定类型的信号是在判断模块判断出所述触发信号来自指定装置后执行的。
  33. 根据权利要求32所述的F通道控制装置，其特征在于，所述指定装置为发送所述映射信号的装置。
  34. 根据权利要求30所述的F通道控制装置，其特征在于，所述触发配置信号和所述映射信号位于同一个信号内。
  35. 根据权利要求26所述的F通道控制装置，其特征在于，指定功能包括信号输入功能。
  36. 根据权利要求35所述的F通道控制装置，其特征在于，所述装置还包括：
    预设模块，预设对所述F通道输入的信号的采集参数，
    或者，
    所述映射模块将所述F通道标识对应的F通道映射至所述指定功能之前，所述解析模块从所述映射信号中解析出对所述F通道输入的信号的采集参数。
  37. 根据权利要求36所述的F通道控制装置，其特征在于，所述装置还包括：
    采集模块，在所述映射模块将所述F通道标识对应的F通道映射至所述指定功能之后，根据所述采集参数对所述F通道输入的信号进行采集。
  38. 根据权利要求37所述的F通道控制装置，其特征在于，所述采集模块根据采集参数对所述F通道输入的信号进行采集是在所述第一接收模块接收到触发信号后执行的；或者，
    所述采集模块根据采集参数对所述F通道输入的信号进行采集是在所述映射模块完成对所述F通道的映射时执行的。
  39. 根据权利要求35所述的F通道控制装置，其特征在于，所述第一接收模块还用于接收触发配置信号，所述触发配置信号包括所述F通道标识、采集参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于触发所述根据采集参数对所述F通道输入的信号进行采集；
    所述关联模块将所述F通道标识对应的F通道、所述采集参数和所述触发信号的参数关联。
  40. 根据权利要求39所述的F通道控制装置，其特征在于，所述第一接收模块还用于接收触发信号；
    所述关联模块根据所述触发信号的参数确定所述触发信号所关联的采集参数，所述采集模块根据所关联的采集参数对所述F通道输入的信号进行采集。
  41. 根据权利要求37或40所述的F通道控制装置，其特征在于，所 述装置还包括：
    第一发送模块，将采集到的信号发送至指定模块。
  42. 根据权利要求41所述的F通道控制装置，其特征在于，所述指定模块为发送所述映射信号的模块。
  43. 根据权利要求26所述的F通道控制装置，其特征在于，所述映射模块将所述F通道标识对应的F通道映射至所述指定功能是在判断出所述F通道满足映射条件后执行的。
  44. 根据权利要求43所述的F通道控制装置，其特征在于，所述映射条件包括：所述判断模块判断出所述F通道未发生映射。
  45. 根据权利要求43所述的F通道控制装置，其特征在于，所述映射条件包括：所述判断模块判断出描述所述指定功能的参数有效。
  46. 根据权利要求43所述的F通道控制装置，其特征在于，所述第一接收模块接收映射信号之前，还用于接收用户账号的登录信息；
    所述解析模块根据所述登录信息获取所述用户账号的权限；
    所述映射条件包括：所述判断模块判断出所述指定功能和所述用户账号的权限匹配。
  47. 根据权利要求26所述的F通道控制装置，其特征在于，所述第一接收模块用于接收SDK装置、APP或者调参软件发送的映射信号。
  48. 根据权利要求26所述的F通道控制装置，其特征在于，所述映射模块将F通道标识对应的F通道映射至所述指定功能后，进一步包括：
    取消所述F通道与所述指定功能的映射。
  49. 根据权利要求48所述的F通道控制装置，其特征在于，所述映射模块取消F通道与所述指定功能的映射是在所述判断模块判断出所述F通道执行预设次所述指定功能后执行。
  50. 根据权利要求26所述的F通道控制装置，其特征在于，所述映射模块将F通道标识对应的F通道映射至所述指定功能后，
    当所述第一接收模块接收到新的映射信号，所述解析模块从所述新的 映射信号中解析出所述F通道标识对应的新指定功能，所述映射模块执行以下三个操作中的其中一个操作：
    将所述F通道再次映射至所述新指定功能；
    或，
    取消所述F通道与所述指定功能的映射，并将所述F通道映射至所述新指定功能；
    或，
    将所述新指定功能覆盖所述指定功能。
  51. 根据权利要求26所述的F通道控制装置，其特征在于，所述装置为飞行控制系统或无人飞行器。
  52. 一种F通道控制装置，其特征在于，所述装置包括：
    第一处理器；
    用于存储第一处理器可执行指令的第一存储器；
    其中，所述第一处理器被配置为：
    接收映射信号；
    从所述映射信号中解析出F通道标识、指定功能；
    将所述F通道标识对应的F通道映射至所述指定功能。
  53. 根据权利要求52所述的F通道控制装置，其特征在于，指定功能包括信号输出功能。
