CN113138574A - General extension device of unmanned aerial vehicle flight control - Google Patents
General extension device of unmanned aerial vehicle flight control Download PDFInfo
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- CN113138574A CN113138574A CN202110420804.7A CN202110420804A CN113138574A CN 113138574 A CN113138574 A CN 113138574A CN 202110420804 A CN202110420804 A CN 202110420804A CN 113138574 A CN113138574 A CN 113138574A
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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
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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
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
Abstract
The invention discloses a universal extension device for unmanned aerial vehicle flight control, which comprises a power supply circuit, an external communication equipment interface, a PWM (pulse-width modulation) output interface and a board-to-board interface, wherein the power supply circuit comprises a power supply selection circuit and a voltage stabilizing circuit; the PWM output interface is used for sending the multi-path PWM signals output by the main MCU and the slave MCU to a motor and a steering engine of the unmanned aerial vehicle; the board is used for connecting the expansion device with the flight control system of the unmanned aerial vehicle to the board interface. The invention separates the extension interface and the power circuit of the flight control from the flight control core and designs the flight control core into a universal extension device, so that the flight control core reduces the engineering quantity during circuit design, reduces the wiring complexity during PCB design and shortens the period of the whole flight control iterative update in the iterative update process.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle extension, in particular to a universal extension device for unmanned aerial vehicle flight control, which is used for extending a communication interface, a signal input interface and a signal output interface of the unmanned aerial vehicle flight control.
Background
In recent decades, due to the rapid development of the MEMS technology and the semiconductor process, the flight control system of the unmanned aerial vehicle has developed more and more mature and has more and more powerful performance. With the advent of new semiconductor devices, high performance MCU (microcontroller), and high precision and high reliability sensors, flight control systems are also being updated. The core of a flight control system is mainly an MCU and a sensor, the updating iteration of the flight control system is mainly to replace the more superior MCU and sensor, and other parts such as interfaces, power supply management and the like led out by the flight control system can be kept unchanged for a long time.
The existing flight control system integrates a flight control core part, power management and interfaces, so that the power management, the interfaces and the like are designed and distributed on a PCB when the flight control is updated and iterated, a large amount of engineering is caused to a certain extent, and some unnecessary workload is brought.
Disclosure of Invention
The invention aims to provide a general extension device for unmanned aerial vehicle flight control, which is used for solving the problem of updating an iterative process caused by integrated design of the conventional flight control system.
In order to realize the task, the invention adopts the following technical scheme:
the utility model provides a general extension fixture of unmanned aerial vehicle flight control, includes power supply circuit, external communication equipment interface, PWM output interface and board to the board interface, wherein:
the power supply circuit comprises a power supply selection circuit and a voltage stabilizing circuit, wherein the power supply selection circuit is used for selecting a plurality of input power supplies of the expansion device, and when the plurality of power supplies are input simultaneously, one with the largest voltage in the plurality of input power supplies is selected as the input voltage of the expansion device; the stabilized voltage supply is used for performing voltage stabilization/reduction processing on input voltage so as to supply the input voltage to a low-voltage device of the flight control system;
the external communication equipment interface comprises a USB interface, a receiver interface, a program downloading interface, a data transmission interface, a GPS module interface and other communication interfaces; the USB interface is used for communicating with a computer and transmitting data, and the receiver interface is used for transmitting signals received by the receiver to a slave MCU (microprogrammed control unit) used for processing the signals on the unmanned aerial vehicle through a board-to-board connector; the program downloading interface is used for downloading programs by a main MCU and a slave MCU of the unmanned aerial vehicle for processing data; the data transmission interface is used for externally connecting a digital transmission module and connecting the externally connected digital transmission module to a main MCU for processing data so as to realize bidirectional communication; the GPS module interface is used for the main MCU to send data to the GPS chip and receive the data from the GPS chip and transmit the data to the main MCU; the other communication interfaces are used for mounting an external sensor or a peripheral and realizing the two-way communication from the external device/the peripheral to the main MCU;
the PWM output interface is used for sending the multi-path PWM signals output by the main MCU and the slave MCU to a motor and a steering engine of the unmanned aerial vehicle;
the board is used for connecting the expansion device with the flight control system of the unmanned aerial vehicle to the board interface.
