CN109254543B - Remote control device and calibration method of potentiometer rocker thereof - Google Patents
Remote control device and calibration method of potentiometer rocker thereof Download PDFInfo
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- CN109254543B CN109254543B CN201710572179.1A CN201710572179A CN109254543B CN 109254543 B CN109254543 B CN 109254543B CN 201710572179 A CN201710572179 A CN 201710572179A CN 109254543 B CN109254543 B CN 109254543B
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- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
- G05B19/0425—Safety, monitoring
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- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21006—Detect position switches, connect resistances, analog value gives position
Abstract
The invention relates to a remote control device and a calibration method of a potentiometer rocker thereof, wherein the method comprises the following steps: acquiring a calibration value of a target calibration position of a target channel stored in the remote control device; judging whether the calibration value is normal or not, and executing a default calibration flow of the remote control device when the calibration value is judged to be normal; and when the calibration value is judged to be abnormal, executing an initial calibration process. By adopting the calibration method, the original default calibration flow is kept, meanwhile, the initial calibration flow is added for the calibration of the remote control device, and the problem that the original default calibration flow cannot complete the calibration due to the abrasion or replacement of the potentiometer rocker can be solved by setting and storing the new preset calibration value, so that the potentiometer rocker can be normally used.
Description
Technical Field
The invention relates to the technical field of control, in particular to a remote control device and a calibration method of a potentiometer rocker thereof.
Background
The potentiometer rocker has the advantage of simple structure, thereby being used for in a large number of remote control units of unmanned aerial vehicle. The potentiometer rocker is easily worn during use, so that the error is large, and the potentiometer rocker needs to be calibrated before use. When a potentiometer rocker is abraded to a certain degree or a new rocker is replaced, the traditional calibration procedure cannot complete the calibration process, the preset value for calibration needs to be manually modified at the moment, or the remote control A/D channel needs to be changed, so that the calibration can be completed, otherwise, the rocker cannot be normally used. However, the process of manually modifying the preset value or exchanging the remote a/D channel is very complicated, and requires a great amount of labor and material.
Disclosure of Invention
Therefore, there is a need for a remote control device and a method for calibrating a potentiometer rocker thereof that can ensure the normal use of the potentiometer rocker.
A method for calibrating a potentiometer rocker of a remote control device comprises the following steps:
acquiring a calibration value of a target calibration position of a target channel stored in the remote control device;
judging whether the calibration value is normal:
when the calibration value is judged to be normal, executing a default calibration process of the remote control device;
and when the calibration value is judged to be abnormal, executing an initial calibration process.
The calibration method of the potentiometer rocker of the remote control device judges whether the calibration value of the target calibration position stored in the remote control device is normal or not, and executes the default calibration flow of the remote control device to calibrate when the calibration value is normal. And when the calibration value is abnormal, the calibration is carried out through an increased initial calibration flow. According to the calibration method, the original default calibration process is kept, the initial calibration process is added for the calibration of the remote control device, the problem that the original default calibration process cannot complete the calibration due to the abrasion or replacement of the potentiometer rocker is solved by setting and storing the new preset calibration value, and the normal use of the potentiometer rocker is ensured.
Further, the obtained calibration value is verified, and when the calibration value is confirmed to be an effective value stored after normal calibration is passed, the calibration value is judged to be normal; otherwise, the calibration value is judged to be abnormal.
Further, the initial calibration process includes the step of calibrating each target calibration position according to a preset calibration sequence;
wherein, calibrating each target calibration position comprises:
controlling the potentiometer rocker to move to a target calibration position and reading a sampling value; and
and determining and storing a new calibration value of the target calibration position according to the sampling value.
Further, the target calibration position of the target channel comprises a median position, and the median position is a middle position of the target channel;
after the step of controlling the potentiometer rocker to move to the target calibration position and reading the sampling value, and before the step of determining and storing a new calibration value of the target calibration position according to the sampling value, the method further comprises the following steps:
dead zone filtering processing and/or numerical value homogenization processing are/is carried out on the sampling value to form an intermediate quantity under the new channel measuring range; and
performing gear conversion on the intermediate quantity according to the target gear range and the new channel range to obtain a sampling value under the target gear range;
wherein the dead-zone filtering process includes a step of compressing the sample values within the dead zone range to a target value; the numerical homogenization treatment comprises a step of shifting the sampling value to the middle position by a preset offset.
Further, the step of performing dead-zone filtering and/or numerical homogenization on the sampled values to form an intermediate quantity at a new channel range includes:
receiving a dead zone range of a target calibration position, and forming a current calibration range of a target channel according to the calibration value and the dead zone range;
when the target calibration position is located in a dead zone range of a median, performing dead zone filtering processing on the sampling value to be used as a middle quantity under a new channel range;
when the target calibration position is in a non-median dead zone range, dead zone filtering processing and numerical value homogenization processing are carried out on the sampling value to be used as an intermediate quantity under a new channel measuring range;
and when the target calibration position is in a non-dead zone range, carrying out numerical homogenization on the sampling value to be used as an intermediate quantity in the new channel measuring range.
Further, the target calibration position of the target channel further includes a low position and a high position, and the low position and the high position are end positions of the target channel; in the step of obtaining the calibration value of the target calibration position of the target channel stored in the remote control device, the obtained calibration value includes a median value, a low value and a high value corresponding to the median, the low and the high respectively; wherein, the low value is minimum, and the high value is maximum.
Further, in the dead-zone filtering process, different target values are set according to a target calibration position; the low-order target value of the low order is the sum of the low order and the dead zone range of the low order; the median target value of the median is a median; the high target value of the high bit is the difference between the high value and the dead zone range of the high bit;
the preset offset in the numerical homogenization treatment is equal to the dead zone range of the median; when the read sampling value or the sampling value after dead zone filtering is smaller than the median, adding the dead zone range of the median to the sampling value; and when the read sampling value or the sampling value after dead zone filtering is larger than the median, subtracting the dead zone range of the median from the sampling value.
Further, the step of calibrating the target calibration positions according to a preset calibration sequence includes:
sequentially calibrating each target channel of the potential rocker according to a first calibration sequence; and
and sequentially calibrating the target calibration positions of the same channel according to the second calibration sequence.
