TWI830392B - UAV semi-open source control system and its design method - Google Patents

Abstract

The invention relates to a semi-open source control system for an unmanned aerial vehicle and a design method thereof. The unmanned aerial vehicle is configured to include a single-chip multi-core processor and a shared register. The first processing core configuration of the single-chip multi-core processor includes a semi-open source flight control module used to control drones. The semi-open source flight control module configuration of the single-chip multi-core processor includes a closed source control function module and an open source control program module. The closed source control function module configuration includes data processing functions, communication functions, flight control functions and hardware The body setting function allows the semi-open source flight control module to perform the UAV's power management, ground communication, aviation sensing, flight control, navigation calculation and flight record information processing. The second processing core is equipped with a first user application for users to write task applications according to their required tasks, so that the task applications are combined with the open source control program module to form a drone through a shared register. Control the application to activate the semi-open source flight control module to control the drone, so that the autopilot program can be placed on the first processing core and provide flight status and waypoint registers for users to develop other processing cores. Applications can be used for navigation or AI calculations, which can increase the stability of system software and hardware, reduce space and weight, and reduce current consumption and cost.

Description

UAV semi-open source control system and its design method

The invention relates to a semi-open source control system for unmanned aerial vehicles and a design method thereof. In particular, it refers to a core that places an autopilot program on a first processing core and provides temporary registers such as flight status and waypoints for users outside the first core. Developing semi-open source control technology for drone applications.

Press, the concept of open source was first applied to software (like Linux). The development of open source software was gradually combined with hardware to produce open source hardware. Open source hardware must be approved and authorized by the original designer before production (such as CUAV Lei Xun Innovation Manufacturing Pixhawk v3 and Holybro Pixhawk 6C, etc.) and does not use any trademark owned by the original designer. The hardware design source code also needs to be open and accessible to others to make modifications, achieve technical freedom, and provide knowledge sharing. The development of Suikan Linux and git has brought mature open source collaboration platforms such as github and gitbook to the drone industry, which has organized scattered drone software and hardware development resources, allowing developers and users to quickly develop flight control systems. . Therefore, the sharing mechanism of the open source platform promotes the rapid commercialization of the drone industry, thereby promoting the overall development of the drone industry.

Furthermore, the open source flight control system of UAVs is mainly used to control UAVs to meet the requirements of autonomous flight, in order to achieve the purpose of performing specific required tasks. According to what we know, there are two major communities for the open source flight control system of Xi Zhi UAV:

1. Ardupilot: In 2007, Chris Anderson established DIYDrones.com based on the Arduino open source platform to launch flight control hardware and its flight control software APM (https://ardupilot.org/), processor It is the 8-bit Mage2560 of the Microchip AVR series. It does not have the configuration of a task computer. If it needs to be configured, it needs to be added in the form of hardware, so the hardware construction cost is relatively high.

2.Pixhawk: It uses ST's 32-bit single-core STM32 processor, and its open source flight control software is PX4 (https://pixhawk.org/), which is a high-performance flight control hardware launched by the Zurich University of Technology in 2013. board (designed by Lorenz Meier), which does not have the configuration of a task computer or an AI computing computer. If it needs to be configured, it requires an external system to add hardware, which results in a relatively high cost of hardware construction, or a weight, volume and The power consumption increases and the aircraft’s flight time is reduced.

3. Skynode is a product that reshapes Pixhawk in drone technology in 2020. It mainly contains an STM32F7 flight control board, ARM Cortex-A53 Quad Core (13,800DMIPS) mission computer board and LTE communication module. Due to the configuration of its mission computer It is an ARM Cortex-A53 quad-core board with 13,800DMIPS+Auterion OS (that is, composed of 3 boards), so the hardware construction cost is relatively high; in addition.

From the above, it can be seen that the open source flight control technology of conventional drones does not use multi-core chips as the computing core of autonomous driving, so it is impossible to place the autonomous driving program as the first processing core to provide temporary flight status, waypoints, etc. The memory allows users to develop applications that perform their own tasks on other cores. Therefore, single-core system software and hardware have disadvantages such as poor stability, increased space and weight, increased current consumption, and increased cost.

Obviously, the above-mentioned conventional open source flight control technology is indeed not perfect in terms of functional construction, and there is still a need for further improvement. In view of this, how to develop a multi-core chip as the computing core of autonomous driving to provide flight status UAV semi-open source control technology with waypoints and other temporary registers for users to develop their own applications in other cores has actually become a relevant technology field. It is a technical issue that scholars in the field of industry and academia are eager to challenge and solve; because of this, the inventor has finally developed a set of inventions that are different from the above-mentioned conventional technology through continuous efforts in research and development.