Further, the power supply circuit comprises a SERVO input VDD _ SERVO, anti-reverse connection diodes D1001 and D1003, a filter capacitor L1001, a resistor R1002, a resistor R1003, and double Schottky diodes D1004 and D1002, wherein:
the SERVO input VDD _ SERVO is connected with a power supply system of the unmanned aerial vehicle, is grounded after being connected in series through R1001, R1002 and R1003, is led out VDD _ SERVO _ SENS from the space between R1002 and R1003, and is connected to an ADC channel of the main MCU through a board-to-board interface;
VDD _ SERVO is sequentially connected with L1001 and D1004 through D1001, and D1004 is connected with an external power management board VDD _5V _ BRICK of the flight control system; one side of L1001 is D1003 grounded, D1002 is connected with D1004, then is connected with VBUS and leads out VDD _5V _ IN to be used as a 5V input power supply of the whole system; wherein, VBUS is the supply voltage of USB interface.
Further, the voltage stabilizing circuit comprises low-dropout linear voltage stabilizing chips U1001, U1002 and U1003, VDD _5V _ IN respectively passes through an input filter capacitor, three voltage stabilizing chips and an output filter capacitor, and then respectively outputs FMU _ VDD _3V3 as a power supply of the main MCU, IO _ VDD _3V3 as a power supply of the slave MCU and VDD _3V3_ SENS as a power supply of the flight control sensor; IN addition, VDD _5V _ IN is serially connected through the recoverable fuse F1001 to serve as a power supply VDD _5V _ period of the external communication device.
Further, the USB interface includes an anti-static protection chip U2001 and a J2003 TYPE-C female connector, VBUS is connected to U2001, and OTG _ FS _ DP and OTG _ FS _ DM are connected to a data transmission positive port D1O and a negative port D2O of U2001; data are respectively input to pins D1I and D2I of a chip U2001 from terminals DN1 and DP1 of the TYPE-C interface, are output from pins D1O and D2O, and are connected to a main MCU through a board-to-board interface.
Further, the receiver interface comprises an interface J2004 or an interface J2005, and a PPM _ IN interface supporting a PPM protocol is arranged on the interface J2004 and used for connecting a PPM receiver; an SBUS _ IN interface supporting an SBUS protocol is arranged on the J2005 and is used for connecting an SBUS receiver; and 5V power supply voltage VDD-5V-PERIPH is connected to J2004 and J2005 and is used for supplying power to the PPM receiver and the SBUS receiver.
Further, the program downloading interface comprises a J2011 serving as a main MCU downloading interface and a J2010 serving as a slave MCU downloading interface, wherein in the J2011, FMU-VDD-3V 3 is used for supplying power to the main MCU by 3.3V voltage, FMU-SWDIO and FMU-SWCLK are respectively used for a data interface and a clock interface of the main MCU downloading program and are connected to the main MCU through a board-to-board connector; on J2010, IO-VDD _3V3 is 3.3V voltage for supplying power to the slave MCU, and IO-SWDIO and IO-SWCLK are respectively a data interface and a clock interface for downloading programs from the MCU and are connected to the slave MCU through a board-to-board connector.
Further, the data transmission interface comprises a data transmission interface J2001 and a data transmission interface J2007, in J2001, USART1_ TX is a data sending port, USART1_ RX is a data receiving port, USART1_ RTS is a data request sending port for the main MCU to request the external digital transmission module to send data to the main MCU, and USART1_ CTS is a data clear sending port for the external digital transmission module to request the main MCU to send data to the external digital transmission module;
in J2007, USART2_ TX is a data sending port, USART2_ RX is a data receiving port, USART2_ RTS is a data request sending port for the host MCU to request the external onboard computer to send data to the host MCU, and USART2_ CTS is a data clear sending port for the onboard computer to request the host MCU to send data to the external digital transmission module.
Further, the GPS module interface includes an interface J2015, where J2015, IO-VDD _3V3 is a power supply port of the buzzer, and CAN2_ TX, CAN2_ RX, IIC _ SCL3, and IIC _ SDA3 implement bidirectional communication between the main MCU processing data and the GPS chip and the magnetometer through a board-to-board connector; the CAN2_ TX and the CAN2_ RX are respectively used for the main MCU to send data to the GPS chip and receive data from the GPS chip, and the IIC _ SCL3 and the IIC _ SDA3 are respectively a clock interface and a signal interface when the main MCU carries out IIC communication with the magnetometer; the SAFETY _ SWITCH _ LED, BUZZER and SAFETY _ SWITCH respectively realize the signal output control of the SAFETY indicator lamp and the BUZZER from the MCU and the input signal detection of the SAFETY SWITCH through the board-to-board connector.
