CN103471464A - Multiplexed output fire control panel for unmanned aerial vehicle (UAV) and channel setting method thereof and rocket launching method - Google Patents

Abstract

Translated fromChinese

无人机多路输出火控板及其通道设定方法和火箭发射方法，涉及一种多路输出火控板。为了解决为了解决目前不能在无人机上进行多路作业的问题。它的每个火箭电子引信分别通过m个MOSFET管与单片机系统相应的指令输出端连接，m个绿色状态灯LED1～LEDm的正极也分别与所述单片机系统相应的指令输出端连接；单片机系统的红灯状态指令输出端与红色状态灯LED0的正极连接；点火电源同时为m个MOSFET管3提供工作电电源；它采用窄占空比PWM作为信号输入，经由单片机给出发射指令，驱动MOSFET管给相应通道的外设加电，从而实现无人机的火箭发射作业。它用于无人直升机的机载火箭发射、高空投送。

A multi-output fire control board for an unmanned aerial vehicle, a channel setting method thereof, and a rocket launch method relate to a multi-output fire control board. In order to solve in order to solve the problem that can't carry out multi-way operation on UAV at present. Each of its rocket electronic fuzes is respectively connected to the corresponding command output end of the single-chip microcomputer system through m MOSFET tubes, and the anodes of the m green status lights LED1-LEDm are also respectively connected to the corresponding command output ends of the single-chip microcomputer system; The output terminal of the red light state command is connected to the positive pole of the red state light LED0; the ignition power supply provides working power for m MOSFET tubes 3 at the same time; it uses PWM with a narrow duty cycle as the signal input, and the emission command is given by the single-chip microcomputer to drive the MOSFET tube Power up the peripherals of the corresponding channel to realize the rocket launch operation of the UAV. It is used for airborne rocket launch and high-altitude delivery of unmanned helicopters.

Description

Translated fromChinese

无人机多路输出火控板及其通道设定方法和火箭发射方法Unmanned aerial vehicle multi-channel output fire control board and its channel setting method and rocket launching method

技术领域technical field

本发明涉及一种多路输出火控板，特别涉及一种无人机多路输出火控板及其通道设定方法和火箭发射方法。The invention relates to a multi-channel output fire control board, in particular to a multi-channel output fire control board for an unmanned aerial vehicle, a channel setting method thereof, and a rocket launching method.

背景技术Background technique

利用无人机进行高空作业、侦察、战斗等是现代军民用领域的前沿科技，在救灾、反恐、战争等方面均有广阔的应用前景。为了实现即时操控和任务下达，无人机上设有若干个遥控信道，每一个信道可支持一路操作。但无人机遥控信道不可能无限增加，且多数已被姿态控制、航迹控制、数传电台等占用，这就要求能够仅使用一个信道实现多路作业，从而提升无人机任务的复杂程度，增强无人机的作业能力和战斗力。在飞行作业中，地面人员通过遥控来完成无人机的作业（如发射火箭等）。遥控信号是一个小占空比的PWM波，周期为50Hz，高电平有效脉宽大约在1ms～2ms之间。The use of drones for high-altitude operations, reconnaissance, and combat is a cutting-edge technology in the modern military and civilian fields, and has broad application prospects in disaster relief, anti-terrorism, and war. In order to realize real-time control and task assignment, there are several remote control channels on the UAV, and each channel can support one operation. However, it is impossible to increase the remote control channels of UAVs infinitely, and most of them have been occupied by attitude control, track control, data transmission stations, etc., which requires the use of only one channel to achieve multi-channel operations, thereby increasing the complexity of UAV missions , Enhance the operational capability and combat effectiveness of UAVs. In flight operations, ground personnel complete the drone's operations (such as launching rockets, etc.) through remote control. The remote control signal is a PWM wave with a small duty cycle, the period is 50Hz, and the high-level effective pulse width is about 1ms to 2ms.

但是目前的无人机上还不能进行多路作业，如发射火箭、投放物资等。However, the current drones cannot perform multi-channel operations, such as launching rockets and dropping materials.

发明内容Contents of the invention

本发明的目的是为了解决目前不能在无人机上进行多路作业的问题，本发明提供一种无人机多路输出火控板及其通道设定方法和火箭发射方法。The purpose of the present invention is to solve the problem that the multi-channel operation cannot be performed on the drone at present. The present invention provides a multi-channel output fire control board of the drone, its channel setting method and a rocket launching method.