The first purpose of the present invention is to provide a semi-open source control system for drones, which mainly uses multi-core chips as the computing core of autonomous driving of drones, and places the autonomous driving program in the first processing core to provide flight status and waypoints, etc. The register is used by users to access applications required for development in other cores for navigation or AI calculations. Therefore, it has the characteristics of increasing the stability of system software and hardware, reducing space and weight, and reducing current consumption and cost. The technical means to achieve the first object of the present invention is to configure the drone to include a single-chip multi-core processor and a shared register. The first processing core configuration of the single-chip multi-core processor includes a semi-open source flight control module used to control drones. The semi-open source flight control module configuration of the single-chip multi-core processor includes a closed source control function module and an open source control program module. The closed source control function module configuration includes data processing functions, communication functions, flight control functions and hardware The body setting function allows the semi-open source flight control module to perform the UAV's power management, ground communication, aviation sensing, flight control, navigation calculation and flight record information processing. The second processing core is equipped with a first user application for users to write task applications according to their required tasks, so that the task applications are combined with the closed-source flight control program module through a shared register. Drone autonomous flight system control app to control your drone.

The second purpose of the present invention is to provide a design method for a semi-open source control system for drones, which mainly opens multiple function protection core technologies to users to develop user applications for required unmanned flight tasks, so as to easily realize customization. The purpose of the program. Since the relevant programs that users need to understand are indeed fewer than open source flight controllers, it can ease the user's design of automatic The burden of driving a program. The technical means to achieve the second object of the present invention is to build a single-chip multi-core processor on a drone and a shared register. The single-chip multi-core processor at least includes a first processing core and a first Two processing cores; the first processing core is configured to include a semi-open source flight control module for controlling the drone; the semi-open source flight control module is configured to include a closed source control function module and an open source Control program module; the closed source control function module configuration includes at least or at most a data processing function, a communication function, a flight control function and a hardware setting function, so that the semi-open source flight control module can execute, including The drone's power management, ground communication, aviation sensing, flight control, navigation calculation and information processing of flight records; a first user application is built in the second processing core, and the first user application For a user to write a work task application program according to the required tasks, so that the work task application program is combined with the closed source flight control program module through the shared register to form a UAV control application program, thereby enabling the Drone flight control app to control the drone.

10:Single chip multi-core processor

11: First processing core

12: Second processing core

13: Semi-open source flight control module

130: Closed source function module

131:Open source control program module

20: Shared register

20a:Memory

Figure 1 is a schematic diagram of the implementation of a specific system architecture of the present invention.

Figure 2 is a schematic flow diagram of the main program of the open source and closed source control program modules of the present invention.

Figure 3 is a schematic flow chart of the semi-open source flight control module of the present invention executing a series of interrupts to send and receive data in real time.

Figure 4 is a schematic diagram of the specific implementation architecture of the open source flight control module of the present invention.

In order to allow your review committee to further understand the overall technical characteristics of the present invention and the technical means to achieve the purpose of the present invention, specific embodiments are described in detail with reference to the drawings:

Please refer to Figures 1 and 4. In order to achieve the first purpose of the present invention, the first practical The embodiment mainly includes a single-chip multi-core processor 10 and a shared register 20 built on a drone. The single-chip multi-core processor 10 at least includes a first processing core 11 and at least a second processing core 12; wherein, the first processing core 11 is configured to include a semi-open source flight control module for controlling a drone. 13. The semi-open source flight control module 13 is configured to include a matching set of a closed source function module 130 and an open source control program module 131. The closed source function module 130 is configured to include at least or at most one data processing function. , a communication function, a flight control function and a hardware setting function, allowing the semi-open source flight control module 13 to perform power management including the drone (such as managing the discharge mode and power consumption of the battery pack), ground control Communication (radio transceiver module in Figure 1), aviation sensing (GPS positioning module in Figure 1, airspeed meter, altimeter, light intensity meter, current and voltage meter, temperature and humidity meter, three-axis attitude meter, etc.), Information processing of flight control (servo motor in Figure 1), navigation calculation and flight record (flight record card in Figure 1). The second processing core 12 is built with a user application program. The user application program allows the user to write a task application program according to the required tasks, so that the task application program communicates with the open source control program through the shared register 20 The module 131 is configured into a drone control application, thereby enabling the drone control application to activate the semi-open source flight control module 13 to control the drone.

