WO2020093861A1

WO2020093861A1 - Flight controller and unmanned aerial vehicle

Info

Publication number: WO2020093861A1
Application number: PCT/CN2019/112343
Authority: WO
Inventors: 吴斌
Original assignee: 广州极飞科技有限公司
Priority date: 2018-11-06
Filing date: 2019-10-21
Publication date: 2020-05-14
Also published as: CN109144091A

Abstract

A flight controller (10) and an unmanned aerial vehicle (1). The flight controller (10) comprises an inertial measurement unit (IMU) (100) and a microcontroller unit (MCU) (200). The inertial measurement unit (IMU) (100) comprises a sensor circuit (110). The sensor circuit (110) comprises at least two sensors (111) and at least two regulated power supplies (112). Each sensor (111) is electrically connected one-to-one to each regulated power supply (112). The microcontroller unit (MCU) (200) is electrically connected to the at least two sensors (111) separately, and is configured to acquire inertial data collected by the sensors (111), and to control, according to the inertial data, the unmanned aerial vehicle (1) to fly. The flight controller (10) has a simple structure and high reliability, and can save costs.

Description

Flight controller and unmanned aerial vehicle

Cross-reference of related applications

This application requires the priority of the Chinese patent application with the application number 201811314195.1 and the name "a flight controller and unmanned aerial vehicle" submitted to the Chinese Patent Office on November 06, 2018, the entire content of which is incorporated by reference in this application in.

Technical field

Embodiments of the present application relate to flight control technology, and in particular, to a flight controller and unmanned aerial vehicle.

Background technique

The flight controller is the core control component of the aircraft. It can acquire the inertial data collected by the sensors and convert the inertial data into the control signals required by the electronic governor through a specific flight control algorithm, thereby changing and controlling the attitude of the aircraft (pitch / Rolling / heading conditions), geographic location and altitude, etc.

The flight controller in the prior art, the structural circuit and the software are relatively simple to process. When a certain sensor fails, the flight controller cannot control the normal flight of the aircraft, and the reliability is poor. In the prior art, there are still some flight controllers whose reliability has been improved, but the hardware structure and software processing are more complicated and the cost is higher.

Summary of the invention

The embodiments of the present application provide a flight controller and an unmanned aerial vehicle. The structure is simple, the cost can be saved, and the reliability is high.

An embodiment of the present application provides a flight controller, including: an inertial measurement unit IMU and a micro control unit MCU;

The IMU includes a sensor circuit; the sensor circuit includes at least two sensors and at least two voltage stabilizing sources; each sensor is electrically connected to each of the voltage stabilizing sources;

The MCU is electrically connected to the at least two sensors, respectively, and is configured to acquire inertial data collected by the sensors, and control the flight of the aircraft according to the inertial data.

Optionally, the sensor circuit includes three of the sensors and three of the voltage stabilizing sources, and the three sensors are electrically connected to the three of the voltage stabilizing sources in one-to-one correspondence.

Optionally, the MCU is further configured to:

For the three sensors, if the value of the inertial data collected by one of the sensors is the first value that exceeds the preset range, the value of the inertial data collected by the other two sensors belongs to the first value that belongs to the preset range Two values, and the difference between each second value and the first value reaches a preset threshold, it is determined that the sensor that collects the first value is faulty.

Optionally, the IMU further includes a shock-absorbing structure;

The damping structure is configured to dampen the sensor circuit.

Optionally, the sensor is configured to collect inertial data of the aircraft, and the MCU can control the flight of the aircraft according to the inertial data collected by any one of the sensors.

Optionally, the sensor is a multi-axis inertial sensor of a micro-motor system.

Optionally, the parameters of the at least two sensors are the same, or the parameters of the at least two sensors are different.

Optionally, each sensor included in the sensor circuit is configured to collect the same physical quantity.

Optionally, the sensor is provided with a communication interface; the sensor is electrically connected to the MCU through the communication interface.

Optionally, the communication interface includes a serial peripheral interface or an integrated circuit bus interface.

Optionally, the serial peripheral interface includes a chip select control terminal; the serial peripheral interface is configured to establish or disconnect the sensor and the sensor according to a level signal input to the chip select control terminal Communication connection between MCUs.

Optionally, the serial peripheral interface is configured to: when a low-level signal is input to the chip select control terminal, establish a communication connection between the sensor and the MCU; or when a high-level signal When input to the chip selection control terminal, the communication connection between the sensor and the MCU is disconnected.