Further, the other communication interfaces include interfaces J2006, J2002, J2009, and J2012, wherein:
j2006 integrates a serial port and a group of IIC buses, and the serial port and the IIC buses are externally connected with a GPS module or are separated to mount equipment; in J2006, UART3_ TX and UART3_ RX are respectively used for a main MCU to transmit data to an external device and receive data of the external device to the main MCU, and IIC _ SCL2 and IIC _ SDA2 are clock ports and data ports for the main MCU and the external device to perform IIC communication;
j2002 is a group of IIC bus interfaces, IIC _ SCL1 and IIC _ SDA1 on J2002 are clock ports and data ports for IIC communication between a main MCU and external equipment and are used for mounting external sensors or peripherals;
j2009 is a group of SPI buses for mounting external sensors; in J2009, SPI _ SCK is a clock port when the main MCU performs SPI communication with the external sensor, and SPI _ MISO and SPI _ MOSI are used to respectively enable the main MCU to send data to the external sensor and the external sensor to send data to the main MCU;
j2012 is a set of CAN buses for mounting communication devices; the CAN1_ TX and the CAN2_ RX on the J2012 are connected to the host MCU through the board-to-board connector and are respectively used for the host MCU to transmit data to the external equipment and the external equipment to transmit data to the host MCU.
Furthermore, the PWM output interface comprises interfaces J2013 and J2014, 8 paths of PWM signals from the slave MCU are led out from the J2013 and are respectively IO-CH 1-IO-CH 8 for controlling the motor; and 8 paths of PWM signals from the main MCU, namely FMU-CH 1-FMU-CH 8, are led out from the J2014 and are used for controlling the steering engine.
Furthermore, the board-to-board interface connects all signals and power outputs on the expansion device to the board-to-board connector-male port, and the flight control system directly plugs the connector female port of the flight control core part to the male port of the expansion device when in use as long as the flight control system also connects the corresponding signal to the corresponding board-to-board connector-female port, so that the flight control system is a complete flight control system.
Compared with the prior art, the invention has the following technical characteristics:
the invention separates the extension interface and the power circuit of the flight control from the flight control core and designs the flight control core into a universal extension device, so that the flight control core reduces the engineering quantity during circuit design, reduces the wiring complexity during PCB (circuit board) design and shortens the period of the whole flight control iterative update in the iterative update process. In addition, the invention is suitable for the expansion of the interface for all the flight control core parts using the same board-to-board connecting device, can be repeatedly and circularly used and saves resources.
Drawings
FIG. 1 is a schematic view of the overall structure of the expanding device of the present invention;
FIG. 2 is a power supply selection circuit;
FIG. 3 is a voltage regulator circuit;
FIG. 4 shows a USB interface circuit;
FIG. 5 is a receiver interface circuit;
FIG. 6 is a program download interface circuit;
FIG. 7 is a data transmission interface circuit;
FIG. 8 is a GPS module interface circuit;
FIG. 9 is another communication interface circuit;
FIG. 10 is a PWM output interface circuit;
fig. 11 is a board-to-board interface circuit.
Detailed Description
The invention aims to design a general extension device for unmanned aerial vehicle flight control, which realizes the extension of various interfaces of communication, signals, power supply and the like of a flight control core. When the flight control core is updated iteratively, a better sensor and a better MCU (micro controller unit) are often selected, the led-out interfaces are different, the expansion device does not need to be designed again, and only the flight control core part needs to be replaced. Therefore, the complexity of PCB design in the flight control design can be reduced, the flight control iterative updating period is shortened, the waste of devices is reduced, and the expansion device is recycled.
The invention provides a general extension device for unmanned aerial vehicle flight control, which is shown in figure 1 and mainly comprises a power supply circuit, an external communication equipment interface, a power supply circuit and a PWM output interface. The connection between a flight control core part (mainly comprising a microcontroller MCU and sensors such as an accelerometer, a gyroscope, a magnetometer and a barometer) and an expansion device is realized through a board-to-board interface, so that a complete flight control system is formed. The output of the power supply circuit not only supplies power to external equipment, but also is connected to the flight control core part through a board-to-board interface to supply power to the sensor and the MCU; the MCU of flight control core not only is connected to the PWM output interface of extension arrangement with output signal through the board to the board interface, controls unmanned aerial vehicle's motor and steering wheel, still is connected to the external communication equipment interface of extension arrangement with communication interface, conveniently extends and connects communication module, like receiver, data transmission module, GPS orientation module etc. for supplementary unmanned aerial vehicle flies.