This embodiment is a first specific application embodiment based on the above-mentioned first embodiment. Please refer to Figure 1. The register or memory is set as a register data area for users to perform data access applications. ; Mainly built on the drone, including a plurality of registers (such as a shared register); or a memory 20a for connecting the single-chip multi-core processor 10 with the first processing core 11 and at least one second processing core 12 information links, the plurality of registers; or the memory 20a is designed to be a plurality of temporary data areas for flight control and commands, and the plurality of register data areas can be used as data access applications when the user application program is executed. Specifically, the plural register or memory 20a includes A plurality of read-only registers or memories and a plurality of read-write registers or memories. The plurality of read-only registers or memories include a GPS longitude temporary data area, a GPS latitude temporary data area, and a GPS altitude temporary data area. area, GPS speed temporary data area, attitude angle and angular velocity temporary data area, air pressure high, temperature and airspeed, battery voltage and circuit current, flight mode and waypoint information temporary data area, as shown in Figure 4.

This embodiment is a second specific application embodiment that is specifically defined based on the technical content of the function composition of the above-mentioned first embodiment. Please refer to Figure 4. The data processing function includes an attitude sensor attitude data processing function (AHRS). Sentence.o), GPS data processing function (GPS Sentence.o), atmospheric measurement data processing function (AIR.0), RC remote control command data processing function (SBUS Sentence.o), generated and stored flight data processing function (SDCard Sentcnce .o) and write and read FLASH data processing function (Flash.o); this communication function includes the attitude sensor byte reception interrupt processing function (AHRS Byte.o), RC remote control command byte reception interrupt processing function (SBUS_Byte .o), flight data writing byte interrupt processing function (SDCard_Byte.o), I2C interface byte receiving interrupt processing function (12C.o), SPI interface byte receiving interrupt processing function (SPI.o), DMA interrupt processing function (DMA.0), communication downlink byte interrupt processing function (DownLink Byte.o) and communication upload byte interrupt processing function (UpLink Byte.o); the flight control function includes the flight control function ( Flight.o), waypoint management function (WayPoint.o), flight mode management function (Mode.o) and control volume are converted into the server PWM signal processing function (PWM.o); this hardware setting function includes a serial interface Initialization function (iniUART.o), I2C interface initialization function (iniI2C.o), SPI interface initialization function (iniSPI.o), direct memory access initialization function (iniDMA.0), PWM output initialization function (iniPWM.o) , A/D conversion initialization function (iniADC.o), timer (iniTimer.o) and port pin initialization function (iniPort.o).

This embodiment is a third specific application embodiment based on the above-mentioned first specific embodiment. Please refer to the examples shown in Figures 1 and 4. It mainly defines the number of second processing cores as a plural number to assist the user in developing UAV applications for a variety of required work tasks; wherein the number of the at least one second processing core 12 is a plurality, and each plurality of second processing cores 12 is built with a user application; the plurality of second processing cores 12 The user applications are respectively used for users to write task applications according to their required tasks, so that the task applications of the plurality of second processing cores 12 are configured with the open source control program module 131 through the shared register 20 to form an autonomous system. The drone control application can then activate the semi-open source flight control module 13 to control the drone, allowing the drone control application to control the drone's group communication, group flight coordination and mission execution. , its two drone applications are used to control the image capture and processing of the drone, and its three drone applications are used to control the payload control, data processing, and target identification and tracking of the drone.

This embodiment is a fourth specific application embodiment based on the above-mentioned first specific embodiment. Please refer to Figure 2 for the specific definition of the real-time data sending and receiving confirmation steps when the open source control program module 131 is started. Among them, the execution of the open source control program module 131 of the semi-open source flight control module 13 includes the following steps:

The first step is to sequentially call closed source functions to initialize complex hardware setting functions.

The second step is to determine whether the gesture data sentence has been received. If so, call a closed source function to calculate and process the gesture data sentence.

The third step is to determine whether the reception of the GPS data sentence is completed. If so, call the closed source function to calculate and process the GPS data sentence.

The fourth step is to determine whether the static pressure and dynamic pressure sampling is completed. If so, call the closed source function calculation. Process airspeed and static pressure altitude data.

The fifth step is to determine whether the reception of the RC manual data sentence has been completed. If so, call the closed source function to calculate and process the SBUS data sentence.

The sixth step is to determine whether the 10ms flight control interval is reached. If so, call the closed source function to execute the flight control function.

