多模态耦合与边界自适应多级外设闭环飞控起爆系统设计OA

Based on the PX4 architecture,a multi-stage multi-modal temporal signal control method that cou-ples the flight control system with switching control circuit states is proposed.The bitfield-operated dynamic signal modality reconstruction method is adopted innovatively to break through the limitation of the rigidity of the flight controller's peripheral interfaces.A safety state transition finite automaton is constructed to realize state-coupled control between the flight controller and the switching circuit.By incorporating the dynamic boundary adaptive algorithm to optimize distance judgment,the closed-loop collaborative control among the QGroundControl(QGC),flight controller,and peripherals is achieved through software and hardware design.Without the need for an additional onboard computer,the trigger switching circuit can be divided into three sta-ges to achieve initiation control after the UAV approaches the target with ammunition when meeting multi-mo-dal conditions.The design,implementation,and verification of the system are described in detail.Experiments show that static tests verify the logical safety,and real flight is closer to the expected values compared with the control group at close rage.Additionally,the system has low cost,small size,stability and reliability,making it suitable for military and other mission-critical applications.