CN104914872A - Sensor dual-redundancy flight control computer system suitable for small civilian unmanned aerial vehicle - Google Patents
Sensor dual-redundancy flight control computer system suitable for small civilian unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a sensor dual-redundancy flight control computer system suitable for a small civilian unmanned aerial vehicle, relates to the field of unmanned aerial vehicle avionics, and solves the problems of poor universality, complex design, the large volume and the large weight which exist in existing flight control computer redundancy design. The sensor dual-redundancy flight control computer system comprises a flight control module, a redundancy sensor module, an expansion interface module, an executing mechanism module and a power supply module; and the flight control module and the redundancy sensor module are respectively provided with an independent processor, accelerometers, gyros, magnetometers, barometric altimeters and other sensors are integrated through external interfaces of the processors, the two modules perform parallel working in each period through adoption of a synchronization mode, and obtained original sensor data are processed by utilizing the processors of the flight control module and the redundancy sensor module. The flight control processor analyzes sensor information at each period and sends the diagnosis information to the redundancy data processor, and, if the sensors fail, redundancy sensor information sent by the redundancy data processor is utilized to perform resolving of navigation and control. The sensor dual-redundancy flight control computer system is convenient to implement, low in cost and high in reliability.
Description
Technical field
The present invention relates to unmanned plane avionics technical field, be specifically related to a kind of two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane.
Background technology
Unmanned plane is in order to complete aerial mission, need to carry pressure, vibration and position sensor etc., these inductors constitute the sensing system of unmanned plane, they are used for accurately measuring motion or the state parameter of unmanned plane, by the information feed back measured to Navigation of Pilotless Aircraft, control and ground observing and controlling system.The emphasis that current Small Civil unmanned plane product design is paid close attention to is less volume and lower cost, the sensor of general employing low cost, the probability that this kind of sensor breaks down in harsh external environment is higher, once the flight safety broken down directly threatening unmanned plane, thus under the prerequisite adopting low cost sensor, how to ensure that the reliability of unmanned plane has become the critical problem of unmanned aerial vehicle design.
For solving the problem, improve the reliability of unmanned plane during flying, different redundancy design technology is arisen at the historic moment.At present, when carrying out flight control computer redundancy design, utilize original Interface integration redundancy sensor flying controlling processor and expand, this method adds the burden of processor in implementation procedure, does not also have versatility, portable poor.In addition, flight control computer, by adopting multiple processor interconnected, carries out the redundancy design of processor, and the voting that exports is carried out by arbitration circuit, this method increase the complexity of soft and hardware design, add the volume and weight of flight control computer, realizability reduces greatly.
Summary of the invention
In order to solve the poor universality that existing flight control computer redundancy design exists, the problem that design is complicated, volume weight is large, the invention provides a kind of two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane.