Optionally, the chip selection control terminal is electrically connected to the first terminal of the pull-up resistor, and the second terminal of the pull-up resistor is electrically connected to the voltage stabilizing source.

Optionally, the voltage stabilizing source is electrically connected to the main power source.

An embodiment of the present application also provides an unmanned aerial vehicle, including the flight controller provided by the embodiment of the present application.

BRIEF DESCRIPTION

FIG. 1a is a structural block diagram of a flight controller provided by an embodiment of the present application;

FIG. 1b is a schematic diagram of connection between a sensor and an MCU provided by an embodiment of the present application;

2 is a structural block diagram of a flight controller provided by an embodiment of the present application;

3 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

detailed description

The present application will be described in further detail below with reference to the drawings and embodiments. It can be understood that the embodiments described herein are only used to explain the present application, not to limit the present application. In addition, it should be noted that, for ease of description, the drawings only show parts, but not all structures related to the present application.

FIG. 1a is a structural block diagram of a flight controller provided by an embodiment of the present application, where the flight controller provided by the embodiment of the present application is used in a scenario of controlling an aircraft, where the aircraft may be a drone or the like. The flight controller can be installed on the aircraft or can be separated from the aircraft. In some scenarios, the flight controller is installed on the aircraft, which can better realize the communication between the flight controller and the aircraft, and control the flight of the aircraft in a more timely manner.

In some embodiments, the flight controller generally includes a single independent IMU (Intertial Measurement Unit, inertial measurement unit), or a single IMU that integrates only dual multi-axis digital sensors, or contains three independent IMUs.

Among them, for a flight controller including a single independent IMU, the IMU contains only one sensor, the circuit structure and software processing are relatively simple, but when the sensor has a problem, the sensor will not be able to collect accurate inertial data, then the flight controller The aircraft cannot be controlled to fly normally based on inertial data, and its reliability is poor.

Among them, for a flight controller that includes a single IMU that integrates only dual multi-axis digital sensors, the IMU has dual redundancy, which is slightly more reliable than an IMU that integrates a single sensor. However, the two multi-axis digital sensors integrated in the IMU use the same voltage regulator circuit. When there is a problem with the voltage regulator source, neither of the two multi-axis digital sensors can collect inertial data, and the flight controller cannot control the flight of the aircraft. In addition, the flight controller with dual redundancy requires high software arbitration processing. When a sensor has a problem, it is necessary to quickly and accurately determine the sensor in question and then switch to another sensor, but currently only through output data Whether it meets the physical laws to determine whether the sensor is faulty, and the accuracy is not high.

Among them, for a flight controller including three independent IMUs, each IMU is equipped with a multi-axis sensor, shock absorbing structure, processor, voltage stabilizing source, etc., and the flight controller also needs to include an independent physical arbitration unit To determine the IMU that needs to be used, the reliability is relatively high, but the hardware, structure, and software are more complicated. When a certain component fails, the reliability of the flight controller will be affected, and the cost is higher.

The flight controller provided by the embodiment of the present application is provided with at least two sensors and at least two voltage stabilizing sources in a single IMU, and electrically connecting the sensors and the voltage stabilizing sources in a one-to-one correspondence, and electrically connecting each sensor to a single MCU The connection improves the reliability of the IMU and has a simple structure, which can save costs.

The solution of this embodiment will be described in detail below.

As shown in FIG. 1a, a flight controller 10 provided by an embodiment of the present application is exemplarily shown. The flight controller 10 includes: an IMU 100 and an MCU (Microcontroller Unit) 200. Among them, IMU 100 can be a single, MCU 200 can also be a single.

Among them, the IMU 100 includes a sensor circuit 110; the sensor circuit 110 includes at least two sensors 111 and at least two voltage stabilizing sources 112; each sensor 111 is electrically connected to each voltage stabilizing source 112 in a one-to-one correspondence; at least two sensors 111 are respectively The MCU 200 is electrically connected, and the MCU 200 is configured to acquire the inertial data collected by the sensor 111 and control the flight of the aircraft according to the inertial data.

Among them, the voltage stabilizing source 112 is configured to supply power to the connected sensor 111. Alternatively, the voltage stabilizing source 112 may be electrically connected to the main power supply 300, and the operating voltage of the voltage stabilizing source 112 may be 3V. Among them, optionally, the parameters of at least two sensors 111 are the same, or the parameters of at least two sensors 111 are different, as long as the same physical quantity can be measured. Therefore, the parameters such as the model of each sensor 111 are not limited and can be Just measure the same physical quantity.