Further, the target calibration position of the target channel comprises a median position, and the median position is a middle position of the target channel; the middle position is the first position for calibration; when the middle position is calibrated, determining a new middle position calibration value of the middle position according to a sampling value of the middle position;
and in the step of calibrating other target calibration positions of the target channel, determining a new calibration value of each target calibration position according to the new middle calibration value and the sampling value of each target calibration position.
Further, after each target calibration position is calibrated, a centering calibration step for the potentiometer rocker is also required.
Further, in the step of calibrating the target calibration positions according to the preset calibration sequence, the start and end of calibration are determined according to a preset control signal.
Further, the default calibration procedure includes:
controlling the potentiometer rocker to move to a target calibration position and reading a sampling value; and
and determining and storing a new calibration value of the target calibration position according to the sampling value and the corresponding calibration value.
A remote control device comprises a remote control body and a potentiometer rocker; the potentiometer rocker is fixed on the remote control body; the remote control body includes:
a memory for storing a calibration value for a target calibration position of a target channel; and
and the microcontroller is connected with the storage equipment and is used for acquiring the calibration value of the target calibration position of the target channel from the storage equipment when calibrating the potentiometer rocker, executing a default calibration process when the calibration value is normal, and executing an initial calibration process when the calibration value is abnormal.
Further, the microcontroller calibrates each target calibration position according to a preset calibration sequence when executing the initial calibration process;
the remote control device further includes:
the prompting device is connected with the microcontroller; the microcontroller is also used for controlling the prompting equipment to prompt a user to move the potentiometer rocker to a target calibration position when each target calibration position is calibrated; and
the sampling device is connected with the microcontroller; the microcontroller is also used for controlling the sampling equipment to read a sampling value when the prompting equipment prompts a user to move the potentiometer rocker to a target calibration position; the microcontroller is also used for determining a new calibration value of the target calibration position according to the sampling value and controlling the storage device to store the new calibration value.
Drawings
FIG. 1 is a schematic diagram of an interface of a left potentiometer rocker in an embodiment;
FIG. 2 is a schematic diagram of an interface of a right potentiometer rocker in an embodiment;
FIG. 3 is a functional block diagram of a remote control device in one embodiment;
FIG. 4 is a method for calibrating a potentiometer rocker of a remote control device according to an embodiment;
FIG. 5 is a flow diagram of a default calibration procedure in one embodiment;
FIG. 6 is a flow chart of a default calibration procedure in another embodiment;
FIG. 7 is a flow diagram of processing sample values in one embodiment;
FIG. 8 is a flow diagram of processing sampled values in an exemplary embodiment;
FIG. 9 is a schematic illustration of the current calibration range of the embodiment of FIG. 8;
FIG. 10 is a flow chart of an initial calibration in one embodiment;
fig. 11 is a flow chart of an initial calibration procedure in another embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The remote control device in the embodiment of the invention comprises a remote control body and a potentiometer rocker. The potentiometer rocker is fixed on the remote control body for a user to operate so as to input a remote control command to the remote control device. The number of the potentiometer rockers can be set according to the requirement, for example, one, two or more. In this embodiment, the remote control device includes two potentiometer rockers. The two potentiometer rocking bars are respectively a left potentiometer rocking bar and a right potentiometer rocking bar, so that a user can conveniently operate the left potentiometer rocking bar and the right potentiometer rocking bar by the left hand and the right hand respectively or simultaneously.
Fig. 1 and fig. 2 are schematic diagrams of interfaces of a left potentiometer rocker and a right potentiometer rocker in the embodiment of the present invention, respectively, where CH1, CH2, CH3, and CH4 are analog outputs converted from a left potentiometer rocker X axis, a left potentiometer rocker Y axis, a right potentiometer rocker X axis, and a right potentiometer rocker Y axis, respectively. In principle, the output range is between 0 and 3.3V. In fact, the actual output range is smaller than the range due to mechanical limitation, and the output ranges of different potentiometer rockers are different.
Fig. 3 is a schematic block diagram of a remote control device (also referred to as a potentiometer rocker device) according to an embodiment of the present invention. Wherein, R1-R4 represent the potentiometer resistance values corresponding to the X axis of the left potentiometer rocker, the Y axis of the left potentiometer rocker, the X axis of the right potentiometer rocker and the Y axis of the right potentiometer rocker. The potentiometer resistance values corresponding to different potentiometer rockers are different, and errors among the potentiometer rockers are reflected. The remote control device comprises a memory, a Microcontroller (MCU), a prompt device and a sampling device, wherein the A/D conversion circuit is realized through the sampling device. The memory may be a flash memory, and is configured to store a calibration value of a target calibration position of the target channel. The MCU is used for managing and controlling the work of each device and executing a calibration process. The prompting device is used for prompting a user to move the potentiometer rocker to a target calibration position under the control of the MCU so as to calibrate the position. In this embodiment, the prompting device includes a display screen and an alarm. The alarm may be a buzzer. The alarm is used for giving out an alarm prompt when the calibration is abnormal. The display screen is used for displaying the channels of calibration (namely the moving axes X and Y of the potentiometer rocker) and the calibration steps. The display screen can be an LCD display screen, an LED display screen and the like. In this embodiment, the remote control device further comprises a control assembly. The control component is used to trigger calibration, calibration settings, and other operations. Specifically, when the user operates the potentiometer rocker correspondingly, the corresponding potentiometer is adjusted, and the terminals CH1, CH2, CH3 and CH4 can obtain corresponding analog voltage values, and then the analog voltage values are converted into digital values which can be read by the MCU through the a/D conversion circuit. Different digital quantities represent different positions of the potentiometer rocker.
Fig. 4 is a flowchart illustrating a method for calibrating a potentiometer rocker of a remote control device according to an embodiment. The method may be implemented by a remote control device as shown in fig. 3, the method comprising the steps of:
and step S110, acquiring a calibration value of the target calibration position of the target channel stored in the remote control device.