  54. 根据权利要求53所述的F通道控制装置，其特征在于，所述信号输出功能包括输出特定类型的信号。
  55. 根据权利要求54所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    接收触发信号，所述触发信号包括所述F通道标识和所述特定类型的信号的特征参数；
    通过所述F通道输出具有所述特征参数的特定类型的信号。
  56. 根据权利要求54所述的F通道控制装置，其特征在于，所述第 一处理器还被配置为：
    接收触发配置信号，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于触发所述F通道输出具有所述特征参数的特定类型的信号；
    将所述F通道标识对应的F通道、具有所述特征参数的特定类型的信号和所述触发信号的参数关联。
  57. 根据权利要求56所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    接收触发信号；
    根据所述触发信号的参数确定所述触发信号所关联的特定类型的信号的特征参数，通过所述F通道输出具有所述特征参数的特定类型的信号。
  58. 根据权利要求55或57所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    所述通过F通道输出具有所述特征参数的特定类型的信号是在判断出所述触发信号来自指定装置后执行的。
  59. 根据权利要求58所述的F通道控制装置，其特征在于，所述指定装置为发送所述映射信号的装置。
  60. 根据权利要求56所述的F通道控制装置，其特征在于，所述触发配置信号和所述映射信号位于同一个信号内。
  61. 根据权利要求52所述的F通道控制装置，其特征在于，指定功能包括信号输入功能。
  62. 根据权利要求61所述的F通道控制装置，其特征在于，所述F通道预设有对所述F通道输入的信号的采集参数，
    或者，所述第一处理器还被配置为：
    所述将所述F通道标识对应的F通道映射至所述指定功能，之前还包括：
    从所述映射信号中解析出对所述F通道输入的信号的采集参数。
  63. 根据权利要求62所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    所述将所述F通道标识对应的F通道映射至所述指定功能，之后还包括：
    根据所述采集参数对所述F通道输入的信号进行采集。
  64. 根据权利要求63所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    所述根据采集参数对所述F通道输入的信号进行采集是在接收到触发信号后执行的；或者，
    所述根据采集参数对所述F通道输入的信号进行采集是在完成对所述F通道的映射时执行的。
  65. 根据权利要求61所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    接收触发配置信号，所述触发配置信号包括所述F通道标识、采集参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于触发所述根据采集参数对所述F通道输入的信号进行采集；
    将所述F通道标识对应的F通道、所述采集参数和所述触发信号的参数关联。
  66. 根据权利要求65所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    接收触发信号；
    根据所述触发信号的参数确定所述触发信号所关联的采集参数，根据所关联的采集参数对所述F通道输入的信号进行采集。
  67. 根据权利要求63或66所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    将采集到的信号发送至指定模块。
  68. 根据权利要求67所述的F通道控制装置，其特征在于，所述指定模块为发送所述映射信号的模块。
  69. 根据权利要求52所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    将所述F通道标识对应的F通道映射至所述指定功能是在判断出所述F通道满足映射条件后执行的。
  70. 根据权利要求69所述的F通道控制装置，其特征在于，所述映射条件包括：所述F通道未发生映射。
  71. 根据权利要求69所述的F通道控制装置，其特征在于，所述映射条件包括：描述所述指定功能的参数有效。
  72. 根据权利要求69所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    所述接收映射信号，之前还包括：
    接收用户账号的登录信息；