In this embodiment, each sensor 111 is configured to collect inertial data of the aircraft. The inertial data may include data such as the speed, angular velocity, and acceleration of the aircraft. The MCU 200 can adjust the power device according to the inertial data collected by any one sensor 111 to adjust the aircraft. Attitude, position, etc., to control the aircraft. Exemplarily, the sensor 111 may be an inertial sensor integrated with at least three single-axis accelerometers and three single-axis gyroscopes, for example, may be a micro-motor system (Micro-Electro-Mechanical System, MEMS) multi-axis inertial sensor, where, The MEMS multi-axis inertial sensor has a smaller volume. Integrating the MEMS multi-axis inertial sensor into the flight controller can reduce the volume of the flight controller to make the flight controller more suitable for the aircraft.

Since the inertial data collected by each sensor 111 is sufficient for the MCU 200 to control the aircraft, in this embodiment, the MCU 200 can obtain inertial data from at least one sensor 111 and control the flight of the aircraft according to the inertial data.

In other words, the MCU 200 can acquire inertial data from one sensor 111 and control the aircraft flight based on the inertial data, or it can also acquire inertial data from two, three or more sensors 111 and control the aircraft flight based on the inertial data.

In this embodiment, the MCU 200 may use the inertial data collected by the sensors 111 in various ways.

In one example, the MCU 200 may select a target sensor from the sensors 111 included in the IMU 100 according to a preset rule, and acquire inertial data from the target sensor to control the flight of the aircraft. The preset rule may be a random rule, a rule in sequence, or other rules.

In another example, the MCU 200 can determine the sensor 111 with the most accurate inertial data as the target sensor by analyzing the respective inertial data of all the sensors 111 in the IMU 100. Thus, when the MCU 200 acquires inertial data from one sensor to control the aircraft, the amount of data processing by the MCU can be reduced, thereby improving control efficiency.

Compared to a flight controller that contains only a single IMU and the IMU contains only a single sensor, the flight controller provided by the embodiments of the present application uses a single IMU that includes at least two sensors and at least two voltage stabilizing sources, when one of the sensors appears In the event of a fault, the MCU can obtain inertial data from another sensor, thereby controlling the flight of the aircraft and improving reliability.

Further, since the IMU of the flight controller provided by the embodiment of the present application, each sensor is connected to a different voltage stabilizing source. When one of the voltage stabilizing sources fails, the MCU can be electrically connected to another voltage stabilizing source. Obtain inertial data from the sensor to control the flight of the aircraft. Compared with the flight controller in the prior art where the IMU integrates dual multi-axis digital sensors and uses a constant voltage source together, the reliability is high and it can avoid stability. The flight controller is unable to control the flight of the aircraft due to the failure of the pressure source.

In addition, with respect to a flight controller including three independent IMUs, each of which includes a sensor, a shock absorbing structure, a processor, and a voltage source, the IMU of the flight controller provided in the embodiments of the present application, each sensor A shock-absorbing structure and an MCU can be shared, so that the shared MCU can be used to implement software arbitration processing without the need to additionally set up a special physical arbitration unit. The hardware and software structure is simple, which can save costs.

Optionally, please refer to FIG. 1a again. In the embodiment of the present application, the IMU 100 may include a shock absorbing structure 120 in addition to the sensor circuit 110 described above. Among them, the sensor circuit 110 can be integrated on a printed circuit board, the printed circuit board with integrated sensor circuit can be arranged in the weight block, and the shock absorbing structure can be arranged on the upper and lower parts of the weight block, so as to realize the sensor The shock absorption of the circuit avoids the problem of inaccurate data collection caused by the vibration of the sensor during the flight of the aircraft. Among them, the shock-absorbing structure may be a sponge layer, an adhesive layer or other material layers with shock-absorbing functions.

In the embodiment of the present application, optionally, the sensor 111 may be provided with a communication interface, and the sensor 111 is electrically connected to the MCU 200 through the communication interface. Optionally, the communication interface includes a serial peripheral interface (Serial Peripheral Interface, SPI), or an integrated circuit bus (Inter-Integrated Circuit, I ² C) interface. The communication interface of the sensor 111 may also be in other forms, and the communication interface of the sensor 111 is not limited.