The memory of the remote control device stores a calibration value of a target calibration position of each calibration channel (target channel) set in advance. The target calibration position may be set as desired. In this embodiment, the target channel includes a left potentiometer rocker X-axis, a left potentiometer rocker Y-axis, a right potentiometer rocker X-axis, and a right potentiometer rocker Y-axis. The target calibration positions include the low, medium and high bits of each target channel. Ideally, the resistance value of each potentiometer rocker is the minimum and is 0 when each potentiometer rocker is at the low position of a certain shaft, so that the A/D sampling value is also 0; during neutral position, the resistance value of the potentiometer is one half of the maximum value, and the A/D sampling value is also one half of the maximum value; and when the potentiometer is in a high position, the resistance value of the potentiometer is the maximum, and the A/D sampling value is also the maximum. The middle position is the middle position of the target channel, namely the middle positions of the X axis and the Y axis; the low position and the high position are end positions of the target channel, in one specific implementation mode, the low position is the leftmost end of the X axis and the lowermost end of the Y axis, and the high position is the rightmost end of the X axis and the uppermost end of the Y axis. Due to the fact that the limit ranges of the potentiometer rockers of different manufacturers or different batches are greatly different, even the middle positions of the potentiometer rockers are greatly different. Therefore each potentiometer rocker requires calibration before use. The calibration values corresponding to the respective target calibration positions are stored in the memory of the remote control device. In this embodiment, since two potentiometer rockers are used, each potentiometer rocker has an X-axis and a Y-axis, and each axis has a low, a middle, and a high position, an array of 4X 3 is required to store the calibration value. In this embodiment, each channel is assigned a channel number to facilitate data retrieval.
And step S120, judging whether the calibration value is normal.
Whether the calibration value is normal or not can be judged, and whether the current potentiometer rocker can be directly calibrated by using the calibration value or not can be judged.
In one embodiment, the read calibration value is checked to ensure that the calibration value is a valid value saved after passing normal calibration. Specifically, a flag bit is set in the calibration value stored in the memory. The flag bit can be used for judging whether the calibration value stored in the memory is written in the normal process. For example, in one implementation, when reading the value of the flag bit of the calibration value, it is determined whether the value of the flag bit is correct, that is, whether the value is a predetermined value to be written, and if so, it is determined that the value is calibrated, that is, the calibration value is written through a normal flow, and further, the calibration value is determined to be normal; otherwise, it indicates that the calibration value is not written through the normal flow, and further determines that the calibration value is abnormal. The reason for this is that: for the remote control device which is not calibrated, the zone bit for storing the calibration value is a default value, for the calibrated remote control device, when the calibration value is written, a default value is written into the zone bit of the calibration value, the value of the zone bit under the flash address of the remote control device is read and compared with a macro defined in a program in advance, and the macro is set as the default value written into the flash of the remote control device; if equal, it indicates that the robot has been calibrated.
In another embodiment, the calibration value can be directly used to obtain the actual operation result of the potentiometer rocker. When the calibration value is deviated too much, the potentiometer rocker cannot be used for centering. Therefore, if the final potentiometer rocker cannot be centered, the remote control device can judge that the calibration value is abnormal, and otherwise, the calibration value is normal. When the calibration value is determined to be normal, step S130 is performed, and when the calibration value is determined to be abnormal, step S140 is performed.
In step S130, a default calibration process of the remote control device is performed.
When the calibration value is judged to be normal, the current potentiometer rocker can be suitable for the default calibration process of the remote control device to calibrate the potentiometer rocker, so that the accuracy of the control process is improved. The default calibration procedure of the remote control device may be a calibration procedure configured when the remote control device leaves a factory. The default calibration procedure for the remote control device may also be written into the remote control device by an engineer after the remote control device has been shipped. The default calibration procedure of the remote control device is used for carrying out calibration on the rocker of the potentiometer in normal times, namely during the period that the rocker is not seriously worn or replaced.
In step S140, an initial calibration process is performed.
When the calibration value is judged to be abnormal, the calibration cannot be performed through a daily default calibration flow. Therefore, in the calibration method in this embodiment, a new initial calibration process is added on the basis of the default calibration process to complete calibration of the potentiometer rocker when the calibration value is abnormal, and the new preset calibration value is acquired and stored through the initial calibration process to ensure that the potentiometer rocker can still be normally calibrated after being worn to a certain extent or replaced, so that the potentiometer rocker can be normally used.
In the initial calibration process, each target calibration position is calibrated according to a preset calibration sequence. In one embodiment, the target channels of the potentiometer rocker are sequentially calibrated according to a first calibration sequence, and the target calibration positions in the same target channel are sequentially calibrated according to a second calibration sequence. Specifically, the target channel includes a left potentiometer rocker X-axis, a left potentiometer rocker Y-axis, a right potentiometer rocker X-axis, and a right potentiometer rocker Y-axis, and therefore the calibration sequence thereof may be defined, for example, the left potentiometer rocker X-axis is calibrated first, the left potentiometer rocker Y-axis is calibrated again, the right potentiometer rocker X-axis is calibrated then, and the right potentiometer rocker Y-axis is calibrated again finally. For calibration between target calibration positions within the same target channel, a calibration order of the middle, high and low bits may be set. Taking the X axis of the rocker of the left potentiometer as an example, the middle position of the rocker can be calibrated first, and then the high position and the low position of the rocker can be calibrated in sequence; or, the lower position of the X axis of the rocker of the left potentiometer can be calibrated first, then the middle position of the rocker of the left potentiometer is calibrated, and finally the upper position of the rocker of the left potentiometer is calibrated. It is understood that, for each target calibration position (i.e., the middle position, the high position, and the low position) in the same target channel, the calibration sequence may be preset according to the system, or may be customized by the user.
When calibrating each target calibration position, the method specifically comprises the following steps: and controlling the rocker of the potentiometer to move to a target calibration position, reading a sampling value, and determining and storing a new calibration value of the target calibration position according to the sampling value. In the process of controlling the movement of the rocker of the potentiometer, the resistance value of the corresponding potentiometer is changed, so that the A/D value (namely, the sampling value) obtained by the A/D conversion circuit is also changed. In one embodiment, the sampled value of the potentiometer rocker at the target calibration position can be continuously read. And after summing and averaging and corresponding processing are carried out according to a plurality of continuously read sampling values, taking the processed value as a new calibration value of the target calibration position and storing the new calibration value. The stored new calibration value can be used for subsequent calibration, so that the potentiometer rocker can still be correctly calibrated after the potentiometer rocker is worn to a certain degree or replaced, and the normal use of the potentiometer rocker is realized.