The seventh step is to determine whether the 0.5s flight data recording interval has been reached. If so, call the closed source function to create and store the SD CARD data, and start the reception and display of the flight data downloaded to the ground station software.

This embodiment is a fifth specific application embodiment based on the above-mentioned first specific embodiment. Please refer to FIG. 3 . It mainly defines that the semi-open source control module 13 executes a series of steps of interrupting real-time sending and receiving of data when it is started; wherein , the semi-open source flight control module 13 performs a series of interrupts to send and receive data in real time, which includes the following:

The first step is to interrupt the RX2 pin of the UART interface of the single-chip multi-core processor 10, call a closed source function to receive GPS byte data, and then return.

The second step is to interrupt the RX0 pin of the UART interface of the single-chip multi-core processor 10, call a closed source function to receive the attitude sensor (AHRS) byte data, and then return.

The third step is to interrupt the TX2 pin of the UART interface of the single-chip multi-core processor 10, call a closed source function to transmit memory card (SD CARD) byte data, and then return.

The fourth step is to interrupt the RX1 pin of the UART interface of the single-chip multi-core processor 10, call a closed source function to receive the Up Link byte data, and then return.

The fifth step is to interrupt the RX3 pin of the UART interface of the single-chip multi-core processor 10, call a closed source function to receive the SBUS byte data of the ground remote control receiver, and then return.

The sixth step is to interrupt the TX1 pin of the UART interface of the single-chip multi-core processor 10, call the closed source function to transmit the Down Link byte data to the ground station, and then return.

Please refer to Figures 1 and 4. In order to achieve the second object of the present invention, a second embodiment mainly includes a single-chip multi-core processor 10 and a shared register 20 built on a drone. The chip multi-core processor 10 at least includes a first processing core 11 and a second processing core 12 . The first processing core 11 is configured to include a semi-open source flight control module 13 for controlling the drone; the semi-open source flight control module 13 is configured to include a closed source function module 130 and an open source control program module. 131; The closed source function module 130 is constructed to include at least or at most a data processing function, a communication function, a flight control function and a hardware setting function, so that the semi-open source flight control module 13 can execute functions including the drone. Information processing of power management, ground communication, aviation sensing, flight control, navigation calculation and flight records; a user application is built in the second processing core 12, and the user application is used by the user to perform tasks according to their needs Write a task application program so that the task application program is matched with the open source control program module 131 through the shared register 20 to form a UAV flight control application program, so that the UAV application program can start the semi-open source flight control application program. Control module 13 to control the drone.

Please refer to Figures 1 and 4 again, which shows a sixth specific application embodiment based on the above-mentioned second specific embodiment. This embodiment mainly defines the number of second processing cores as a plural number to assist the user in developing a variety of UAV control application program for required work tasks; wherein, the number of the at least one second processing core 12 is a plurality, and each plurality of second processing cores 12 is built with a user application program; the plurality of second processing cores 12 The user applications are respectively used for users to write task applications according to their required tasks, so that the task applications of the plurality of second processing cores 12 are configured with the open source control program module 131 through the shared register 20 to form independent programs. The human-machine control application enables the drone control application to activate the semi-open source flight control module 13 to control the drone, allowing the drone control application to control the group communication, group flight coordination and tasks of the drone. Execution, its two drone control applications are used to control the image acquisition and processing of the drone, and its three drone control applications are used to control the payload control, data processing, and target identification and tracking of the drone.

Please refer to FIG. 4 which shows a seventh specific application embodiment based on the above-mentioned second embodiment. This embodiment specifically defines the user application building program example of the second processing core 12; wherein, in each The user applications of the plurality of second processing cores 12 are built with a program example, which provides the user with a program code open source to design the user application for the required work tasks.

This embodiment is an eighth specific application embodiment based on the above-mentioned second embodiment. In this embodiment, the register or memory is set as a register data area for users to perform data access applications; wherein, The UAV is equipped with a plurality of registers or memories 20a to enable information connection between the single-chip multi-core processor 10 and the first processing core 11 and at least one second processing core 12. The plurality of registers or memories are designed Configured as a multiple temporary data area for flight control and commands, this multiple register data area can be used as a data access application when the user application is executed.

After the detailed description of the above specific embodiments, the present invention can indeed have the following characteristics:

1. The present invention indeed uses a multi-core chip as the computing core of the drone's autonomous driving, and places the autonomous driving program on the first processing core to provide temporary registers such as flight status and waypoints for users to develop required applications. It can be used for navigation or AI computing, so it can increase the stability of system software and hardware, reduce space and weight, and reduce current consumption and cost. Many features.