Please refer to FIG. 1b, which schematically illustrates a connection diagram of a sensor 111 and an MCU 200. Optionally, the serial peripheral interface 11 may include a chip selection control terminal 12, in this case, the serial peripheral interface 11 may be configured to establish or disconnect the sensor 11 according to the level signal input to the chip selection control terminal 12. Communication connection with MCU 200.

In this embodiment, the chip selection control terminal 12 may be active low. In this case, the serial peripheral interface 11 can be configured to: when a low-level signal is input to the chip selection control terminal 12, establish a communication connection between the sensor 111 and the MCU 200; or when a high-level signal is input to the chip When the control terminal 12 is selected, the communication connection between the sensor 111 and the MCU 200 is disconnected.

It can be understood that in other embodiments, the chip selection control terminal 12 may also be active at a high level, which is not limited in the embodiments of the present application.

In order to avoid the problem of floating the level of the port when the connection line between the chip selection control terminal 12 and the MCU 200 is disconnected, optionally, the chip selection control terminal 12 can be electrically connected to the corresponding voltage stabilizing source 112 through a pull-up resistor 400 connection. In detail, the pull-up resistor 400 may have a first terminal a and a second terminal b, the chip selection control terminal 12 is electrically connected to the first terminal a of the pull-up resistor 400, and the second terminal b of the pull-up resistor 400 is connected to a voltage stabilizing source 112 electrically connected.

In one example, the chip selection control terminal 12 may be electrically connected to the MCU 200, and the MCU 200 gates the required sensor 111, and acquires inertial data from the gated sensor 111.

Taking the scenario shown in FIG. 1b as an example, when the MCU 200 needs to acquire the data of the sensor 111, it can send a low-level signal to the chip selection control terminal 12 of the serial peripheral interface 11, so that the sensor 111 and the MCU 200 establish communication. When the MCU 200 needs to disconnect the communication with the sensor 111, it can send a high-level signal to the chip selection control terminal 12, thereby disconnecting the communication with the sensor 111. Among them, the pull-up resistor 400 provided between the chip selection control terminal 12 and the voltage stabilizing source 112 can prevent the problem that the level of the port floats when the connection line of the chip selection control terminal 12 is disconnected.

It should be noted that the chip selection control terminals 11 of each sensor 111 in the IMU 100 are respectively connected to different voltage stabilizing sources 112 through different pull-up resistors 400. Thus, the chip selection control terminals input to each sensor 111 The level of 112 does not affect each other.

The embodiment of the present application adopts at least two sensors and at least two voltage stabilizing sources in a single IMU, electrically connects the sensors and the voltage stabilizing sources one-to-one, and electrically connects at least two sensors to a single MCU respectively, which is reliable High performance and simple structure can save costs.

2 is a structural block diagram of another flight controller 10 provided by an embodiment of the present application. Based on the foregoing embodiment, in this embodiment, the flight controller 10 includes an IMU 100 and an MCU 200, and the IMU 100 includes a single sensor The circuit 110, optionally, a single sensor circuit 110 includes three sensors 111 and three voltage stabilizing sources 112, the three sensors 111 are electrically connected to the three voltage stabilizing sources 112 in one-to-one correspondence, and the MCU 200 is respectively connected to the three sensors 111 It is electrically connected and configured to acquire the inertial data collected by the sensor 111 and control the flight of the aircraft according to the inertial data.

The flight controller provided by the embodiment of the present application adopts three sensor redundancy and three voltage source redundancy. When one sensor fails, the MCU can obtain inertial data from the other two sensors to control the flight of the aircraft. Even if two of the sensors fail, the MCU can obtain inertial data from another normal sensor to control the flight of the aircraft. Therefore, the reliability is higher compared to a flight controller that contains a single sensor in a single IMU.

In this embodiment of the present application, three redundant sensors and three redundant voltage sources are used. When one or two of the stabilized voltage sources fails, the MCU can obtain inertial data from a sensor electrically connected to another normal regulated voltage source. In order to control the flight of the aircraft, compared with the flight controller in the prior art where the IMU integrates dual multi-axis digital sensors and uses a voltage stabilizing source together, the reliability is high, which can avoid the failure caused by the voltage stabilizing source. Of the flight controller cannot control the flight of the aircraft.