In another embodiment of the present invention, a new calibration value of a target calibration position may be determined first, and then the new calibration value is used as a reference value to further determine new calibration values of other positions. For example, a new middle calibration value is determined, and then the new middle calibration value is used as a reference value to be combined with the sampling value of each target calibration position to determine a new calibration value of each target calibration position. For example, when the sampling value is smaller than the new middle calibration value by the preset amount, it is determined that the sampling value can be used as the new low calibration value. And storing the obtained new calibration value to replace the original calibration value and provide the new calibration value for subsequent daily calibration.
The calibration method of the potentiometer rocker of the remote control device judges whether the calibration value of the target calibration position stored in the remote control device is normal or not, and executes the default calibration flow of the remote control device to calibrate when the calibration value is normal. And when the calibration value is abnormal, calibrating each target calibration position through an increased initial calibration process. Specifically, the potentiometer rocker is controlled to move to a target calibration position and a sampling value is read, so that the calibration value of the target calibration position is determined and stored by using the sampling value and serves as a calibration preset value used by the potentiometer rocker at ordinary times. By adopting the calibration method, the original default calibration flow is kept, meanwhile, the initial calibration flow is added for the calibration of the remote control device, and the problem that the original default calibration flow cannot complete the calibration due to the abrasion or replacement of the potentiometer rocker can be solved by setting and storing the new preset calibration value, so that the potentiometer rocker can be normally used. According to the calibration method, the hardware architecture of the remote control device does not need to be changed, the cost of the remote control device is reduced, the intervention of engineers is not needed in the later stage, the calibration problem that a new rocker is replaced and the abrasion of the rocker exceeds the limit is solved while the high efficiency and high reliability of the original default calibration process are kept, and the time waste of research and development, production and after-sales personnel is avoided. By the method, the calibration process can be normally completed when the calibration value is abnormal, and the precision, reliability and operation hand feeling of the potentiometer rocker can be improved.
In an embodiment, the flowchart of the default calibration procedure of step S130 is shown in fig. 5, and includes the following steps:
and step S210, controlling the potentiometer rocker to move to a target calibration position and reading a sampling value.
And step S220, determining and storing a new calibration value of the target calibration position according to the sampling value and the acquired calibration value.
In the default calibration procedure, the new calibration value is determined based on the sampled value and a calibration value stored in the remote control device. Specifically, whether the sampling value is within the deviation range of the calibration value of the corresponding target calibration position is judged, and if yes, the sampling value is stored as a new calibration value. And if the sampling value is not in the deviation range of the calibration value of the corresponding target calibration position, informing the user to continue moving the potentiometer rocker to the target calibration position, and executing the same judgment process on the new sampling value until the new calibration value is determined.
FIG. 6 is a flow chart of a default calibration procedure in one embodiment. Referring to fig. 6, in the present embodiment, since the potentiometer rocking bar includes left and right potentiometer rocking bars, the respective X axis and Y axis need to be calibrated, that is, four channels need to be calibrated. The low, medium and high bits of each channel need to be calibrated, which is as follows:
and S302, assigning the read calibration value to a preset value.
Each channel comprises a low-order value, a middle-order value and a high-order value, and therefore correspondingly comprises a low-order preset value, a middle-order preset value and a high-order preset value.
S304, prompting the user to enter a calibration process.
In this embodiment, the LCD of the remote control device enters the calibration interface to prompt the user to enter a default calibration procedure and prompt the user to operate the joystick for calibration.
And S306, judging whether the four channels are calibrated or not.
And judging whether the four channels (the left rocker X axis, the left rocker Y axis, the right rocker X axis and the right rocker Y axis) are calibrated or not, and if not, executing the step S308 on the unfinished channels, otherwise, executing the step S310. In an embodiment, whether four channels are completed or not may be determined according to a preset channel calibration sequence, so that when it is determined that one channel is not completed, the channel is used as a target calibration channel for calibration.
And S308, calibrating each target calibration position in the target channel according to a preset sequence.
In this embodiment, the predetermined sequence is first the middle bit, then the low bit, and finally the high bit. In other embodiments, other calibration sequences may be used.
And S310, taking the calibration result as a new calibration value and storing the new calibration value.
In one embodiment, the step of calibrating each target calibration position in the target channel according to a predetermined sequence, i.e. the step S308 includes steps S312-328, as shown in FIG. 6.
Step S312, enter the middle calibration.
And step S314, prompting the user to operate the rocker to the middle position and reading the A/D value.
The prompting process can be prompted through an LCD or a loudspeaker and the like.
And step S316, judging whether the A/D value is in the deviation range of the preset median value.
When the a/D value is within the deviation range of the median preset value, the a/D value is used as a new calibration value of the median (i.e. a calibration result of the median), and step S318 is executed, otherwise, step S314 is executed again.
Step S318, enter low calibration.
Step S320, prompt the user to operate the joystick to the low position and read the sampling value.
Step S322, judge whether the A/D value is in the deviation range of the low preset value.
When the sampled value, i.e., the a/D value, is within the deviation range of the low-order preset value, the a/D value is used as the low-order new calibration value, and step S320 is executed, otherwise, the step S324 is executed again.
In step S324, the process proceeds to high calibration.
Step S326, prompt the user to operate the joystick to the high position and read the sampling value.
Step S328, determine whether the A/D value is within the deviation range of the high preset value.
And when the A/D value is not in the deviation range of the high preset value, returning to execute the step S326, otherwise, taking the A/D value as a high new calibration value, completing the calibration process of the target channel, and returning to execute the step S306. In one embodiment, the calibration order of the low and medium bits may also be interchanged.
In an embodiment, after the target calibration position of the potentiometer rocker is moved each time and the sampling value is read, before the step of determining and storing a new calibration value of the target calibration position according to the sampling value, the read sampling value needs to be processed, and the processing flow is as shown in fig. 7, and includes the following steps:
step S410, dead zone filtering processing and/or numerical homogenization processing are/is carried out on the sampling values to form intermediate quantity under the new channel measuring range.
