KR101703236B1 - Method and apparatus for recording flight data of unmanned aerial vehicle - Google Patents

Abstract

The present invention provides a method and an apparatus to record flight data of an unmanned aerial vehicle (UAV), generating the flight data of the UAV in order to efficiently verify whether or not the UAV is implemented to obey a safety regulation. According to the present invention, the apparatus comprises: a storage unit; a test agent receiving a control signal from an automatic test system to output the control signal; and a virtual driver unit connected to a control unit and a driver of the UAV in a communicable manner, receiving the control signal from the test agent to output the control signal to the driver, and receiving sensor data from the driver. The virtual driver unit stores the sensor data as the flight data in the storage unit. The test agent reads the flight data from the storage unit to transmit the flight data to the automatic test system.

Description

TECHNICAL FIELD [0001] The present invention relates to a method and an apparatus for storing a flight record of an unmanned airplane,

The present invention relates to a verification method for a control system of an unmanned aerial vehicle, and more particularly, to a method and an apparatus for storing a flight record of an unmanned aerial vehicle.

An unmanned aerial vehicle (UAV) or drone is an aircraft that does not burn its pilots but which can be lifted by aerodynamic forces to fly autonomously or remotely and can be disposable or reusable Means a powered vehicle. Unmanned aerial vehicles can be controlled autonomously or autonomously using the path stored in the onboard computer or through remote control of the ground control equipment. Remote control of ground control equipment is difficult to control in real time due to changes in internal and external environment such as communication link defects, time delay, ground structures / flying objects, and system failure. As a result, In order to solve these problems, researches on autonomy or autonomy are being actively carried out in order to recognize the changes in the internal and external environment of the unmanned aerial vehicle itself and to determine and operate the optimum operation method.

Moreover, the recent rapid growth of the unmanned aerial vehicle industry and the increasing number of accidents. At home and abroad, these safety accidents are social issues, and various measures are being discussed to prevent safety accidents on UAVs. In order to prevent safety accidents, it is necessary to ensure that the unmanned aircraft operates safely, such as flight avoidance in the non-flying area, departure from the battery level, and flight performance in bad weather conditions. However, it is difficult to guarantee that the function will work correctly unless the results are actually verified through field testing. Therefore, there has been a need for a system that can verify the compliance of the autonomous control function mounted on the safe unmanned airplane in advance to protect human life and economic loss.

In order to construct the verification system, the flight data of the unmanned airplane is required to verify compliance with the related regulations of the autonomous control function mounted on the unmanned airplane. Thus, a study on generating the flight data of the unmanned airplane should be conducted.

1. Reliability Evaluation of Unmanned Aerial Vehicle Flight Test Methodology Lee, Youn-Sung, Jin-Young Seo, Tae-Sik Kim Korea Aerospace Exploration Agency (JSME) 2001 Spring, 2001, 371-376 (6 pages) 2. Development and Verification of Flight Operation Program for Full Automatic Unmanned Helicopter Operation, Jun-Sup Song, Woo-Jin Song, Kwon Bum-Jung Kang, Bum-Soo (Korea Aerospace Research Institute, Vol.2010 No.11, [2010])

The present invention provides a method and an apparatus for generating flight data of an unmanned aeronautical vehicle for efficiently verifying whether an unmanned air vehicle equipped with an autonomous control function is implemented to comply with safety regulations in order to secure flight stability.

Another object of the present invention is to provide a method and apparatus for efficiently recording flight data of an unmanned aerial vehicle.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of an embodiment of the present invention, an apparatus for storing flight data of an Unmanned Aerial Vehicle (UAV) is provided. The apparatus includes a storage unit, a test agent configured to receive a control signal from the test automation system and output the control signal, and a controller connected to the controller and driver of the unmanned airplane in a communicable manner and receiving the control signal from the test agent And a virtual driver unit configured to output the sensor data to the driver and receive sensor data from the driver, wherein the virtual driver unit is further configured to store the sensor data as flight data in the storage unit, And to send the flight data to the test automation system.