    根据所述登录信息获取所述用户账号的权限；
    所述映射条件包括：所述指定功能和所述用户账号的权限匹配。
  73. 根据权利要求52所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    所述接收映射信号，包括：
    接收SDK装置、APP或者调参软件发送的映射信号。
  74. 根据权利要求52所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    所述将F通道标识对应的F通道映射至所述指定功能后，进一步包括：
    取消所述F通道与所述指定功能的映射。
  75. 根据权利要求74所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    所述取消F通道与所述指定功能的映射是在判断出所述F通道执行预 设次所述指定功能后执行。
  76. 根据权利要求52所述的F通道控制装置，其特征在于，所述第一处理器还被配置为：
    所述将F通道标识对应的F通道映射至所述指定功能后，进一步包括：
    当接收到新的映射信号，从所述新的映射信号中解析出所述F通道标识对应的新指定功能，并执行以下三个操作中的其中一个操作：
    将所述F通道再次映射至所述新指定功能；
    或，
    取消所述F通道与所述指定功能的映射，并将所述F通道映射至所述新指定功能；
    或，
    将所述新指定功能覆盖所述指定功能。
  77. 根据权利要求52所述的F通道控制装置，其特征在于，所述装置为无人飞行器或无人飞行控制系统。
  78. 一种F通道控制方法，其特征在于，所述方法包括：
    接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能；
    根据所述用户指令生成映射信号，发送所述映射信号至控制装置，所述映射信号用于指示所述控制装置将所述F通道标识对应的F通道映射至所述指定功能。
  79. 根据权利要求78所述的F通道控制方法，其特征在于，所述接收用户指令，之前还包括：
    查询所述F通道已经映射的指定功能。
  80. 根据权利要求78所述的F通道控制方法，其特征在于，所述接收用户指令，之前还包括：
    接收用户账号的登录信息；
    发送所述用户账号的登录信号至所述控制装置。
  81. 如权利要求78所述的F通道控制方法，其特征在于，所述发送映射信号至控制装置具体包括：
    通过API接口发送映射信号至所述控制装置。
  82. 如权利要求78所述的F通道控制方法，其特征在于，所述指定功能是信号输出功能。
  83. 根据权利要求82所述的F通道控制方法，其特征在于，所述信号输出功能包括输出特定类型的信号。
  84. 根据权利要求83所述的F通道控制方法，其特征在于，所述用户指令还包括所述特定类型的信号的特征参数。
  85. 如权利要求83所述的F通道控制方法，其特征在于，所述方法还包括：
    发送触发信号至所述控制装置，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述控制装置通过所述F通道输出具有所述特征参数的特定类型的信号。
  86. 根据权利要求83所述的F通道控制方法，其特征在于，所述方法还包括：
    发送触发配置信号至所述控制装置，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述控制装置通过所述F通道输出具有所述特征参数的特定类型的信号。
  87. 根据权利要求86所述的F通道控制方法，其特征在于，所述方法还包括：
    发送触发信号至所述控制装置。
  88. 根据权利要求85或87所述的F通道控制方法，其特征在于，所述触发信号是在检测到所述控制装置满足触发条件时发送的。
  89. 根据权利要求88所述的F通道控制方法，其特征在于，所述方法还包括：获取所述控制装置的位置信息；
    所述触发条件包括：
    根据所述控制装置的位置信息确定所述控制装置位于指定地点。
  90. 根据权利要求86所述的F通道控制方法，其特征在于，所述触发配置信号和所述映射信号位于同一个信号内。
  91. 根据权利要求78所述的F通道控制方法，其特征在于，所述指定功能是信号输入功能。
  92. 根据权利要求91所述的F通道控制方法，其特征在于，所述方法还包括：
    接收通过所述F通道采集到的信号。
  93. 根据权利要求92所述的F通道控制方法，其特征在于，所述接收通过所述F通道采集到的信号是在发送触发信号后执行的，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述控制装置根据采集参数对所述F通道输入的信号进行采集；或者，