The technical scheme that the present invention adopts for technical solution problem is as follows:
The present invention is applicable to the two remaining flight control computer system of sensor of Small Civil unmanned plane, comprises for the supply module of flight control computer system power supply and the actuator module that is connected with supply module; Also comprise:
Flying of being connected with supply module controls module, described in fly to control module and comprise: fly controlling processor and with the digital transmission module, gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter, the CAN interface that fly controlling processor and be connected, the described controlling processor that flies is communicated with ground observing and controlling system by digital transmission module, the described controlling processor that flies sends synchronizing signal to redundancy sensor module, receive the syn ack signal of redundancy sensor module, gather the data message of each sensor measurement flown in control module and health status diagnosis is carried out to it, diagnostic result is sent to redundancy sensor module simultaneously, the data message flying each sensor measurement controlled in module is navigated and controls to resolve and the control signal calculated is sent to expansion connection module, the data message that the redundancy sensor receiving the correspondence that redundancy sensor module sends is measured also to navigate to it and control is resolved, the control signal calculated is sent to expansion connection module simultaneously, control flight control computer system enters the emergency flight control pattern under sensor fault,
The redundancy sensor module be connected with supply module, described redundancy sensor module comprises: remaining data processor and the gyrosensor be connected with remaining data processor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter, CAN interface; CAN interface in described redundancy sensor module with fly the CAN interface controlled in module and be connected; Described flying communicates with the CAN interface in redundancy sensor module by flying the CAN interface controlled in module between controlling processor with remaining data processor; Described remaining data processor receive the synchronizing signal that flies controlling processor and by syn ack signal feedback to flying controlling processor, receive the sensor health status diagnostic message flying controlling processor and send, health status diagnosis is carried out to the data message that redundancy sensor corresponding in redundancy sensor module is measured, the data message that the redundancy sensor of correspondence is measured is sent to and flies controlling processor, the redundancy sensor failure message of correspondence is sent to and flies controlling processor;
The expansion connection module be connected with supply module, described expansion connection module comprises: interface controller and the CAN interface be connected with interface controller; Described CAN interface with fly the CAN interface controlled in module and be connected; Described interface controller by CAN interface and the CAN interface flying to control in module with fly controlling processor and communicate; Described interface controller reception flies the control signal of controlling processor transmission and is converted into the pwm signal controlling actuator module action, and pwm signal is sent to actuator module.
Further, described supply module comprises processing unit supply module and topworks's supply module; Described processing unit supply module respectively with fly to control module, expansion connection module is connected with redundancy sensor module, for fly control module, redundancy sensor module and expansion connection module power; Described topworks supply module is connected with actuator module, for powering to actuator module.
Further, described processing unit supply module adopts 12V lithium battery.
Further, described topworks supply module adopts 7.4V lithium battery.
Further, described actuator module comprises: aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel, described aileron steering wheel, direction steering wheel, lifting steering wheel are all connected with the interface controller in expansion connection module with throttle steering wheel, the pwm signal that described aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel receiving interface controller send.
Further, described aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel all adopt high-voltage digital steering wheel, control the deflection of the aileron rudder face of unmanned plane, direction rudder face, lifting rudder face and throttle rudder face respectively.
Further, described expansion connection module also comprises the remote control receiver interface, AD bus interface, spi bus interface and the UART interface that are connected with interface controller, described remote control receiver interface, AD bus interface, spi bus interface and UART interface are the extended device in expansion connection module, and described remote control receiver interface is for realizing the communication between interface controller and ground remote control device.
Further, controlling processor is flown described in and remaining data processor all adopts STM32 chip.
The invention has the beneficial effects as follows:
The present invention is directed to the low cost sensor the most easily broken down in flight control system and carry out two redundancy design, form active and standby two cover sensing systems, master flies the state that controlling processor detects primary transducer system in real time, and circular is to remaining data processor, switches after master reference lost efficacy and use redundancy sensor.
Fly controlling processor when each performance period starts, carry out synchronous with remaining data processor, latter two processor synchronous all carries out the collection of sensing data, fly controlling processor carry out navigating, control to resolve before Gernral Check-up is carried out to sensing data, sensor diagnostic information is informed remaining data processor, if sensor states is normal, fly controlling processor and carry out normal control rate and resolve, otherwise the sensor information that remaining controller can be utilized to send is resolved.If same model sensor lost efficacy in two modules simultaneously, then adopted the emergence treating method under sensor fault.
The present invention is configured by simple sensor redundancy, improves the reliability of unmanned plane during flying in conjunction with software algorithm design.
Present invention alleviates the pressure of processor peripheral interface circuit design, can redundant configuration be carried out by simple handshaking information mutual between active and standby sensing system simultaneously, there is simple, efficient advantage.
The invention process is simple, cost is low, has good versatility, effectively can improve the reliability of unmanned plane during flying, can guarantee that unmanned plane continues to fly safely when certain sensor failure, be specially adapted to Small Civil unmanned plane.