In one embodiment, the driver unit includes at least one sensor driver among a GPS sensor driver for driving the GPS sensor, a gyro sensor driver for driving the gyro sensor, and an acceleration sensor driver for driving the acceleration sensor, and a plurality of rotors wherein the virtual driver unit includes a virtual GPS sensor driver for driving the GPS sensor driver, a virtual gyro sensor driver for driving the gyro sensor driver, and a motor driver for driving the acceleration sensor driver At least one virtual driver among the virtual acceleration sensor drivers to be driven and a virtual motor PWM control driver for driving the motor PWM control driver.

In one embodiment, the control signal may comprise a signal for activating or deactivating the at least one virtual driver and the virtual motor PWM control driver.

In one embodiment, the virtual driver unit may include a target sensor driven by a driver that outputs the sensor data among the drivers of the driver unit, and a time stamp (Tick value) indicating a time when the sensor data is input The sensor data may be further stored in the storage unit in association with the sensor data.

In one embodiment, the virtual driver unit is further configured to output the sensor data to a control unit of the unmanned air vehicle, and the control unit is configured to control the sensor unit based on the current attitude value of the unmanned air vehicle, Calculating a PID (Proportional Integral Differential) control amount for each of the plurality of rotors based on the data, and calculating a PID control amount for each of the plurality of rotors from a motor output And to output the motor output data calculated for each of the plurality of rotors to the virtual motor PWM control driver.

In one embodiment, the virtual driver unit may be further configured to receive motor output data for each of the plurality of rotors from the control unit and store the received motor output data in the storage unit as a part of the flight data.

According to another aspect of an embodiment of the present invention, a method for storing flight data of an unmanned aerial vehicle is provided. The method includes receiving a control signal from a test automation system in a test agent, transmitting the control signal to a virtual driver unit, outputting the control signal to a driver in the virtual driver unit, receiving sensor data from the driver, A step of receiving motor PWM output data from the control unit in the virtual driver unit and storing the motor PWM output data together with the sensor data in the storage unit as flight data, And reading the flight data from the storage unit and transmitting the flight data to the test automation system. Here, the motor PWM output data may be obtained by performing a calculation operation necessary for flight control of the UAV on the basis of the sensor data, the current attitude value, and the target attitude value.

In one embodiment, the virtual driver unit is configured to control at least one virtual driver of a virtual GPS sensor driver, a virtual gyro sensor driver, and a virtual acceleration sensor driver, and a virtual motor PWM for each of a plurality of rotors of the unmanned air vehicle Control drivers.

In one embodiment, the control unit calculates a PID (Proportional Integral Differential) control amount for each of the plurality of rotors based on the current attitude value of the UAV, the target attitude value of the UAV, Calculates motor output data for each of the plurality of rotors from the calculated PID control amount for each of the plurality of rotors, and outputs motor output data calculated for each of the plurality of rotors to the virtual motor PWM Lt; RTI ID = 0.0 > control driver. ≪ / RTI >

According to the method and apparatus for storing flight data of an unmanned airplane according to the embodiments of the present invention, in order to ensure flight stability, an unmanned airplane equipped with an autonomous control function can be efficiently used to verify whether it is implemented to comply with safety regulations. The flight data of the aircraft can be generated.

According to the method and apparatus for storing flight data of the UAV according to the embodiments of the present invention, there is an effect of efficiently recording the flight data of the UAV.

1 is a schematic diagram of an embodiment in which an unmanned aerial vehicle is connected to a test automation system.
FIG. 2 is a block diagram of an electronic module included in an electronic component accommodating portion of the unmanned aerial vehicle of FIG. 1;
3 is a flow chart illustrating the flow of flight data in an electronic module of an unmanned aerial vehicle according to an embodiment of the present invention.
4 is a diagram illustrating a format of flight data of an unmanned aerial vehicle according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of attaining them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. To fully disclose the scope of the invention to a person skilled in the art, and the invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. For example, an element expressed in singular < Desc / Clms Page number 5 > terms should be understood to include a plurality of elements unless the context clearly dictates a singular value. In addition, in the specification of the present invention, it is to be understood that terms such as "include" or "have" are intended to specify the presence of stated features, integers, steps, operations, components, The use of the term does not exclude the presence or addition of one or more other features, numbers, steps, operations, elements, parts or combinations thereof.