In this embodiment, the calibration position of the target channel includes a median. The middle position is the middle position of the target channel. The calibration value obtained in step S110 includes a median value. The dead zone processing of the sample values includes a step of compressing the sample values within the dead zone range to a target value, that is, compressing multiple values within the dead zone range to one value. The dead zone of the potentiometer rocker refers to a region where the rocker moves but the read position does not change, namely a region where the operation is not responsive. Therefore, the dead zone position needs to be filtered in the calibration process, and the accuracy of the rocker control is improved. The numerical homogenization treatment process comprises the step of moving the sampling value to the middle position by the preset offset, thereby realizing the compression of the numerical value of the sampling value and obtaining the new channel range and the intermediate quantity under the range.
Specifically, the dead zone range of each target calibration position is obtained, and then the current calibration range of the target channel can be determined according to each calibration value and the dead zone range. Therefore, the position of the corresponding position on the current calibration range can be determined according to the sampling value, so that the processing of the sampling value is determined according to different positions. And when the target calibration position is in the dead zone range of the median, performing dead zone filtering processing on the sampling value to be used as an intermediate quantity in the new channel measuring range. When the target calibration position is in the dead zone range of other positions (namely non-median), the dead zone filtering processing and the numerical homogenization processing are carried out on the sampling value to be used as the intermediate quantity of the new channel measuring range. And when the target calibration position is in the non-dead zone range, carrying out numerical value homogenization on the sampling value to be used as the intermediate quantity of the new channel measuring range.
In one embodiment, when the dead-zone filtering process is performed on the sampling values at different target calibration positions, different positions correspond to different target values. For example, the lower target value (target value when the dead band filtering process is performed on the sample value corresponding to each position within the lower dead band range) is the sum of the lower value and the lower dead band range. The median target value is the median. The high target value is the difference between the high value and the dead zone range of the high value. And in the process of carrying out numerical homogenization treatment on the sampling values of different target calibration positions, the offset is equal to the dead zone range of the middle position. And when the read sampling value or the sampling value after the dead zone filtering processing is smaller than the median value, adding the dead zone range of the median to the sampling value, and otherwise, subtracting the dead zone range of the median. By performing dead-zone filtering and numerical homogenization on the sampling values, multiple values in the dead zone range can be compressed into one value, and one value corresponds to one value at other positions, so that the incremental (nonlinear) relationship is still maintained.
And step S420, performing gear conversion on the intermediate quantity according to the target gear range and the new channel range to obtain a sampling value under the target gear range.
The A/D value converted by the A/D conversion circuit of the remote control device has a predetermined number of bits. In the present embodiment, the a/D conversion circuit employs a 12-bit analog-to-digital converter. In other embodiments, a 10-bit or 8-bit number may be used. Because the control signal finally obtained by the remote control device is used for controlling equipment such as a computer, an intelligent television, a game machine, an unmanned aerial vehicle and the like, the control signal needs to be converted into a gear range which can be identified by the corresponding equipment, namely, into a target gear range. Specifically, the corresponding relation of the respective positions can be determined according to the target gear range and a new channel range formed after data processing, so that gear conversion is performed on the intermediate quantity under the new channel range to obtain a sampling value under the target gear range.
FIG. 8 is a flow diagram of processing sample values in an exemplary embodiment, the processing including the steps of:
step S502, a channel number and a corresponding calibration value are received.
According to the channel where the sampling value to be processed is located, the channel number can be obtained, and the calibration value corresponding to the device can be obtained from the remote control device. The calibration value includes a middle value nMid corresponding to a middle position, a low value nMin corresponding to a low position, and a high value nMax corresponding to a high position. Wherein, the low-bit value nMIN is minimum, and the high-bit value nMax is maximum.
In step S504, the dead zone ranges of the low bit, the medium bit, and the high bit are received.
The low-order dead zone range nMin _ FiltTopArea, the medium-order dead zone ranges nMid _ FiltTopArea and nMid _ FiltTopArea, and the high-order dead zone range nMax _ FiltBotArea may be customized according to the requirement of the user for the operation sensitivity and the control accuracy, or a default range may be set by the system. Normally, when the potentiometer rocker is in the middle position, the dead zone ranges on the two sides are symmetrical, namely nMid _ FiltBotAlea is equal to nMid _ FiltTopArea. Thus, only one value needs to be input, and the other value can be sized.
And step S506, determining a low maximum value, a middle minimum value, a middle maximum value and a high minimum value according to the calibration value and the dead zone range.
Wherein the lower maximum value nminaaremax is equal to the lower value nMin plus the lower deadband range nMin _ FiltTopArea. The median minimum nmidearamin is equal to the median nMid minus the dead band range nMid _ FiltBotArea of the median. The median maximum nmidaraemax is equal to the median nMid plus nMid _ FiltTopArea. The high minimum value nmaxaremin is equal to the high value nMax minus the high deadband range nMax _ FiltBotArea.
In fig. 9, the values and the ranges are marked on the measurement range (i.e. the number axis) of the current calibration channel by means of the coordinate axis, so as to more clearly display the data relationship between the values and the ranges. It is understood that each numerical value can be used as its coordinate on the numerical axis, and therefore, the process of numerical homogenization processing on the sampling value can also be referred to as coordinate homogenization processing.
And step S508, collecting the A/D value of the rocker of the potentiometer in the target channel.
Step S510, judge whether the A/D value is less than or equal to the maximum value of the low order.
When the a/D value is less than or equal to the low maximum nminaareamax, and the potentiometer rocker is in the low dead zone range, the dead zone filtering and the numerical homogenization processing need to be performed on the a/D value, that is, step S512 is executed, otherwise step S514 is executed.
In step S512, the dead zone range of the middle level is added to the lower maximum value and the result is used as an intermediate quantity.
When the A/D value is in the dead zone range of the middle position, the value is filtered, the original A/D value is replaced by the lower maximum value nMinAreaMax, and the numerical homogenization treatment is carried out on the original A/D value. Specifically, the lower maximum nminaareamax is added to the middle dead band range nMid _ FiltBotArea, and the result is taken as an intermediate quantity nValue.
In step S514, it is determined whether the A/D value is greater than or equal to the high minimum value.