1. Power supply circuit
1.1 Power supply selection Circuit
The power supply selection circuit is used for selecting a plurality of possible input power supplies of the expansion device, and when the plurality of power supplies are input simultaneously, the input voltage VDD _5V _ IN of the expansion device is finally the largest voltage IN the plurality of input power supplies.
The power supply circuit of the extension device finally provides a stable power supply for the whole flight control system, and the power supply source of one flight control system is various, as shown in fig. 2, VDD _ SERVO is a SERVO input, and is usually provided by an electric regulator with BEC (battery power system), usually 4.8-5.4V, VBUS is a USB power supply voltage, and is usually used for supplying power to the flight control system when the flight control system is debugged, downloads firmware and the like and communicates with a computer, usually 5.0 ± 0.25V, VDD _5V _ BRICK is usually a power management board externally connected to the flight control system, and is used for providing 5V voltage for the flight control system, and the actual power supply range is 4.5-5V. When more than two power supply sources are accessed IN flight control, the power supply is easy to cause short circuit, so that a power supply selection circuit shown IN fig. 1 is designed, and one power supply source with the highest voltage IN a plurality of power supply sources is selected as a 5V input source VDD-5V _ IN of the whole system through cascading two PMEG2005CT double Schottky diodes D1004 and D1002. After VDD _ SERVO is connected with three 10K resistors in series, VDD _ SERVO _ SENS is led out of the resistor R1001, and is connected to an ADC (analog-to-digital conversion) channel of the MCU through a board-to-board interface, and the MCU detects the magnitude of the SERVO input voltage VDD _ SERVO. The voltage at the leading-out part of VDD _ SERVO _ SENS is 1/3 of VDD _ SERVO, an ADC channel for connecting the MCU detects the voltage of VDD _ SERVO, and three resistors R1001-R1003 are connected in series to divide the voltage of VDD _ SERVO, so that the condition that the MCU is burnt down due to overlarge input voltage of VDD _ SERVO is prevented. The reason for connecting three 10K resistors in series is that the voltage allowed to be input by the ADC channel of the MCU does not exceed 3.3V, and connecting 3 resistors in series is to divide the voltage. Two PESD0402-140 diodes D1001 and D1003 play a role of preventing reverse connection, and L1001 is a VDD _ SSERVO input end filter capacitor KNH16C104DA5 TS.
1.2 Voltage regulator circuit
Because some low-voltage devices in the whole flight control system have different requirements on the power supply voltage, most sensors and the MCU require 3.3V power supply, and therefore 5V voltage needs to be regulated/reduced.
The power supply voltage of the external communication equipment of the flight control system, such as a GPS module, a data transmission module and the like, is 5V, and the input voltage of the expansion device after being selected by one of three power supply sources is 5V, so that the expansion device can be used as the power supply source of the external communication equipment, as shown IN FIG. 3, VDD _5V _ IN is connected IN series through a recoverable fuse F1001 and then is used as the power supply source VDD _5V _ PERIPPH of the external communication equipment, and therefore the situation that the external power supply equipment is too large and a circuit is burnt is avoided. And the power supply voltage of the MCU and the sensor of the flight control core is 3.3V, so that the voltage reduction treatment needs to be carried out on the input 5V voltage. As shown in the figure, U1001-U1003 is a low dropout linear regulator chip XC6204, the output is a stable 3.3V voltage, VDD _3V3_ SENS is a power supply of the flight control sensor, FMU _ VDD _3V3 is a power supply of a master MCU for data processing of flight control, and IO _ VDD _3V3 is a power supply of a slave MCU for signal processing of flight control. The MCU of the flight control system is used for data processing and signal processing, and usually adopts a dual-MCU scheme to reduce the load of the MCU, wherein one is a master MCU for processing data and the other is a slave MCU for processing signals. The advantage of using three XCs 6204 is that the power supplies of the sensor and the MCU are separated and do not interfere with each other.