As used herein, the term " module " or " module " means a functional part that performs at least one function or operation, and may be implemented in hardware or software or a combination of hardware and software. In addition, a plurality of 'modules' or a plurality of 'parts' may be integrated into at least one module except for 'module' or 'module' which needs to be implemented by specific hardware, and may be implemented by at least one processor.

In addition, all terms used herein, including technical or scientific terms, unless otherwise defined, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be construed as meaning consistent with meaning in the context of the related art and may be interpreted in an ideal or overly formal sense unless explicitly defined in the specification of the present invention It does not.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions will not be described in detail if they obscure the subject matter of the present invention.

1 is a schematic diagram of an embodiment in which an unmanned aerial vehicle is connected to a test automation system.

In the present disclosure, the UAV 100 refers to an unmanned aerial vehicle, which is called a "drones", on which no crew is boarded. The UAV 100 may include, but is not limited to, fixed wing unmanned aerial vehicles, rovers, walking robots, hovercraft, and the like. The components of the UAV 100 shown in FIG. 1 do not reflect and are not essential to all the mechanical configurations mounted on the UAV 100, so that the UAV 100 has more components than the illustrated components. And may include less or more elements.

As shown in FIG. 1, the UAV 100 may include rotors 110, and an electronic component receiving portion 120. The rotors 110 may serve to provide the lift required for the operation of the UAV 100. Although FIG. 1 shows eight rotors, the number of rotors 110 may be varied according to the required lifting and operating time requirements. The electronic component receiving portion 120 may be any suitable housing for receiving an electronic module composed of electronic components. It is possible to fix the electronic parts in the electronic part accommodating part 120 to the electronic part accommodating part 120 and ground them.

The test automation system 300 is a device for transmitting the flight data recording control signal of the UAV 100 and receiving the recorded flight data. The test automation system 300 is located outside the electronic module 200 of the UAV 100 and is connected to the test agent 250 of the electronic module 200 of the UAV 100 in a wired / .

FIG. 2 is a block diagram of an electronic module included in the electronic component accommodating portion of FIG. 1; FIG.

The electronic module 200 of the unmanned aerial vehicle may include a test agent 250 and a virtual driver unit 240. The test agent 250 and the virtual driver unit 240 may be connected to the control unit 210 in a manner . In one embodiment, the electronic module 200 of the unmanned aerial vehicle may be implemented by porting the test agent 250 and the virtual driver unit 240 to a conventional electronic module of an unmanned aerial vehicle. That is, the test agent 250 and the virtual driver unit 240 may be ported to the electronic module to store the actual flight data in the storage unit 220.

As shown in FIG. 2, the electronic module 200 may include a control unit 210.

The control unit 210 may perform an operation for controlling the operation of the UAV 100. The control unit 210 may include application software (not shown), an operating system (not shown), and a micro control unit (not shown). In one embodiment, the control unit 210 corrects the target posture value of the UAV, and calculates a Proportional Integral Differential (PID) for each of the plurality of rotors based on the current posture value, the corrected target posture value, Differential) control amount is output as the calculated result. In one embodiment, the controller 210 may be configured to output motor output data for each of the plurality of rotors to the corresponding virtual motor output PWM control driver.

In one embodiment, the control unit 210 may be implemented as an integrated circuit, such as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays microprocessors, microprocessors, microprocessors, microprocessors, microprocessors, and the like.

In one embodiment, the control unit 210 may be implemented with firmware / software codes that are executable on a hardware platform that allows performing at least one function or operation. The software code may be implemented by software applications written in a suitable programming language. The software codes may be stored in the memory of the control unit 210 or may be stored in the storage unit 220 and then called and executed.

The electronic module 200 may further include a storage unit 220.

The storage unit 220 may store data necessary for the flight of the UAV 100 or may store flight data of the UAV 100. [ In one embodiment, the storage unit 220 may include an SD card. In one embodiment, the storage 220 includes additional storage devices (removable and / or non-removable storage devices), including, but not limited to, magnetic or optical disks, tape, flash, can do. Computer storage media, such as memory, include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data.

The electronic module 200 may further include a driver unit 230.