When the a/D value is greater than or equal to the high maximum value nmaxaremin, the potentiometer rocker is in the high dead zone range, and the dead zone filtering process is required to be performed on the a/D value, and the numerical value homogenization process is performed, that is, step S516 is performed, otherwise step S518 is performed.
In step S516, the dead band range of the middle level is subtracted from the high-level minimum value and the result is used as an intermediate amount.
When the A/D value is in the dead zone range, the value is filtered, the original A/D value is replaced by a high-order minimum value nMaxAn, and the value is homogenized. Specifically, the high-order minimum value nmaxaremin is subtracted by the middle dead range nMid _ FiltTopArea, and the result is used as the intermediate value nValue.
In step S518, it is determined whether the a/D value is greater than or equal to the minimum median value and less than or equal to the maximum median value.
When the a/D value is greater than or equal to the median minimum nmideareaman and less than or equal to the median maximum nminaareamax, the position of the potentiometer rocker is in the dead zone range of the median, and dead zone filtering processing needs to be performed on the a/D value, that is, step S520 is executed, otherwise step S522 is executed.
In step S520, the median is used as the median.
When the A/D value is within the dead zone range of the median, the value is filtered out and the median nMod is directly used as the median nValue.
In step S522, it is determined whether the A/D value is less than the minimum median value.
Through the judgment of the previous steps, the position of the rocker corresponding to the A/D value is not in the dead zone range. And determining the preset offset of other positions moving towards the middle position according to the dead zone range of the middle position, so that all A/D values move towards the middle position, and the compression of the logarithm value is realized. Specifically, when the a/D value is less than the median minimum nmidaeamin, step S524 is performed. When the a/D value is equal to or greater than the middle minimum nmidarea min, that is, it is between the middle maximum nminaareamax and the upper minimum nmaxaremin, step S526 is performed.
Step S524 adds the dead band range of the median to the a/D value and takes the result as an intermediate quantity.
And adding the A/D value to the median dead zone range nMud _ FiltBotarea, and taking the result as an intermediate quantity nValue, thereby achieving the purpose of compressing the A/D value of the region to the median.
In step S526, the dead band range of the median is subtracted from the A/D value and the result is taken as an intermediate quantity.
And subtracting the dead zone range nMax _ FiltBotarea of the middle position from the A/D value, and taking the result as an intermediate quantity nValue, thereby realizing the compression of the A/D value of the region to the middle position.
After dead-zone filtering and homogenization treatment are carried out on the A/D value through the steps, a new channel range corresponding to the intermediate nValue after treatment can be obtained. The range of the new channel range is (nMinAreaMax + nMid _ FiltBotArea) to (nMaxeareMin-nMid _ FiltTopARea). After the a/D value is processed, the intermediate quantity nValue obtained after the processing still maintains the incremental relationship (the multi-value in the compressed area becomes one value, and one value corresponds to one value at other positions, and still maintains the incremental (nonlinear) relationship).
And step S528, gear conversion is carried out on the intermediate quantity according to the target gear range and the new channel range to obtain a sampling value under the target gear range.
Specifically, target gear range information is received. The target gear range information includes a gear median value nMid _ constant and a deviation range nMid _ constant _ Offset corresponding to the gear median value. According to the information, the target gear range can be determined to be (nMud _ ConValue-nMud _ ConValue _ Offset) - (nMud _ ConValue + nMud _ ConValue _ Offset).
And performing gear conversion on the sampling value according to the target gear range information and the new channel range information so as to convert the sampling value into the sampling value under the target gear range. In one embodiment, when the sampling value under the new channel measuring range is less than or equal to the median nMid, the gear coordinate transformation is carried out by adopting the following formula:
when the sampling value under the new channel measuring range is larger than the median nMid, the gear coordinate transformation is carried out by adopting the following formula:
in other embodiments, the gear shift can be performed according to the relative position relationship between the sampling value at the new channel range and other positions, and the implementation is not limited to the above implementation.
In an embodiment, the target calibration position comprises a median. When the calibration is performed on each target calibration position according to the preset calibration sequence (i.e., in step S140), the middle position is the first position to be calibrated in the calibration of the same channel. And when the median is calibrated, determining a new median calibration value of the median according to the sampling value of the median. And when other target calibration positions in the same channel are calibrated, judging the new calibration value of each target calibration position according to the new middle calibration value and the sampling value of each target calibration position. For example, it may be determined whether the sample value can be used as the calibration value of the target calibration position according to the deviation amount between the sample value and the new median calibration value, and the sample value meeting the requirement is used as the new calibration value and stored. In one embodiment, during the calibration process, the remote control device sends a prompt message to prompt the current calibration channel and step. In another embodiment, after calibrating the target calibration positions except the neutral position, the step of centering and calibrating the potentiometer rocker is also executed. The centering calibration of the potentiometer rocker comprises the steps of reading a sampling value of a target channel of the potentiometer rocker and judging whether the sampling value is equal to a new middle position calibration value or not, if so, the potentiometer rocker is considered to be centered, and the calibration process is completed, otherwise, the sampling value of the target channel of the potentiometer rocker is continuously read and judged whether the sampling value is equal to the new middle position calibration value or not, and the calibration is completed until the sampling value is equal to the new middle position calibration value. By adding a centering calibration step of the potentiometer rocker after each calibration of the target calibration position, the calibration of the target calibration position can be further verified to be free from errors. When the potentiometer rocker cannot realize centering, the calibration process is indicated to be wrong.
In one embodiment, since the target calibration position of each channel is the same, and includes a low bit, a medium bit and a high bit, the calibration procedure under each channel is the same. Therefore, in this embodiment, only the initial calibration process of one channel is taken as an example for description, see fig. 10. The method for initially calibrating the target channel according to the preset calibration sequence comprises the following steps:
step S602, prompt the user that the median of the target channel is being calibrated.
In this embodiment, the prompting steps can be implemented by devices such as an LCD or a speaker, that is, the prompting information is output in a display or voice playing manner. The median value is also the calibrated value of the median. After the prompt is output, the user moves the potentiometer rocker to the middle position of the target channel according to the prompt so as to perform middle position calibration.
And step S604, continuously reading the A/D value of the target channel, accumulating and solving the average value or obtaining a median value after filtering treatment.