Accompanying drawing explanation
Fig. 1 is the composition structured flowchart being applicable to the two remaining flight control computer system of sensor of Small Civil unmanned plane of the present invention.
Fig. 2 flies the workflow schematic diagram of controlling processor in each work period in the present invention.
Fig. 3 is the workflow schematic diagram of the remaining data processor in the present invention in each work period.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, the two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane of the present invention, comprises and flies to control module, redundancy sensor module, expansion connection module, actuator module and supply module.
Fly control module to fly controlling processor for core, be integrated with the various sensor for UAV Flight Control by the peripheral interface flying controlling processor.Fly control module to comprise: fly controlling processor, digital transmission module, gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter and CAN interface.Fly controlling processor, digital transmission module, gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter and CAN Interface integration on one piece of circuit board.Digital transmission module, gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter, CAN interface all with fly controlling processor and be connected.
Fly to control gyrosensor in module for measuring unmanned plane angular velocity information, accelerometer is for measuring unmanned plane acceleration information, magnetometer is for measuring unmanned plane magnetic vector information, GPS module is for measuring unmanned plane positional information, pitot meter is for measuring unmanned plane velocity information, barometric altimeter is for measuring unmanned plane barometer altitude information, CAN interface is for realizing the communication between the communication that flies between the remaining data processor in controlling processor and redundancy sensor module and the interface controller flown in controlling processor and expansion connection module, digital transmission module is for realizing the communication flown between controlling processor and ground observing and controlling system, for by Navigation of Pilotless Aircraft, control and attitude information (angular velocity, acceleration, magnetic vector, position, speed, barometer altitude information etc.) under pass to ground observing and controlling system, and the operational order of ground observing and controlling system is uploaded to flies controlling processor.
Flying controlling processor for sending synchronizing signal to the remaining data processor in redundancy sensor module, flying controlling processor for receiving the syn ack signal of remaining data processor; Fly controlling processor for gathering the data message of each sensor measurement flown in control module and carrying out health status diagnosis to it, diagnostic result is sent to the remaining data processor in redundancy sensor module simultaneously; Fly controlling processor for navigating to the data message flying each sensor measurement controlled in module and control to resolve and the control signal calculated sent to the interface controller in expansion connection module; Fly data message that controlling processor measures for the redundancy sensor of the correspondence receiving remaining data processor in redundancy sensor module and send and it to be navigated and control is resolved, the control signal calculated being sent to the interface controller in expansion connection module simultaneously; Fly controlling processor and enter emergency flight control pattern under sensor fault for controlling flight control computer system.
Redundancy sensor module for core with remaining data processor, is integrated with and flies to control the sensor for UAV Flight Control identical in module.Redundancy sensor module comprises: remaining data processor, gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter and CAN interface.Remaining data processor, gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter and CAN Interface integration are on one piece of circuit board.Gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter, CAN interface are all connected with remaining data processor.
Gyrosensor in redundancy sensor module is for measuring unmanned plane angular velocity information, accelerometer is for measuring unmanned plane acceleration information, magnetometer is for measuring unmanned plane magnetic vector information, GPS module is for measuring unmanned plane positional information, pitot meter is for measuring unmanned plane velocity information, barometric altimeter is for measuring unmanned plane barometer altitude information, and CAN interface is for realizing remaining data processor and flying the communication flown between controlling processor controlled in module.
Remaining data processor for receive the synchronizing signal that flies controlling processor and by syn ack signal feedback to flying controlling processor; Remaining data processor is for receiving the sensor health status diagnostic message flying controlling processor and send; The data message that remaining data processor is used for redundancy sensor corresponding in redundancy sensor module is measured carries out health status diagnosis; Remaining data processor is used for the data message that the redundancy sensor of correspondence is measured to send to fly controlling processor; Remaining data processor is used for the redundancy sensor failure message of correspondence to send to fly controlling processor.