A driver is a program that operates to control a specific hardware or device. A driver often communicates with a device via a computer bus, or a communications subsystem that is in communication with the hardware. When the requesting program calls the driver's command, the driver passes the command to the device. When the device returns data to the driver, the driver passes the data back to the command of the originally requested program. Drivers are hardware dependent and follow a specific operating system. The driver unit 230 may include a driver (not shown) associated with each of the plurality of sensors and a driver for driving the rotor.

In one embodiment, the driver unit includes at least one sensor driver among a GPS sensor driver for driving the GPS sensor, a gyro sensor driver for driving the gyro sensor, and an acceleration sensor driver for driving the acceleration sensor, and a plurality of rotors , ≪ / RTI > and a motor PWM control driver for each of the PWM control drivers.

The GPS sensor driver is a program for driving the GPS sensor. The GPS sensor driver can receive data from a GPS receiver that receives GPS position signals from the GPS satellites and deliver them to the originally requested program. This location program can determine the current location of the UAV 100 based on the GPS location signal received by the GPS receiver.

The gyro sensor driver is a program for driving the gyro sensor. The gyro sensor is a sensor that measures the azimuth change of an object by using the property that maintains the constant direction set at the first time with high accuracy regardless of the rotation of the earth. It is a sensor which is used for navigation, And for posture control.

The acceleration sensor driver is a program for driving the acceleration sensor. The acceleration sensor senses the motion state of the UAV 100 by measuring dynamic forces such as acceleration, vibration, and impact of the UAV 100. By analyzing the data collected from the gyro sensor and the acceleration sensor, the movement of the UAV 100 can be grasped.

The motor PWM control driver is a program for driving the rotors of the UAV 100. The motor PWM control driver can control each of a plurality of rotors to control the direction, height, speed, etc. of the UAV 100.

The electronic module 200 may further include a virtual driver unit 240. The virtual driver unit 240 is a program for virtually controlling a specific hardware or device. The virtual driver unit 240 may receive commands from the test agent 250 and communicate commands to the controller 210 without communicating with the devices via a computer bus or a communication subsystem connected to the hardware, The virtual driver unit 240 can pass an instruction to the test agent 250 instead of passing the instruction to the corresponding hardware device.

In one embodiment, the virtual driver unit 240 includes a virtual GPS sensor driver for driving the GPS sensor driver, a virtual gyro sensor driver for driving the gyro sensor driver, and a virtual acceleration sensor driver for driving the acceleration sensor driver. And a virtual motor PWM control driver that drives a motor PWM control driver.

In one embodiment, the virtual driver unit 240 outputs a time stamp (Tick value) indicating the time when the target sensor and the sensor data, which are driven by the driver, which outputs the sensor data among the drivers of the driver unit, And store it in the storage unit 220 in association with each other. In one embodiment, the virtual driver unit 240 may be configured to receive motor output data for each of a plurality of rotors from the control unit 201 and store the received motor output data in the storage unit 220 as part of the flight data.

The electronic module 200 may further include a test agent 250.

The test agent 250 performs a function of storing flight data of the UAV 100. In one embodiment, the test agent 250 may be connected in a manner communicable with the storage unit 220 and the virtual driver unit 240 within the electronic module 200. The test agent 250 may be configured to receive the recording control signal of the flight data from the test automation system outside the UAV 100 and to transmit the recorded flight data to the test automation system 300. In one embodiment, test agent 250 may be configured to receive control signals from test automation system 300 and output control signals. In one embodiment, the test agent 250 may be configured to read the stored flight data from the storage and send it to the test automation system 300.

The electronic module 200 may further include a communication module (not shown).

The communication module may be configured to allow communication between the UAV 100 and an external system, e.g., a test automation system. The communication module may be a wired / wireless communication device using a wired / wireless network protocol. A specific protocol can be selected in consideration of the power consumed by the communication module. In various embodiments, USB Serial Port, Ethernet, LTE-A, WiFi, Bluetooth, RFID, ZigBee protocols may be used, but other protocols may be used.

The components shown in FIG. 2 do not necessarily reflect all functions of the electronic module 200 according to the present invention, and are not essential. Accordingly, it should be appreciated that the electronic module 200 according to the present invention may include more or fewer components than the illustrated components.