2. External communication equipment interface
2.1USB interface
The USB interface is used for communicating with a computer and transmitting data, VBUS in fig. 4 is a power supply port of the USB interface, voltage is 5 ± 0.25V, and OTG _ FS _ DP and OTG _ FS _ DM are positive and negative ports for data transmission, and are connected to a main MCU for processing data through a board-to-board connector, and used for debugging programs and transmitting data. U2001 is NUF2042XV6 anti-static protection chip, prevents to burn out the main MCU because of static. Data are respectively input to pins D1I and D2I of a NUF2042XV6 of the chip through terminals DN1 and DP1 of the TYPE-C interface, are output through pins D1O and D2O, and are connected to a main MCU through a board-to-board interface. The TYPE-C interface has the advantages that the interface is not different in the positive and negative directions, and can be randomly plugged, compared with other interfaces such as TYPE-A, TYPE-B, the TYPE-C interface is small in size and high in transmission speed, and debugging and data transmission of flight control by a computer are facilitated.
2.2 receiver interface
There are two types of receivers commonly used by drones, one is the PPM protocol and the other is the SBUS protocol. As shown IN fig. 5, two protocol types of receiver interfaces are reserved here, J2004 is a receiver of PPM protocol, VDD _5V _ PERIPH is a 5V supply voltage for supplying power to the PPM receiver, PPM _ IN is a signal interface of the receiver, and is connected to a slave MCU which processes signals through a board-to-board connector, J2005 is a receiver of SBUS protocol, VDD _5V _ PERIPH is a 5V supply voltage for supplying power to an SBUS receiver, and SBUS _ IN is a signal interface of the receiver, and is connected to a slave MCU which processes signals through a board-to-board connector. J2004 and J2005 are GH1.25mm series interfaces.
2.3 program download interface
The dual-MCU commonly used for flight control generally adopts STM32, a program of the dual-MCU is loaded with two interfaces of SWD and JTAG, for flight control, the complexity of the dual-MCU is higher, the PCB design engineering quantity is large, and the selected interface is simpler and better, so that an SWD interface downloading program is selected, J2011 in FIG. 6 is a program downloading interface of a main MCU for processing data, FMU-VDD-3V 3 is 3.3V voltage for supplying power to the main MCU, FMU-SWDIO and FMU-SWCLK are respectively a data interface and a clock interface of the main MCU downloading program and are connected to the main MCU through a board-to-board connector; j2010 is a program downloading interface of a slave MCU for processing signals, IO-VDD-3V 3 is 3.3V voltage for supplying power to the slave MCU, IO-SWDIO and IO-SWCLK are a data interface and a clock interface for downloading programs from the MCU respectively, and the data interface and the clock interface are connected to the slave MCU through a board-to-board connector. J2010 and J2011 are both SH1.0mm series interfaces.
2.4 data transmission interface
As shown in fig. 7, J2001 is a data transmission interface TELEM1, and a set of synchronous serial ports USART1 is used for externally connecting a digital transmission module, so that information on flight control can be transmitted to a computer for real-time display. The external digital transmission module is connected to a main MCU for processing data through board-to-board connection, and bidirectional communication is realized. The system comprises a USART (universal serial bus) 1_ TX as a data sending port, a USART1_ RX as a data receiving port, a USART1_ RTS as a data request sending port, a USART1_ CTS as a data clearing sending port and a main MCU as an external digital transmission module, wherein the USART1_ TX is a data sending port, the USART1_ RX is a data receiving port, the USART1_ RTS is a data request sending port and is used for the main MCU to request the external digital transmission module to send data to the main MCU; j2007 is a data transmission interface TELEM2, another group of synchronous serial ports USART2 is used for being connected with an airborne computer, due to the fact that the computing capability of flight control is limited, when the unmanned aerial vehicle needs to run algorithms with high complexity (such as algorithms like image analysis) and the like, the airborne computer placed on the unmanned aerial vehicle needs to be relied on, the airborne computer sends the computing result to the flight control through the TELEM2 interface, and the computing load of the flight control MCU is reduced. The data transmission interface of the airborne computer is connected to the main MCU for processing data through board-to-board connection, and bidirectional communication is realized. The USART2_ TX is a data sending port, the USART2_ RX is a data receiving port, the USART2_ RTS is a data request sending port used for the main MCU to request the external machine-mounted computer to send data to the main MCU, and the USART2_ CTS is a data clearing sending port used for the machine-mounted computer to request the main MCU to send data to the external digital transmission module. J2001 and J2007 are all GH1.25mm series interfaces.