Expansion connection module comprises: interface controller, remote control receiver interface, AD bus interface, spi bus interface, CAN interface and UART interface.Interface controller, remote control receiver interface, AD bus interface, spi bus interface, CAN interface and UART interface are integrated on one piece of circuit board.Remote control receiver interface, AD bus interface, spi bus interface, CAN interface are all connected with interface controller with UART interface, CAN interface with fly the CAN interface controlled in module and be connected.Interface controller is communicated with ground remote control device by remote control receiver interface, interface controller is controlled CAN interface in module by CAN interface and flying and is flown controlling processor and communicate, remote control receiver interface, AD bus interface, spi bus interface and UART interface are the extended device in expansion connection module, as expanded application.
Expansion connection module take interface controller as core, and interface controller flies control signal that controlling processor sends for receiving and is converted into the pwm signal (for controlling the deflection of the aileron rudder face of unmanned plane, direction rudder face, lifting rudder face and throttle rudder face) controlling actuator module action; Interface controller is used for the aileron steering wheel, direction steering wheel, lifting steering wheel and the throttle steering wheel that are sent to by pwm signal in actuator module; Interface controller is used for managing the expansion interface (remote control receiver interface, AD bus interface, spi bus interface and UART interface) in expansion connection module, is fed back to by the effective information received (effective information refers to the engine speed of measurement, the feedback information etc. of steering wheel) fly controlling processor by expansion interface.
Actuator module comprises: aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel, aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel are separate, aileron steering wheel, direction steering wheel, lifting steering wheel are all connected with the interface controller in expansion connection module with throttle steering wheel, the pwm signal that aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel receiving interface controller send, pwm signal is for driving aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel.
In the present embodiment, aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel all adopt high-voltage digital steering wheel, control the deflection of the aileron rudder face of unmanned plane, direction rudder face, lifting rudder face and throttle rudder face respectively.
Supply module comprises: processing unit supply module and topworks's supply module, and processing unit supply module and topworks's supply module are integrated on one piece of circuit board.Processing unit supply module respectively with fly to control module, expansion connection module is connected with redundancy sensor module, processing unit supply module adopts 12V lithium battery, for powering to flying control module, redundancy sensor module and expansion connection module; Topworks's supply module respectively with the aileron steering wheel in actuator module, direction steering wheel, be elevated steering wheel and be connected with throttle steering wheel, topworks's supply module adopts 7.4V lithium battery, powers for giving aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel.After flight control computer system of the present invention is mounted to unmanned plane equipment compartment, by supply module to flying control module, redundancy sensor module, expansion connection module, actuator module power, flying control module, redundancy sensor module and expansion connection module adopts 12V to power, and actuator module adopts 7.4V to power.
In the present embodiment, controlling processor is flown and remaining data processor all adopts STM32 chip.
As shown in Figure 2, fly the workflow of controlling processor in each work period: after powering on, fly controlling processor to send synchronizing signal by CAN interface and be transferred to remaining data processor by the CAN interface in redundancy sensor module, fly the syn ack signal that controlling processor receives remaining data processor simultaneously, when after the syn ack signal receiving remaining data processor, think that redundancy sensor module has got out gather the data message of redundancy sensor measurement; The syn ack signal that controlling processor does not receive remaining data processor if fly, then wait for 20ms, if receive syn ack signal in 20ms, then fly controlling processor and start to gather the data message flying each sensor measurement controlled in module, if also do not receive syn ack signal more than 20ms, then fly the syn ack signal that controlling processor receives remaining data processor again, then gather the data message flying each sensor measurement controlled in module.
Fly controlling processor and start to gather the data message flying each sensor measurement controlled in module, the data message of each sensor measurement that first time receives needs to carry out original state detection, to judge whether it can use.