3 is a flow chart illustrating the flow of flight data in an electronic module of an unmanned aerial vehicle according to an embodiment of the present invention.

The test agent 250 starts from receiving a recording control signal from an external test automation system 300 (S301). The test agent 250 receives the recording control signal from the test automation system 300 and may transmit the recording control signal to the virtual driver unit 240 to activate the recording mode of the virtual sensor driver (S303). The virtual driver unit 240 can transmit the corresponding signal to each of the plurality of virtual sensor drivers (S305). Here, the virtual driver unit includes at least one of a virtual GPS sensor driver 240a for driving the GPS sensor driver, a virtual gyro sensor driver 240b for driving the gyro sensor driver, and a virtual acceleration sensor driver 240c for driving the acceleration sensor driver And a virtual motor PWM control driver 240d that drives the virtual driver and the motor PWM control driver. In one embodiment, the recording control signal may comprise a signal for activating or deactivating at least one virtual driver and a virtual motor PWM control driver.

Each of the plurality of virtual sensor drivers may activate the recording mode of the virtual sensor driver in response to receiving the recording control signal from the test agent 250. Each of the plurality of virtual sensor drivers can receive the sensor data sensed by the corresponding sensor driver (S307). Each of the plurality of virtual sensor drivers may receive the sensor data sensed by the sensor in response to reception of the sensor data request message from the controller 210 in step S309 and may transmit the sensed sensor data to the controller 210 in step S311. In one embodiment, each of the plurality of virtual sensor drivers may transmit sensor data to the storage unit 220 (S313). In one embodiment, the storage unit 220 may be an SD card.

The control unit 210 calculates a PID (Proportional Integral Differential) control amount for each of the plurality of rotors based on the current attitude value, the target attitude value of the UAV 100, and the sensor data received from each of the virtual sensor drivers And outputs the motor output data for each of the plurality of rotors to the corresponding virtual motor output PWM control driver (S315).

The test agent 250 reads the flight data from the storage unit 220 (S317) and transmits the flight data to the test automation system (S319).

4 is a diagram illustrating a format of flight data of an unmanned aerial vehicle according to an embodiment of the present invention.

The format of the flight data may include a time stamp (Tick value), a target sensor and sensor data. The time stamp (Tick value) may be a time displacement parameter that indicates the starting point of time with respect to a commonly referred time, which is a time to display at a specific position to prove the fact that data existed at a certain point in time. The target sensor is a value indicating the type of the sensor, and may be GPS, gyro, acceleration, and motor output PWM. The sensor data means sensor data of the target sensor.

The first record 410 of FIG. 4 shows that the time stamp (Tick value) is "635853888000000000", the target sensor is "GPS" and the sensor data is "$ GPGGA, 141113.999, 3730.0308, N, 12655.2369, , 1.7, 98.9, M ,,,, 0000, * 3E ". The second record 420 means flight data having a time stamp (Tick value) of "635853888000000015", a target sensor of "gyro" and sensor data of "+1500".

In the embodiments disclosed herein, the arrangement of the components shown may vary depending on the environment or requirements in which the invention is implemented. For example, some components may be omitted or some components may be integrated into one. In addition, the arrangement order and connection of some components may be changed.

Although the present invention and its various functional elements have been described in terms of specific embodiments, it is to be understood that the invention may be implemented in hardware, software, firmware, middleware, or a combination thereof and may be implemented as a system, subsystem, It should be understood that the invention may be utilized in various other embodiments. When implemented in software, the elements of the present invention may be instructions / code segments for performing necessary tasks. The program or code segments may be stored in a machine-readable medium, such as a processor-readable medium, or a computer program product. A machine-readable medium or a processor-readable medium may include any medium that can be read by a machine (e.g., processor, computer, etc.) and capable of storing or transmitting information in an executable form.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Accordingly, the technical scope of the present invention should be determined only by the appended claims.