Step S606, prompting completion of the median calibration of the target channel.
Step S608, the user is prompted that the low value of the target channel is being calibrated.
Step S610, continuously reading the A/D value of the target channel and accumulating to obtain the average value or filtering processing.
Step S612, judging whether the processed A/D value is smaller than the first deviation amount of the median.
In this embodiment, the sampling value of the lower bit is the smallest, and the sampling value of the higher bit is the largest, so that it is necessary to determine whether the a/D value is smaller than the first deviation amount of the median value during the low calibration. The first deviation amount may be obtained by testing. In other embodiments, the sampling value of the lower bit may be the largest, and the sampling value of the higher bit may be the smallest, at which time it is necessary to determine whether the a/D is greater than the first deviation amount of the median.
If not, the process returns to step S608, if yes, step S614 is executed,
and step S614, prompting that the low-bit value calibration of the target channel is completed.
In step S616, the a/D values of the target channel are continuously read and accumulated to obtain an average value or filtered.
After the low value calibration is completed, a centering calibration is required.
In step S618, it is determined whether the A/D value is equal to the median value.
If the a/D value is equal to the median value, it indicates that the potentiometer rocker can be centered, continue to calibrate the next target calibration position, and go to step S620, otherwise go back to step S616.
Step S620, prompt the user that the high value of the target channel is being calibrated.
In step S622, the a/D values of the target channel are continuously read and accumulated to find an average value or a filtering process is performed.
In step S624, it is determined whether the processed a/D value is greater than the median second deviation amount.
The second deviation may be obtained by testing. In one embodiment, the second deviation may be equal to the first deviation. If the a/D value is greater than the second deviation amount of the median, step S626 is executed, otherwise, step S620 is executed.
Step S626, prompting the completion of the high value calibration of the target channel.
In step S628, the A/D values of the target channel are continuously read and accumulated to obtain an average value or filtered.
After the high value calibration is completed, a centering calibration is required.
In step S630, it is determined whether the A/D value is equal to the median value.
If the a/D value is equal to the median value, it indicates that the potentiometer rocker can be centered, and if there is no error in the calibration of the high value, the calibration of the target channel is completed, and the calibration of the next channel is performed, otherwise, the step S628 is executed again.
After the calibration of the target channel is completed, the median value at the time of completion of the calibration is stored as a new calibration value in the memory of the remote control device. When the calibration value is set, the calibration value can be set in a serial communication or dial lamp switching mode.
In another embodiment, in the step of calibrating the target calibration positions according to a preset calibration sequence, the start and end of calibration are determined according to a preset control signal. The preset control signal may be a key signal. FIG. 11 is a flowchart illustrating initial calibration of a target channel according to a predetermined calibration procedure in another embodiment. In this embodiment, the target calibration channel is the X-axis of the left rocker, with the leftmost position being the low position and the rightmost position being the high position. Referring to fig. 11, it includes the following steps:
and step S702, prompting a user to dial the left rocker to the leftmost side, and operating the key to enter the next step after a preset time interval.
And prompting the user through an LCD or voice to execute the required steps. The preset time interval may be set to 1 second.
Step S704, continuously reading the A/D value of the target channel and accumulating to obtain the average value or filtering processing.
Step S706, determining whether the key operation is valid.
By judging the effectiveness of the key operation, the misoperation rate can be reduced. And executing step S708 if the key operation is valid, otherwise, returning to execute step S704.
In step S708, a preset value of the lower position of the X-axis of the left rocker is obtained.
And step S710, prompting a user to center the left rocker, and operating the key to enter the next step after a preset time interval.
Step 712, continuously reading the A/D value of the target channel and accumulating to obtain the average value or filtering.
In step S714, it is determined whether the key operation is valid.
By judging the effectiveness of the key operation, the misoperation rate can be reduced. And executing the step S716 when the key operation is valid, otherwise, returning to execute the step S712.
In step S716, a preset value of the middle position of the left rocker in the X axis is obtained.
Step S718, prompting the user to dial the left joystick to the rightmost side, and operating the key to enter the next step after a preset time interval.
And step S720, continuously reading the A/D value of the target channel, accumulating and calculating the average value or carrying out filtering processing.
In step S722, it is determined whether the key operation is valid.
By judging the effectiveness of the key operation, the misoperation rate can be reduced. If the key operation is valid, step S724 is executed, otherwise, step S720 is executed again.
In step S724, a preset value of the left rocker at the high position of the X axis is obtained.
After the channel calibration is completed, the obtained preset values at the positions are stored as calibration values, and therefore the preset values are used as calibration preset values for the potentiometer rocker at ordinary times.
The storage of the calibration values may be performed after the calibration of each channel is completed, or may be performed after all the channels are calibrated.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A method for calibrating a potentiometer rocker of a remote control device comprises the following steps:
acquiring a calibration value of a target calibration position of a target channel stored in the remote control device, wherein the target calibration position of the target channel comprises a middle position, and the middle position is the middle position of the target channel;
judging whether the calibration value is normal:
when the calibration value is judged to be normal, executing a default calibration process of the remote control device;
when the calibration value is judged to be abnormal, executing an initial calibration process;
the calibrating each target calibration position in the initial calibration process includes:
controlling the potentiometer rocker to move to a target calibration position and reading a sampling value of the target calibration position;
selecting dead zone filtering processing and/or numerical value homogenization processing to the sampling value according to the target calibration position condition to form an intermediate quantity under the new channel measuring range;
performing gear conversion on the intermediate quantity according to a target gear range and a new channel range to obtain a sampling value of the target calibration position under the target gear range;
wherein the dead-zone filtering process includes a step of compressing sample values of the target calibration position within a dead zone range to a target value; the numerical homogenization treatment comprises the step of moving the sampling value of the target calibration position to a middle position by a preset offset;
and determining and storing a new calibration value of the target calibration position according to the sampling value of the target calibration position.
2. The calibration method according to claim 1, wherein the acquired calibration value is verified, and when it is confirmed that the calibration value is a valid value saved after passing normal calibration, it is determined that the calibration value is normal; otherwise, the calibration value is judged to be abnormal.