2.5GPS Module interface
J2015 is a GPS module interface, designed according to an interface of a mainstream GPS module NEO-M8N, as shown in fig. 8, powered by 5V, and integrated with a safety switch, a safety indicator, a buzzer, a GPS chip, and a magnetometer, wherein data of the GPS chip is acquired by a CAN communication method, and data of the magnetometer is acquired by an IIC communication method. VDD _5V _ PERIPH is a power supply port of the GPS chip, IO-VDD _3V3 is a power supply port of the buzzer, CAN2_ TX, CAN2_ RX, IIC _ SCL3 and IIC _ SDA3 achieve bidirectional communication between a main MCU for processing data, the GPS chip and the magnetometer through a board-to-board connector. The CAN2_ TX and the CAN2_ RX are respectively used for the main MCU to send data to the GPS chip and receive data from the GPS chip, and the IIC _ SCL3 and the IIC _ SDA3 are respectively a clock interface and a signal interface when the main MCU carries out IIC communication with the magnetometer; the SAFETY _ SWITCH _ LED, BUZZER and SAFETY _ SWITCH respectively realize the signal output control of the SAFETY indicator lamp and the BUZZER from the MCU and the input signal detection of the SAFETY SWITCH through the board-to-board connector. J2015 is GH1.25mm series interface.
2.6 other communication interfaces
The interface J2006 integrates a serial port and a set of IIC buses, as shown in fig. 9, VDD _5V _ PERIPH is used to provide 5V power supply voltage for the external device, UART3_ TX, UART3_ RX, IIC _ SCL2, and IIC _ SDA2 are connected to the main MCU through a board-to-board connector, UART3_ TX and UART3_ RX are respectively used for the main MCU to transmit data to the external device and receive data from the external device to the main MCU, and IIC _ SCL2 and IIC _ SDA2 are clock ports and data ports for the main MCU and the external device to perform IIC communication. The interface can be externally connected with a GPS module, and can also separate a serial port and an IIC bus to mount other equipment. J2002 is a group of IIC bus interfaces, VDD _5V _ PERIPPH is used for providing 5V power supply voltage for external equipment, IIC _ SCL1 and IIC _ SDA1 are connected to a main MCU through a board-to-board connector, IIC _ SCL1 and IIC _ SDA1 are clock ports and data ports for IIC communication between the main MCU and the external equipment, and some external sensors such as magnetometers or other external equipment such as RGB LEDs can be mounted on the clock ports and the data ports; j2009 is a set of SPI buses, VDD _5V _ PERIPPH is used to provide 5V supply voltage for external devices, SPI _ SCK, SPI _ MISO, SPI _ MOSI, SPI _ CS1, SPI _ CS2 are connected to the main MCU through board-to-board connectors, and some external sensors such as gyroscopes, accelerometers, etc. can be mounted. SPI _ SCK is the clock port when main MCU carries out SPI communication with external sensor, and SPI _ MISO, SPI _ MOSI are used for realizing respectively that main MCU sends data to external sensor, external sensor send data to main MCU. J2012 is a set of CAN buses on which some communication devices CAN be mounted. The controller comprises a main MCU, a peripheral device, a CAN1_ TX and a CAN2_ RX, wherein VDD _5V _ PERIPH is used for providing 5V power supply voltage for the peripheral device, and the CAN1_ TX and the CAN2_ RX are connected to the main MCU through a board-to-board connector and are respectively used for the main MCU to transmit data to the peripheral device and the peripheral device to transmit data to the main MCU. J2002, J2006, J2009 and J2012 are all GH1.25mm series interfaces.
The interfaces related to the part mostly use GH1.25mm series interfaces, and the advantages of self-locking of the interfaces, convenience in plugging and unplugging and strong reliability are achieved.
PWM output interface
As shown in fig. 10, the PWM signals output by the flight control are used to control the motor and the steering engine of the unmanned aerial vehicle, and mainly output from the slave MCU responsible for processing the signals, and the PWM output interface is J2013 in the figure, and 8 paths of PWM signals are led out altogether, i.e. IO-CH 1-IO-CH 8, and are generally used to control the motor; the main MCU responsible for processing data also leads out 8 paths of PWM signals, FMU-CH 1-FMU-CH 8, the interface is J2014 in the figure, the main MCU is generally used for controlling the steering engine, and the two groups of the led-out PWM signals can control 16 paths of motors and the steering engine in total. VDD _ SERVO in the two interfaces is a SERVO voltage input port, and is usually accessed by a power regulator with BEC.
Interfaces J2013 and J2014 in the part adopt GH1.25mm series interfaces.