In this embodiment of the present application, three redundant sensors and three redundant voltage sources are used, and a single MCU is used to electrically connect the three sensors respectively. Compared with the prior art, three independent IMUs are included, and each IMU includes As far as the flight controllers of sensors, shock-absorbing structures, processors, and voltage stabilizing sources are concerned, the hardware and software structures are simple, which can save costs.

The flight controller provided by the embodiment of the present application adopts three redundant sensors and three redundant voltage sources. Compared with two sensors and two stable voltage sources in a single IMU, the reliability is high, even if two In the case of failure of one sensor or two voltage stabilizing sources, the flight controller provided in the embodiment of the present application can also normally control the flight of the aircraft. Compared with a flight controller that uses more than three sensors and more than three voltage stabilizing sources in a single IMU, the structure is simple and the cost can be saved. Therefore, a single IMU is used for the flight controller, and three redundant sensors and three redundant voltage regulators are used in a single IMU. From the perspective of reliability and cost, the effect is the best.

Optionally, in the flight controller 10 provided in this embodiment, the MCU 200 may also be configured as:

For the three sensors 111, if the value of the inertial data collected by one of the sensors 111 exceeds the first value of the preset range, the value of the inertial data collected by the other two sensors 111 falls within the second value of the preset range, and each If the difference between the second value and the first value reaches a preset threshold, it is determined that the sensor 111 collecting the first value is faulty.

In this embodiment, the preset range refers to a predetermined range of the normal value of the inertial data, and the preset threshold is set for the difference between the abnormal value of the inertial data and the normal value, which indicates that the difference is within the error allowable range The maximum value within.

Taking the acceleration in the inertial data as an example, the preset range of the acceleration value can be 9.5-10m / s ² , and the preset threshold can be set based on experience or statistical data, for example, 0.6-0.9m / s ² Any value between, for example, 0.8m / s ² .

Assume that the following situation occurs: the acceleration value collected by the accelerometer in one sensor 111 is 9 m / s ² , which is the first value that exceeds the preset range; the other two sensors 111 and the accelerometer in sensor 111 collect The values are: 9.8m / s ² and 9.9m / s ^{2 respectively} , both of which are the second values belonging to the above preset range; and the difference between the second value 9.8m / s ² and the first value 9m / s ² is 0.8 m / s ² , reaching the preset threshold; the difference between the second value of 9.9 m / s ² and the first value of 9 m / s ² is 0.9 m / s ² , reaching the preset threshold. Then, it can be determined that the accelerometer in the sensor 111 that has acquired the first value of 9 m / s ² has failed.

Correspondingly, the MCU 200 can no longer acquire the inertial data collected by the sensor 111, and can also send corresponding fault prompt information to a specific communication address (for example, the communication address of the communication terminal of the specific maintenance personnel and management personnel).

The IMU of the flight controller 10 provided in this embodiment can jointly determine whether there is a faulty sensor 111 based on physical laws and the difference in inertial data collected by the three sensors 111. Compared with a flight controller using dual redundant IMUs, The accuracy of fault diagnosis

Optionally, please refer to FIG. 2 again. The flight controller 10 provided in this embodiment may further include a shock absorbing structure 120 configured to damp the sensor circuit 110. In some embodiments, each sensor needs to correspond to a damping structure, and in the embodiments of the present application, a damping structure is used to dampen the entire sensor circuit, so as to dampen three sensors, which can simplify flight control The structure of the controller saves the production cost of the flight controller. For other introductions of shock-absorbing structures, please see the introduction above.

In the embodiment of the present application, optionally, the sensor 111 may be configured to collect inertial data of the aircraft. The inertial data may include the speed, acceleration, and angular velocity of the aircraft. The MCU 200 can control the inertial data collected by any one of the sensors 111. Aircraft flying. Illustratively, the sensor 111 may be a multi-axis inertial sensor.

Optionally, the sensor 111 may be provided with a communication interface, and the sensor 111 is electrically connected to the MCU 200 through its communication interface. Alternatively, the communication interface may include a serial peripheral interface, or an I ² C interface. The serial peripheral interface may include a chip select control terminal. In this case, the serial peripheral interface is configured to establish or disconnect the communication connection between the sensor 111 and the MCU 200 according to the level signal input to the chip select control terminal. .

In one example, the chip select control terminal can be active low. Correspondingly, the serial peripheral interface can be configured as:

When the low-level signal is input to the chip select control terminal, the communication connection between the sensor 111 and the MCU 200 is established; or when the high-level signal is input to the chip select control terminal, the communication between the sensor 111 and the MCU 200 is disconnected connection.