2. The present invention can indeed protect the core technology of multiple closed source functions and open it to users to call user applications to develop the flight control and flight tasks of the required drones, thereby achieving the purpose of customized programs. Since the relevant programs that users need to understand are indeed fewer than open source flight controllers, it can indeed reduce the burden on users to develop programs.

The above are only possible embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent implementation of other changes based on the content, features and spirit described in the following claims shall be considered included in the patent scope of the present invention. The structural features specifically defined in the claim of the present invention have not been found in similar articles, and are practical and progressive. They have met the requirements for an invention patent. I file an application in accordance with the law. I sincerely request the Office to approve the patent in accordance with the law to protect this invention. The legitimate rights and interests of the applicant.

10:Single chip multi-core processor

11: First processing core

12: Second processing core

20: Shared register

20a:Memory

Claims (10)

A semi-open source control system for an unmanned aerial vehicle, which is built on an unmanned aerial vehicle and includes a single-chip multi-core processor and a shared register; the single-chip multi-core processor at least includes a first processing core and at least a first Two processing cores; wherein, the first processing core configuration includes a semi-open source flight control module for controlling the drone; the semi-open source flight control module configuration includes a matching set of closed-source function modules And an open source control program module, the closed source function module configuration at least includes a data processing function, a communication function, a flight control function and a hardware setting function, so that the semi-open source flight control module can execute the UAV power management, ground communication, aviation sensing, flight control, navigation calculation and information processing of flight records; the at least one second processing core is equipped with a user application program, and the user application program is used by a user Write a task application program according to the required tasks, so that the task application program is combined with the open source control program module through the shared register to form a UAV flight control application program, so that the semi-open source flight control module The group controls the drone flight according to the user task application. The semi-open source control system for an unmanned aerial vehicle as described in claim 1, wherein a plurality of registers or memories are built on the unmanned aerial vehicle to connect the single-chip multi-core processor with the first processing core and the At least one second processing core information link, the plurality of registers or memory is configured as a plurality of temporary data areas for flight control and commands, and the plurality of register data areas can be used as data storage when the user application is executed. The application of fetching; the plurality of read-only registers or memories include a plurality of read-only registers or memories and a plurality of read-write registers or memories, and the plurality of read-only registers or memories include a GPS longitude temporary data area , GPS latitude temporary data storage area, GPS altitude temporary data storage area, GPS speed temporary data storage area, attitude angle and angular velocity temporary data storage area, air pressure altitude, temperature and airspeed, battery voltage and circuit current, flight mode and waypoint Information temporary storage data area. The UAV semi-open source control system as described in request item 1, wherein the data processing function includes an attitude sensor attitude data processing function (AHRS Sentence.o), a GPS data processing function (GPS Sentence.o), and an atmospheric measurement function. Data processing function (AIR.0), RC remote control command data processing function (SBUS Sentence.o), generating and storing flight data processing function (SD Card Sentcnce.o), and writing and reading FLASH data processing function (Flash.o); this communication The functions include the attitude sensor byte receiving interrupt processing function (AHRS Byte.o), the RC remote control command byte receiving interrupt processing function (SBUS_Byte.o), and the flight data writing byte interrupt processing function (SD Card_Byte. o), I2C interface byte receiving interrupt processing function (12C.o), SPI interface byte receiving interrupt processing function (SPI.o), DMA interrupt processing function (DMA.0), communication download byte interrupt Processing function (DownLink Byte.o) and communication upload byte interrupt processing function (UpLink Byte.o); the flight control function includes flight control function (Flight.o), waypoint management function (WayPoint.o), flight mode The management function (Mode.o) and control volume are converted into the server PWM signal processing function (PWM.o); the hardware setting function includes the serial interface initialization function (iniUART.o) and the I2C interface initialization function (iniI2C.o) , SPI interface initialization function (iniSPI.o), direct memory access initialization function (iniDMA.0), PWM output initialization function (iniPWM.o), A/D conversion initialization function (iniADC.o), timer (iniTimer .o) and port pin initialization function (iniPort.o). The semi-open source control system for drones as described in claim 1, wherein the number of the at least one second processing core is a plurality, and each of the plurality of second processing cores is equipped with one of the user applications; The user applications of the two processing cores allow users to write the task application programs according to their required tasks, so that the task application programs of the plurality of second processing cores are connected to the open source control through the shared register. The program module is configured to form a drone flight control application, so that the semi-open source flight control module controls the drone according to the user task application. Flying, one of the drone applications is used to control the group communication, group flight coordination and mission execution