4. Board-to-board interface
J3001A-J3001D are board-to-board interfaces for connecting the expansion device to the flight control core. Only all signals and power outputs on the extension device are connected to the board-to-board connector-male port, the flight control core part only needs to connect corresponding signals to the corresponding board-to-board connector-female port, and the connector female port of the flight control core part is directly plugged to the male port of the extension device in use, so that the flight control system is a complete flight control system. The part of the interface adopts DF17-80DP series interface.
In the invention, all communication interfaces, signal output interfaces and power supply interfaces of the flight control core part are connected with the board-to-board interface-mother interface, as shown in fig. 11, all ports connected to J3001 in fig. 11 are the aforementioned ports; all the interfaces of the expansion device are connected with the board-to-board interfaces-male ports, and a complete flight control system is formed by inserting the male ports and the female ports of the board-to-board interfaces. The power supply module is designed on the expansion device to realize input and selective output of various power supplies, and the multi-path voltage stabilizing circuit separates the power supplies of the MCU, the sensor and the external equipment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. The utility model provides an unmanned aerial vehicle flies to control general extension fixture which characterized in that, includes power supply circuit, external communication equipment interface, PWM output interface and board to the board interface, wherein:
the power supply circuit comprises a power supply selection circuit and a voltage stabilizing circuit, wherein the power supply selection circuit is used for selecting a plurality of input power supplies of the expansion device, and when the plurality of power supplies are input simultaneously, one with the largest voltage in the plurality of input power supplies is selected as the input voltage of the expansion device; the stabilized voltage supply is used for performing voltage stabilization/reduction processing on input voltage so as to supply the input voltage to a low-voltage device of the flight control system;
the external communication equipment interface comprises a USB interface, a receiver interface, a program downloading interface, a data transmission interface, a GPS module interface and other communication interfaces; the USB interface is used for communicating with a computer and transmitting data, and the receiver interface is used for transmitting signals received by the receiver to a slave MCU (microprogrammed control unit) used for processing the signals on the unmanned aerial vehicle through a board-to-board connector; the program downloading interface is used for downloading programs by a main MCU and a slave MCU of the unmanned aerial vehicle for processing data; the data transmission interface is used for externally connecting a digital transmission module and connecting the externally connected digital transmission module to a main MCU for processing data so as to realize bidirectional communication; the GPS module interface is used for the main MCU to send data to the GPS chip and receive the data from the GPS chip and transmit the data to the main MCU; the other communication interfaces are used for mounting an external sensor or a peripheral and realizing the two-way communication from the external device/the peripheral to the main MCU;
the PWM output interface is used for sending the multi-path PWM signals output by the main MCU and the slave MCU to a motor and a steering engine of the unmanned aerial vehicle;
the board is used for connecting the expansion device with the flight control system of the unmanned aerial vehicle to the board interface.
2. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the power supply circuit comprises a SERVO input VDD _ SERVO, anti-reverse diode D1001 and D1003, a filter capacitor L1001, a resistor R1002, a resistor R1003, a double schottky diode D1004 and D1002, wherein:
the SERVO input VDD _ SERVO is connected with a power supply system of the unmanned aerial vehicle, is grounded after being connected in series through R1001, R1002 and R1003, is led out VDD _ SERVO _ SENS from the space between R1002 and R1003, and is connected to an ADC channel of the main MCU through a board-to-board interface;
VDD _ SERVO is sequentially connected with L1001 and D1004 through D1001, and D1004 is connected with an external power management board VDD _5V _ BRICK of the flight control system; one side of L1001 is D1003 grounded, D1002 is connected with D1004, then is connected with VBUS and leads out VDD _5V _ IN to be used as a 5V input power supply of the whole system; wherein, VBUS is the supply voltage of USB interface.
3. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the voltage stabilizing circuit comprises low-dropout linear voltage stabilizing chips U1001, U1002 and U1003, VDD _5V _ IN respectively passes through an input filter capacitor, three voltage stabilizing chips and an output filter capacitor, and then respectively outputs FMU _ VDD _3V3 as a power supply of the master MCU, IO _ VDD _3V3 as a power supply of the slave MCU, and VDD _3V3 SENS as a power supply of the flight control sensor; IN addition, VDD _5V _ IN is serially connected through the recoverable fuse F1001 to serve as a power supply VDD _5V _ period of the external communication device.
4. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the USB interface includes an anti-static protection chip U2001 and a J2003 TYPE-C female connector, VBUS is connected to U2001, and OTG _ FS _ DP and OTG _ FS _ DM are connected to a data transmission positive port D1O and a negative port D2O of U2001; data are respectively input to pins D1I and D2I of a chip U2001 from terminals DN1 and DP1 of the TYPE-C interface, are output from pins D1O and D2O, and are connected to a main MCU through a board-to-board interface.
5. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the receiver interface includes an interface J2004 or an interface J2005, a PPM _ IN interface supporting a PPM protocol is provided on the interface J2004 for connecting a PPM receiver; an SBUS _ IN interface supporting an SBUS protocol is arranged on the J2005 and is used for connecting an SBUS receiver; and 5V power supply voltage VDD-5V-PERIPH is connected to J2004 and J2005 and is used for supplying power to the PPM receiver and the SBUS receiver.
6. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the program download interface comprises J2011 as a master MCU download interface and J2010 as a slave MCU download interface, on J2011, FMU-VDD _3V3 is a 3.3V voltage for supplying power to the master MCU, and FMU-SWDIO and FMU-SWCLK are a data interface and a clock interface for downloading programs by the master MCU respectively and are connected to the master MCU through board-to-board connectors; on J2010, IO-VDD _3V3 is 3.3V voltage for supplying power to the slave MCU, and IO-SWDIO and IO-SWCLK are respectively a data interface and a clock interface for downloading programs from the MCU and are connected to the slave MCU through a board-to-board connector.
7. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the data transmission interfaces include a data transmission interface J2001 and a data transmission interface J2007, in J2001, USART1_ TX is a data transmission port, USART1_ RX is a data reception port, USART1_ RTS is a data request transmission port for the host MCU to request the external digital transmission module to transmit data to the host MCU, USART1_ CTS is a data clear transmission port for the external digital transmission module to request the host MCU to transmit data to the external digital transmission module;
in J2007, USART2_ TX is a data sending port, USART2_ RX is a data receiving port, USART2_ RTS is a data request sending port for the host MCU to request the external onboard computer to send data to the host MCU, and USART2_ CTS is a data clear sending port for the onboard computer to request the host MCU to send data to the external digital transmission module.
8. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the GPS module interface comprises an interface J2015, on the J2015, IO-VDD _3V3 is a power supply port of a buzzer, CAN2_ TX, CAN2_ RX, IIC _ SCL3, IIC _ SDA3 realize bidirectional communication between a main MCU processing data and the GPS chip and the magnetometer through a board-to-board connector; the CAN2_ TX and the CAN2_ RX are respectively used for the main MCU to send data to the GPS chip and receive data from the GPS chip, and the IIC _ SCL3 and the IIC _ SDA3 are respectively a clock interface and a signal interface when the main MCU carries out IIC communication with the magnetometer; the SAFETY _ SWITCH _ LED, BUZZER and SAFETY _ SWITCH respectively realize the signal output control of the SAFETY indicator lamp and the BUZZER from the MCU and the input signal detection of the SAFETY SWITCH through the board-to-board connector.
9. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the other communication interfaces include interfaces J2006, J2002, J2009, and J2012, wherein:
j2006 integrates a serial port and a group of IIC buses, and the serial port and the IIC buses are externally connected with a GPS module or are separated to mount equipment; in J2006, UART3_ TX and UART3_ RX are respectively used for a main MCU to transmit data to an external device and receive data of the external device to the main MCU, and IIC _ SCL2 and IIC _ SDA2 are clock ports and data ports for the main MCU and the external device to perform IIC communication;
j2002 is a group of IIC bus interfaces, IIC _ SCL1 and IIC _ SDA1 on J2002 are clock ports and data ports for IIC communication between a main MCU and external equipment and are used for mounting external sensors or peripherals;
j2009 is a group of SPI buses for mounting external sensors; in J2009, SPI _ SCK is a clock port when the main MCU performs SPI communication with the external sensor, and SPI _ MISO and SPI _ MOSI are used to respectively enable the main MCU to send data to the external sensor and the external sensor to send data to the main MCU;
j2012 is a set of CAN buses for mounting communication devices; the CAN1_ TX and the CAN2_ RX on the J2012 are connected to the host MCU through the board-to-board connector and are respectively used for the host MCU to transmit data to the external equipment and the external equipment to transmit data to the host MCU.
10. The universal extension device for unmanned aerial vehicle flight control according to claim 1, wherein the board-to-board interface connects all signals and power outputs on the extension device to a board-to-board connector-male port, and the flight control system directly plugs a connector female port of a flight control core part to a male port of the extension device as long as the flight control system connects corresponding signals to a corresponding board-to-board connector-female port, so that the complete flight control system is obtained.
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