Optionally, the chip selection control terminal is electrically connected to the first terminal of a pull-up resistor, and the second terminal of the pull-up resistor is electrically connected to the voltage stabilizing source.

Among them, each sensor 111 is connected to the MCU 200 through the serial peripheral interface for a detailed introduction, please refer to the relevant introduction above and FIG. 1b.

The flight controller provided by the embodiment of the present application adopts a single IMU, and uses three sensor redundancy and three voltage source redundancy in a single IMU, which has a simple structure, can save costs, and has high reliability.

Please refer to FIG. 3. FIG. 3 is an unmanned aerial vehicle 1 provided by an embodiment of the present application. The unmanned aerial vehicle 1 includes a flight controller 10. For the structure of the flight controller 10, reference may be made to the detailed introduction above.

The unmanned aerial vehicle provided by the embodiment of the present application includes a flight controller. The flight controller uses at least two sensors and at least two voltage stabilizing sources in a single IMU, and electrically connects the sensors and the voltage stabilizing sources in a one-to-one correspondence, and Electrically connecting at least the sensors to a single MCU, respectively, has high reliability, simple structure, and cost savings.

Note that the above are only optional embodiments of the present application and applied technical principles. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application. The scope is determined by the scope of the appended claims.

Industrial applicability

The flight controller and the unmanned aerial vehicle provided by the embodiments of the present application have high reliability, simple structure, and cost savings.

Claims

A flight controller, characterized by comprising: an inertial measurement unit IMU and a micro control unit MCU;

The IMU includes a sensor circuit; the sensor circuit includes at least two sensors and at least two voltage stabilizing sources; each sensor is electrically connected to each of the voltage stabilizing sources;

The MCU is electrically connected to the at least two sensors, respectively, and is configured to acquire inertial data collected by the sensors, and control the flight of the aircraft according to the inertial data.
The flight controller according to claim 1, wherein the sensor circuit includes three of the sensors and three of the voltage stabilizing sources, and the three sensors correspond to the three of the voltage stabilizing sources in one-to-one correspondence Ground connection.
The flight controller according to claim 2, wherein the MCU is further configured to:

For the three sensors, if the value of the inertial data collected by one of the sensors is the first value that exceeds the preset range, the value of the inertial data collected by the other two sensors belongs to the third Two values, and the difference between each second value and the first value reaches a preset threshold, it is determined that the sensor that collects the first value is faulty.
The flight controller according to any one of claims 1 to 3, wherein the IMU further includes a shock-absorbing structure;

The damping structure is configured to dampen the sensor circuit.
The flight controller according to any one of claims 1 to 4, wherein the sensor is configured to collect inertial data of the aircraft, and the MCU can control the aircraft according to the inertial data collected by any one of the sensors flight.
The flight controller according to any one of claims 1 to 5, wherein the sensor is a multi-axis inertial sensor of a micro-motor system.
The flight controller according to any one of claims 1-6, wherein the parameters of the at least two sensors are the same.
The flight controller according to any one of claims 1 to 6, wherein each sensor included in the sensor circuit is configured to collect the same physical quantity.
The flight controller according to any one of claims 1-8, wherein the sensor is provided with a communication interface; the sensor is electrically connected to the MCU through the communication interface.
The flight controller according to claim 9, wherein the communication interface includes a serial peripheral interface or an integrated circuit bus interface.
The flight controller according to claim 10, wherein the serial peripheral interface includes a chip select control terminal; the serial peripheral interface is configured to: according to a level signal input to the chip select control terminal To establish or disconnect the communication connection between the sensor and the MCU.
The flight controller according to claim 11, wherein the serial peripheral interface is configured to establish a relationship between the sensor and the MCU when a low-level signal is input to the chip select control terminal Communication connection; or, when a high-level signal is input to the chip select control terminal, disconnect the communication connection between the sensor and the MCU.
The flight controller according to claim 11 or 12, wherein the chip select control terminal is electrically connected to the first terminal of the pull-up resistor, and the second terminal of the pull-up resistor is electrically connected to the voltage stabilizing source connection.
The flight controller according to any one of claims 1-13, wherein the voltage stabilizing source is electrically connected to a main power source.
An unmanned aerial vehicle, characterized by comprising the controller according to any one of claims 1-14.