100: Unmanned aircraft
200: electronic module
210:
220:
230: Driver Unit
240: virtual driver unit
250: Test Agent
300: Test automation system

Claims (11)

An apparatus for storing flight data of an unmanned aerial vehicle (UAV)
The storage unit,
A test agent configured to receive a control signal from a test automation system and output the control signal;
A virtual driver unit connected to the control unit and the driver unit of the unmanned airplane in a communicable manner and configured to receive the control signal from the test agent and output the received control signal to the driver unit and receive sensor data from the driver unit;
/ RTI >
Wherein the virtual driver unit is further configured to store the sensor data in the storage as flight data,
Wherein the test agent is further configured to read the flight data from the storage and send it to the test automation system. The method according to claim 1,
Wherein the driver unit includes at least one sensor driver among a GPS sensor driver for driving a GPS sensor, a gyro sensor driver for driving a gyro sensor, and an acceleration sensor driver for driving an acceleration sensor, and at least one of a plurality of rotors of the unmanned air vehicle A motor PWM control driver for the motor,
Wherein the virtual driver unit includes at least one virtual driver among a virtual GPS sensor driver for driving the GPS sensor driver, a virtual gyro sensor driver for driving the gyro sensor driver, and a virtual acceleration sensor driver for driving the acceleration sensor driver, And a virtual motor PWM control driver for driving the PWM control driver. 3. The method of claim 2,
Wherein the control signal comprises a signal for activating or deactivating the at least one virtual driver and the virtual motor PWM control driver. 3. The method of claim 2,
Wherein the virtual driver unit is configured to associate a time stamp (Tick value) indicating a time when the driver of the driver unit, which has output the sensor data, And store the data in the storage unit. 5. The method of claim 4,
Wherein the virtual driver unit is further configured to output the sensor data to a control unit of the unmanned air vehicle,
The control unit calculates a PID (Proportional Integral Differential) control amount for each of the plurality of rotors based on the current attitude value of the UAV, the modified attitude value of the UAV, and the sensor data ,
Calculates motor output data for each of the plurality of rotors from the calculated PID control amount for each of the plurality of rotors,
And output the calculated motor output data for each of the plurality of rotors to the virtual motor PWM control driver. 6. The method of claim 5,
Wherein the virtual driver unit is further configured to receive motor output data for each of the plurality of rotors from the control unit and store the received motor output data in the storage unit as a part of the flight data. A method for storing flight data of an unmanned aerial vehicle,
Receiving a control signal from a test automation system in a test agent and transmitting the control signal to a virtual driver unit,
Outputting the control signal to the driver unit in the virtual driver unit, receiving sensor data from the driver unit and transmitting the sensor data to the control unit of the unmanned air vehicle,
Wherein the motor output data from the control unit in the virtual driver unit, the motor output data, is calculated based on the sensor data, the current attitude value of the unmanned airplane, and the target attitude value of the unmanned airplane, And storing the motor output data together with the sensor data in a storage unit as flight data; and
Reading the flight data from the storage unit in the test agent and transmitting the read flight data to the test automation system
Wherein the flight data of the unmanned airplane is stored. 8. The method of claim 7,
Storing the motor output data together with the sensor data as flight data in a storage unit
In the virtual driver unit, a target sensor driven by a driver that outputs the sensor data among the drivers of the driver unit and a time stamp indicating a time when the sensor data is input are stored in the storage unit in association with the sensor data And storing the flight data of the unmanned airplane. 9. The method of claim 8,
Wherein the virtual driver unit comprises a virtual driver for at least one of a virtual GPS sensor driver, a virtual gyro sensor driver, and a virtual acceleration sensor driver, and a virtual motor PWM control driver for each of a plurality of rotors of the unmanned air vehicle , A method for storing flight data of a UAV. 10. The method of claim 9,
Wherein,
Calculating a PID (Proportional Integral Differential) control amount for each of the plurality of rotors based on the current attitude value of the UAV, the target attitude value of the UAV, and the sensor data,
Calculates motor output data for each of the plurality of rotors from the calculated PID control amount for each of the plurality of rotors,
And outputting the calculated motor output data for each of the plurality of rotors to the virtual motor PWM control driver. 11. A computer-readable medium having recorded thereon a program, the program comprising instructions, and wherein the instructions, when executed by a computer, perform the method according to any one of claims 7 to 10.

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