    所述接收通过所述F通道采集到的信号是在发送映射信号后执行的。
  94. 根据权利要求91所述的F通道控制方法，其特征在于，所述方法还包括：
    发送触发配置信号至所述控制装置，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述控制装置根据采集参数对所述F通道输入的信号进行采集。
  95. 根据权利要求94所述的F通道控制方法，其特征在于，所述方法还包括：
    发送触发信号至所述控制装置。
  96. 一种F通道控制装置，其特征在于，所述装置包括：
    第二接收模块，接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能；
    信号生成模块，根据所述用户指令生成映射信号；
    第二发送模块，发送所述映射信号至控制装置，所述映射信号用于指示所述控制装置将所述F通道标识对应的F通道映射至所述指定功能。
  97. 根据权利要求96所述的F通道控制装置，其特征在于，所述装置还包括：
    查询模块，在所述第二接收模块接收用户指令之前，查询所述F通道已经映射的指定功能。
  98. 根据权利要求96所述的F通道控制装置，其特征在于，所述第二接收模块接收用户指令之前，所述第二接收模块还用于接收用户账号的登录信息；所述第二发送模块发送所述用户账号的登录信号至所述控制装置。
  99. 如权利要求96所述的F通道控制装置，其特征在于，所述第二发送模块通过API接口发送映射信号至所述控制装置。
  100. 如权利要求96所述的F通道控制装置，其特征在于，所述指定功能是信号输出功能。
  101. 根据权利要求100所述的F通道控制装置，其特征在于，所述信号输出功能包括输出特定类型的信号。
  102. 根据权利要求101所述的F通道控制装置，其特征在于，所述用户指令还包括所述特定类型的信号的特征参数。
  103. 如权利要求101所述的F通道控制装置，其特征在于，所述第二发送模块还用于发送触发信号至所述控制装置，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述控制装置通过所述F通道输出具有所述特征参数的特定类型的信号。
  104. 根据权利要求101所述的F通道控制装置，其特征在于，所述第二发送模块还用于发送触发配置信号至所述控制装置，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述控制装置通过所述F通道输出具有所述特征参数的特定类型的信号。
  105. 根据权利要求104所述的F通道控制装置，其特征在于，所述第二发送模块还用于发送触发信号至所述控制装置。
  106. 根据权利要求103或105所述的F通道控制装置，其特征在于，所述第二发送模块是在检测模块检测到所述控制装置满足触发条件时发送触发信号的。
  107. 根据权利要求106所述的F通道控制装置，其特征在于，所述检测模块用于获取所述控制装置的位置信息；
    所述触发条件包括：所述检测模块根据所述控制装置的位置信息确定所述控制装置位于指定地点。
  108. 根据权利要求104所述的F通道控制装置，其特征在于，所述触发配置信号和所述映射信号位于同一个信号内。
  109. 根据权利要求96所述的F通道控制装置，其特征在于，所述指定功能是信号输入功能。
  110. 根据权利要求109所述的F通道控制装置，其特征在于，所述第二接收模块还用于接收通过所述F通道采集到的信号。
  111. 根据权利要求110所述的F通道控制装置，其特征在于，所述第二接收模块接收通过所述F通道采集到的信号是在所述第二发送模块发送触发信号后执行的，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述控制装置根据采集参数对所述F通道输入的信号进行采集；或者，
    所述第二接收模块接收通过所述F通道采集到的信号是在所述第二发送模块发送映射信号后执行的。
  112. 根据权利要求109所述的F通道控制装置，其特征在于，所述第二发送模块还用于发送触发配置信号至所述控制装置，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述控制装置根据采集参数对所述F通道输入的信号进行采集。
  113. 根据权利要求112所述的F通道控制装置，其特征在于，所述第二发送模块还用于发送触发信号至所述控制装置。
  114. 根据权利要求96所述的F通道控制装置，其特征在于，所述装置为飞行控制系统或无人飞行器。
  115. 一种F通道控制装置，其特征在于，所述装置包括：
    第二处理器；
    用于存储第二处理器可执行指令的第二存储器；
    其中，所述第二处理器被配置为：