If not first time receives the data message of each sensor measurement, or when the data message that first time receives each sensor measurement carries out judging that it is available after original state detects, then fly controlling processor and health status diagnosis is carried out to the data message of each sensor measurement, judge whether fly each sensor controlled in module lost efficacy, all do not lose efficacy if diagnostic result is normally all the sensors, then fly controlling processor and by CAN interface " all the sensors is normal " information sent to remaining data processor in redundancy sensor module, if diagnostic result is abnormal namely particular sensor inefficacy (gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, one in barometric altimeter lost efficacy or multiple inefficacy simultaneously), then fly controlling processor and by CAN interface certain sensor failure or certain several sensor failure information sent to remaining data processor in redundancy sensor module.
When flying each sensor in control module and being all normal, flying controlling processor utilizes the data message of each sensor measurement to carry out navigating and control is resolved, and the control signal calculated is sent to the interface controller in expansion connection module by the CAN interface in CAN interface and expansion connection module, when flying to control certain or certain the several sensor failure in module, the data message that the redundancy sensor flying the correspondence that controlling processor is sent by the remaining data processor in CAN interface redundancy sensor module is measured (such as: when flying the gyrosensor inefficacy controlled in module, then fly the data message that controlling processor receives the gyrosensor measurement in redundancy sensor module, the data message flying to control the gyrosensor measurement of losing efficacy in module is substituted) with this data message, fly data message that controlling processor utilizes this redundancy sensor to measure to carry out navigating and control is resolved, finally the control signal calculated is sent to interface controller by the CAN interface in CAN interface and expansion connection module.
Interface controller receives the control signal flying controlling processor and send, the control signal flying controlling processor transmission is converted to the pwm signal controlling actuator module action simultaneously, pwm signal is sent to aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel in actuator module by interface controller, controls the deflection of the aileron rudder face of unmanned plane, direction rudder face, lifting rudder face and throttle rudder face.
As shown in Figure 3, remaining data processor is in the workflow of each work period: remaining data processor is in the beginning of each work period, wait-receiving mode flies the synchronizing signal of controlling processor, after receiving synchronizing signal, start the data message gathering the measurement of each redundancy sensor, syn ack signal is fed back to by CAN interface simultaneously and fly controlling processor.
Remaining data processor wait-receiving mode flies the sensor health status diagnostic message that controlling processor sends, after receiving and flying to control certain sensor failure in module or certain several sensor failure information, remaining data processor also carries out health status diagnosis to the data message that redundancy sensor corresponding in redundancy sensor module is measured, if the redundancy sensor that diagnostic result is normally namely corresponding did not lose efficacy, the data message then measured by the redundancy sensor of this correspondence is sent to by CAN interface and flies controlling processor, if the abnormal namely corresponding redundancy sensor of diagnostic result lost efficacy, then the redundancy sensor failure message of this correspondence is sent to by CAN interface and fly controlling processor.
When the sensor of the same model flying the identical function controlled in module and redundancy sensor module lost efficacy simultaneously (such as: fly to control the gyrosensor in module and the gyrosensor in redundancy sensor module lost efficacy simultaneously), then think and fly this model sensor fault of flight control computer system control module and will enter the emergency flight control pattern under sensor fault.As shown in Figure 1, under emergency flight control pattern, extract the information with fault sensor output equivalent by software algorithm design, such as, when barometric altimeter breaks down, GPS elevation information is utilized to substitute, when pitot meter breaks down, ground velocity information is utilized to substitute; When the information with fault sensor output equivalent cannot be extracted, in order to ensure that unmanned plane during flying is not caused danger, the strategy closing engine, drive parachute will be taked in advance.
Flying to control the active and standby two cover sensor subsystems that module and redundancy sensor module are flight control computer system, is the core component of whole flight control computer system.