3. The calibration method according to claim 1 or 2, wherein the initial calibration procedure comprises the steps of calibrating each target calibration position according to a preset calibration sequence; wherein, calibrating each target calibration position comprises:
controlling the potentiometer rocker to move to a target calibration position and reading a sampling value; and
and determining and storing a new calibration value of the target calibration position according to the sampling value.
4. The method of claim 1, wherein the step of dead-band filtering and/or number-averaging the sampled values to form an intermediate quantity at the new channel scale comprises:
receiving a dead zone range of a target calibration position, and forming a current calibration range of a target channel according to the calibration value and the dead zone range;
when the target calibration position is located in a dead zone range of a median, performing dead zone filtering processing on the sampling value to be used as a middle quantity under a new channel range;
when the target calibration position is in a non-median dead zone range, dead zone filtering processing and numerical value homogenization processing are carried out on the sampling value to be used as an intermediate quantity under a new channel measuring range;
and when the target calibration position is in a non-dead zone range, carrying out numerical homogenization on the sampling value to be used as an intermediate quantity in the new channel measuring range.
5. The method of claim 1 or 4, wherein the target calibration position of the target channel further comprises a low bit and a high bit, the low bit and the high bit being end positions of the target channel;
in the step of obtaining the calibration value of the target calibration position of the target channel stored in the remote control device, the obtained calibration value includes a median value, a low value and a high value corresponding to the median value, the low value and the high value, respectively, where the low value is the smallest and the high value is the largest.
6. The method according to claim 5, characterized in that in the dead-zone filtering process, different target values are set according to a target calibration position; the low-order target value of the low order is the sum of the low order and the dead zone range of the low order; the median target value of the median is the median; the high target value of the high bit is the difference between the high value and the dead zone range of the high bit;
the preset offset in the numerical homogenization treatment is equal to the dead zone range of the median; when the read sampling value or the sampling value after dead zone filtering is smaller than the median, adding the dead zone range of the median to the sampling value; and when the read sampling value or the sampling value after dead zone filtering is larger than the median, subtracting the dead zone range of the median from the sampling value.
7. The method of claim 3, wherein the step of calibrating each target calibration position according to a preset calibration sequence comprises:
sequentially calibrating each target channel of the potential rocker according to a first calibration sequence; and
and sequentially calibrating the target calibration positions of the same channel according to the second calibration sequence.
8. The method of claim 3, wherein the target calibration position of the target channel comprises a median position, the median position being a median position of the target channel; the middle position is the first position for calibration, and when the middle position is calibrated, a new middle position calibration value of the middle position is determined according to a sampling value of the middle position;
and in the step of calibrating other target calibration positions of the target channel, determining a new calibration value of each target calibration position by using the new middle calibration value and the sampling value of each target calibration position.
9. The method of claim 8, wherein after calibrating each target calibration position, the step of centering the potentiometer rocker is performed.
10. The method of claim 3, wherein the step of calibrating the target calibration positions according to a predetermined calibration sequence comprises determining a start and an end of the calibration according to a predetermined control signal.
11. The method of claim 1, wherein the default calibration procedure comprises:
controlling the potentiometer rocker to move to a target calibration position and reading a sampling value; and
and determining and storing a new calibration value of the target calibration position according to the sampling value and the corresponding calibration value.
12. A remote control device comprises a remote control body and a potentiometer rocker; the potentiometer rocker is fixed on the remote control body; it is characterized in that the remote control body comprises:
a memory for storing a calibration value for a target calibration position of a target channel; and
the microcontroller is connected with the memory and is used for acquiring the calibration value of the target calibration position of the target channel from the memory when the potentiometer rocker is calibrated, executing a default calibration process when the calibration value is normal, and executing an initial calibration process when the calibration value is abnormal;
the microcontroller calibrates each target calibration position according to a preset calibration sequence when executing the initial calibration process;
the target calibration position of the target channel comprises a median, and the median is the middle position of the target channel;
the calibrating each target calibration position in the initial calibration process includes:
controlling the potentiometer rocker to move to a target calibration position and reading a sampling value of the target calibration position;
selecting dead zone filtering processing and/or numerical value homogenization processing to the sampling value according to the target calibration position condition to form an intermediate quantity under the new channel measuring range;
performing gear conversion on the intermediate quantity according to a target gear range and a new channel range to obtain a sampling value of the target calibration position under the target gear range;
wherein the dead-zone filtering process includes compressing sample values of the target calibration position within a dead zone range to a target value; the numerical homogenization treatment comprises the step of moving the sampling value of the target calibration position to a middle position by a preset offset;
and determining a new calibration value of the target calibration position according to the sampling value of the target calibration position and controlling the memory to store the new calibration value.
13. The remote control apparatus of claim 12,
the remote control device further includes:
the prompting device is connected with the microcontroller; the microcontroller is also used for controlling the prompting equipment to prompt a user to move the potentiometer rocker to a target calibration position when each target calibration position is calibrated; and
the sampling device is connected with the microcontroller; the microcontroller is also used for controlling the sampling device to read a sampling value when the prompting device prompts a user to move the potentiometer rocker to a target calibration position.
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| WO2021056359A1 (en) * | 2019-09-26 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Rocker calibration method, remote control terminal, and computer-readable storage medium |
| CN110597350B (en) * | 2019-10-22 | 2021-07-30 | 深圳市道通智能航空技术股份有限公司 | Rocker calibration method and device and remote control device |
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| CN112346510A (en) * | 2020-10-23 | 2021-02-09 | 深圳市谷粒科技有限公司 | Calibration method and device of analog-to-digital rocker |
| CN112682024B (en) * | 2021-02-01 | 2022-02-18 | 地晨环境技术(南京)有限公司 | Electric proportional handle correction method for environment-friendly drilling machine |
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| CN101483459A (en) * | 2008-01-11 | 2009-07-15 | 鼎桥通信技术有限公司 | Calibration method for intelligent antenna |
| CN101513920A (en) * | 2008-02-20 | 2009-08-26 | 株式会社岛野 | Bicycle component position correcting device |
| CN102883044A (en) * | 2012-08-28 | 2013-01-16 | 东莞宇龙通信科技有限公司 | Information processing method and device |
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| WO2019011001A1 (en) | 2019-01-17 |
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