    接收用户指令，所述用户指令包括待映射的F通道对应的F通道标识和待映射到所述F通道上的指定功能；
    根据所述用户指令生成映射信号，发送所述映射信号至第一处理器，所述映射信号用于指示所述第一处理器将所述F通道标识对应的F通道映射至所述指定功能。
  116. 根据权利要求115所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    所述接收用户指令，之前还包括：
    查询所述F通道已经映射的指定功能。
  117. 根据权利要求115所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    所述接收用户指令，之前还包括：
    接收用户账号的登录信息；
    发送所述用户账号的登录信号至所述第一处理器。
  118. 如权利要求115所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    所述发送映射信号至第一处理器具体包括：
    通过API接口发送映射信号至所述第一处理器。
  119. 如权利要求115所述的F通道控制装置，其特征在于，所述指定 功能是信号输出功能。
  120. 根据权利要求115所述的F通道控制装置，其特征在于，所述信号输出功能包括输出特定类型的信号。
  121. 根据权利要求120所述的F通道控制装置，其特征在于，所述用户指令还包括所述特定类型的信号的特征参数。
  122. 如权利要求120所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    发送触发信号至所述第一处理器，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述第一处理器通过所述F通道输出具有所述特征参数的特定类型的信号。
  123. 根据权利要求120所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    发送触发配置信号至所述第一处理器，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述第一处理器通过所述F通道输出具有所述特征参数的特定类型的信号。
  124. 根据权利要求123所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    发送触发信号至所述第一处理器。
  125. 根据权利要求122或124所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    所述触发信号是在检测到所述第一处理器满足触发条件时发送的。
  126. 根据权利要求125所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    获取所述第一处理器的位置信息；
    所述触发条件包括：
    根据所述第一处理器的位置信息确定所述第一处理器位于指定地点。
  127. 根据权利要求123所述的F通道控制装置，其特征在于，所述触发配置信号和所述映射信号位于同一个信号内。
  128. 根据权利要求115所述的F通道控制装置，其特征在于，所述指定功能是信号输入功能。
  129. 根据权利要求128所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    接收通过所述F通道采集到的信号。
  130. 根据权利要求129所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    所述接收通过所述F通道采集到的信号是在发送触发信号后执行的，所述触发信号包括所述F通道标识和特定类型的信号的特征参数，用于指示所述第一处理器根据采集参数对所述F通道输入的信号进行采集；或者，
    所述接收通过所述F通道采集到的信号是在发送映射信号后执行的。
  131. 根据权利要求128所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    发送触发配置信号至所述第一处理器，所述触发配置信号包括所述F通道标识、所述特定类型的信号的特征参数和触发信号的参数，所述触发信号的参数用于指示触发信号，所述触发信号用于指示所述第一处理器根据采集参数对所述F通道输入的信号进行采集。
  132. 根据权利要求131所述的F通道控制装置，其特征在于，所述第二处理器还被配置为：
    发送触发信号至所述第一处理器。
  133. 根据权利要求115所述的F通道控制装置，其特征在于，所述装置为无人飞行器或无人飞行控制系统。
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