Claims (8)
1. be applicable to the two remaining flight control computer system of sensor of Small Civil unmanned plane, comprise for the supply module of flight control computer system power supply and the actuator module that is connected with supply module; It is characterized in that, also comprise:
Flying of being connected with supply module controls module, described in fly to control module and comprise: fly controlling processor and with the digital transmission module, gyrosensor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter, the CAN interface that fly controlling processor and be connected, the described controlling processor that flies is by communicating between digital transmission module with ground observing and controlling system, the described controlling processor that flies sends synchronizing signal to redundancy sensor module, receive the syn ack signal of redundancy sensor module, gather the data message of each sensor measurement flown in control module and health status diagnosis is carried out to it, diagnostic result is sent to redundancy sensor module simultaneously, the data message flying each sensor measurement controlled in module is navigated and controls to resolve and the control signal calculated is sent to expansion connection module, the data message that the redundancy sensor receiving the correspondence that redundancy sensor module sends is measured also to navigate to it and control is resolved, the control signal calculated is sent to expansion connection module simultaneously, control flight control computer system enters the emergency flight control pattern under sensor fault,
The redundancy sensor module be connected with supply module, described redundancy sensor module comprises: remaining data processor and the gyrosensor be connected with remaining data processor, accelerometer, magnetometer, GPS module, pitot meter, barometric altimeter, CAN interface; CAN interface in described redundancy sensor module with fly the CAN interface controlled in module and be connected; Described flying communicates with the CAN interface in redundancy sensor module by flying the CAN interface controlled in module between controlling processor with remaining data processor; Described remaining data processor receive the synchronizing signal that flies controlling processor and by syn ack signal feedback to flying controlling processor, receive the sensor health status diagnostic message flying controlling processor and send, health status diagnosis is carried out to the data message that redundancy sensor corresponding in redundancy sensor module is measured, the data message that the redundancy sensor of correspondence is measured is sent to and flies controlling processor, the redundancy sensor failure message of correspondence is sent to and flies controlling processor;
The expansion connection module be connected with supply module, described expansion connection module comprises: interface controller and the CAN interface be connected with interface controller; Described CAN interface with fly the CAN interface controlled in module and be connected; Described interface controller is controlled CAN interface in module by CAN interface and flying and is flown to communicate between controlling processor; Described interface controller reception flies the control signal of controlling processor transmission and is converted into the pwm signal controlling actuator module action, and pwm signal is sent to actuator module.
2. the two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane according to claim 1, it is characterized in that, described supply module comprises processing unit supply module and topworks's supply module; Described processing unit supply module respectively with fly to control module, expansion connection module is connected with redundancy sensor module, for fly control module, redundancy sensor module and expansion connection module power; Described topworks supply module is connected with actuator module, for powering to actuator module.
3. the two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane according to claim 2, it is characterized in that, described processing unit supply module adopts 12V lithium battery.
4. the two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane according to claim 2, it is characterized in that, described topworks supply module adopts 7.4V lithium battery.
5. the two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane according to claim 1, it is characterized in that, described actuator module comprises: aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel, described aileron steering wheel, direction steering wheel, lifting steering wheel are all connected with the interface controller in expansion connection module with throttle steering wheel, the pwm signal that described aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel receiving interface controller send.
6. the two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane according to claim 5, it is characterized in that, described aileron steering wheel, direction steering wheel, lifting steering wheel and throttle steering wheel all adopt high-voltage digital steering wheel, control the deflection of the aileron rudder face of unmanned plane, direction rudder face, lifting rudder face and throttle rudder face respectively.
7. the two remaining flight control computer system of sensor being applicable to Small Civil unmanned plane according to claim 1, it is characterized in that, described expansion connection module also comprises the remote control receiver interface, AD bus interface, spi bus interface and the UART interface that are connected with interface controller, described remote control receiver interface, AD bus interface, spi bus interface and UART interface are the extended device in expansion connection module, and described remote control receiver interface is for realizing the communication between interface controller and ground remote control device receiver.
8. the two remaining flight control computer system of the sensor being applicable to Small Civil unmanned plane according to claim 1, is characterized in that, described in fly controlling processor and remaining data processor all adopts STM32 chip.
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