of the drone, and the other drone application is used to control the image capture and processing of the drone, so that Third, the drone application is used to control the payload control, data processing, and target identification and tracking of the drone. The semi-open source control system for drones as described in claim 1, wherein the semi-open source flight control module executes a series of interrupts to send and receive data in real time, which includes the following content: the first step is to interrupt the single-chip multi-core processor 10 The UART interface RX2 pin calls a closed source function to receive GPS byte data, and then returns; the second step is to interrupt the UART interface RX0 pin of the single-chip multi-core processor 10 and call a closed source function to receive the attitude sensor (AHRS). ) byte data, and then return; the third step is to interrupt the TX2 pin of the UART interface of the single-chip multi-core processor 10, call a closed source function to transmit the memory card (SD CARD) byte data, and then return; the fourth step The first step is to interrupt the RX1 pin of the UART interface of the single-chip multi-core processor 10, call a closed source function to receive the Up Link byte data, and then return; the fifth step is to interrupt the UART interface RX3 of the single-chip multi-core processor 10. pin, call a closed source function to receive the SBUS byte data of the ground remote control receiver, and then return; and the sixth step, interrupt the TX1 pin of the UART interface of the single-chip multi-core processor 10, call a closed source function to transmit to the ground Down Link byte data of the station and then returns. The UAV semi-open source control system as described in claim 5, wherein the execution of the open source control program module of the semi-open source flight control module includes the following steps: The first step is to sequentially call closed source functions to initialize complex hardware settings. function; the second step is to determine whether the gesture information sentence has been received. If yes, call the closed source function calculation. Process the attitude data sentence; the third step is to judge whether the reception of the GPS data sentence is completed. If so, call the closed source function to calculate and process the GPS data sentence; the fourth step is to judge whether the static pressure and dynamic pressure sampling is completed. If so, call the closed source function. The function calculation processes the airspeed and pressure altitude data; the fifth step is to determine whether the reception of the RC manual data sentence is completed. If so, the closed source function calculation is called to process the manual operation command of the SBUS data sentence; the sixth step is to determine whether the RC manual data sentence has been received. 10ms flight control interval, if yes, call the closed source function to execute the flight control function; and in the seventh step, determine whether the 0.5s flight data recording interval is reached, if yes, call the closed source function to create and store the SD CARD data, and start the next Transmit flight data to the ground station software for reception and display. A design method for a semi-open source control system for an unmanned aerial vehicle, which includes: building a single-chip multi-core processor on an unmanned aerial vehicle and a shared register. The single-chip multi-core processor at least includes a first A processing core and a second processing core; the first processing core is configured to include a semi-open source flight control module for controlling the drone; the semi-open source flight control module is configured to include a closed source function module and an open source control program module; the closed source function module configuration includes at least a data processing function, a communication function, a flight control function and a hardware setting function, so that the semi-open source flight control module can be executed Including the UAV’s power management, ground communication, aviation sensing, flight control, navigation algorithm and flight record information information processing; A first user application is built on the second processing core. The first user application allows a user to write a task application according to the required task, so that the task application can be stored through the shared temporary storage. The device is combined with the open source control program module to form a drone flight control application, so that the semi-open source flight control module controls the flight of the drone according to the user task application. The method described in claim 7, wherein the single-chip multi-core processor is further configured to include a plurality of processing cores, and a user application is built in each of the plurality of processing cores. The user application program of the core allows a user to write a task application program according to the required tasks, so that the task application programs of the plurality of processing cores communicate with the open source control program module through the shared register. It is configured into a UAV flight control application, so that the semi-open source flight control module controls the flight of the UAV according to the user task application, so that the UAV application can control the group communication of the UAV. , group flight coordination and task execution, so that the second UAV application is used to control the image acquisition and processing of the UAV, and the third UAV application is used to control the payload control and data processing of the UAV and target identification and tracking. The method described in claim 8, wherein a program example is built in the user application program of each of the plurality of processing cores to provide the user with the application to design the required work tasks in a program code open source manner. or application. The method of claim 8, wherein a plurality of registers or memories are installed on the drone to enable the single-chip multi-core processor to interact with the first processing core and the at least one second processing core. Information link, the complex register or memory configuration is configured for flight control and command The plurality of temporary data areas of the order can be used as data access applications when the first user application is executed.

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