本发明的无人机多路输出火控板，它包括单片机系统、遥控信号接收端口、m个MOSFET管、m个火箭电子引信、点火电源、红色状态灯LED0和m个绿色状态灯LED1～LEDm；The multi-channel output fire control board of the unmanned aerial vehicle of the present invention includes a single-chip microcomputer system, a remote control signal receiving port, m MOSFET tubes, m rocket electronic fuzes, an ignition power supply, a red status light LED0 and m green status lights LED1-LEDm ;

每个火箭电子引信分别通过m个MOSFET管与单片机系统相应的指令输出端连接，m个绿色状态灯LED1～LEDm的正极也分别与所述单片机系统相应的指令输出端连接；Each rocket electronic fuze is respectively connected to the corresponding command output end of the single-chip microcomputer system through m MOSFET tubes, and the anodes of the m green state lights LED1～LEDm are also respectively connected to the corresponding command output ends of the single-chip microcomputer system;

单片机系统的红灯状态指令输出端与红色状态灯LED0的正极连接；The output terminal of the red light state command of the single-chip microcomputer system is connected to the positive pole of the red state light LED0;

点火电源同时为m个MOSFET管3提供工作电电源；The ignition power supply provides working power form MOSFET tubes 3 at the same time;

遥控信号接收端口的接受信号输出端与单片机系统1的接受信号输入端连接。The receiving signal output end of the remote control signal receiving port is connected with the receiving signal input end of the single-chip microcomputer system 1 .

无人机多路输出火控板的通道设定方法，芯片ATmega8L嵌入通道设定软件，所述软件的工作过程包括如下步骤：The channel setting method of the UAV multi-channel output fire control board, the chip ATmega8L is embedded in the channel setting software, and the working process of the software includes the following steps:

用于开启Timer0定时器，设定为1024分频，设置Timer0定时器计数寄存器TCNT0=0xE0使得单片机系统每30ms进入一次T0中断，并建立一个变量Setting_Delay=0x00并在T0中断内累加的步骤；It is used to start the Timer0 timer, set to 1024 frequency division, set the Timer0 timer count register TCNT0=0xE0 to make the single-chip system enter a T0 interrupt every 30ms, and establish a variable Setting_Delay=0x00 and accumulate in the T0 interrupt;

用于开启Timer1定时器及其中断，不分频，开启ICP1输入捕捉单元并设定Timer1定时器为上升沿触发的步骤；It is used to open the Timer1 timer and its interrupt, without frequency division, open the ICP1 input capture unit and set the Timer1 timer as a rising edge trigger;

用于当接收信号输入端接收的遥控信号上升沿被捕捉入，Timer1定时器中断，设置Timer1定时器计数寄存器TCNT0=0x00，设置Timer1定时器控制寄存器TCCR1B&=0xBF，Timer1定时器改为下降沿触发的步骤；When the rising edge of the remote control signal received by the receiving signal input terminal is captured, the Timer1 timer is interrupted, the Timer1 timer count register TCNT0=0x00 is set, the Timer1 timer control register TCCR1B&=0xBF is set, and the Timer1 timer is changed to a falling edge trigger A step of;

用于当接收信号输入端接收的遥控信号下降沿被捕捉入，Timer1定时器中断，读出Timer1定时器计数暂存器的值，将所述Timer1定时器计数暂存器的值乘以计数周期1us，得到遥控信号的有效高电平脉宽，设置Timer1定时器控制寄存器TCCR1B|=0x40，重设Timer1定时器为上升沿触发的步骤；When the falling edge of the remote control signal received by the receiving signal input terminal is captured, the Timer1 timer is interrupted, the value of the Timer1 timer count register is read, and the value of the Timer1 timer count register is multiplied by the count cycle 1us, to get the effective high-level pulse width of the remote control signal, set the Timer1 timer control register TCCR1B|=0x40, reset the Timer1 timer to the steps of rising edge trigger;

用于在所述遥控信号有效期内，重复步骤二至步骤四，每重复20次执行一次数字滤波子程序，所述数字滤波子程序计算遥控信号的实际高电平脉宽，直到遥控信号撤离停止执行数字滤波子程序，并设定通道触发阈值下限=高电平脉宽极小值+0xA0，设定通道触发阈值上限=高电平脉宽极大值–0xA0的步骤；It is used to repeatsteps 2 to 4 within the validity period of the remote control signal, and execute the digital filtering subroutine every 20 times. The digital filtering subroutine calculates the actual high-level pulse width of the remote control signal until the remote control signal is withdrawn and stopped. Execute the digital filter subroutine, and set the lower limit of the channel trigger threshold = the minimum value of the high-level pulse width + 0xA0, and set the upper limit of the channel trigger threshold = the maximum value of the high-level pulse width - 0xA0;

用于当变量Setting_Delay累加到0x64前的3秒设置窗口期内，且侦测到遥控信号的高电平脉宽在通道触发阈值下限和通道触发阈值上限之间历经一次且停留于通道触发阈值上限之上时，则判定进入输出通道选择模式，将8个绿色状态灯全部点亮，同时红色状态灯慢速闪烁的步骤；It is used for the 3-second setting window period before the variable Setting_Delay is accumulated to 0x64, and the high-level pulse width of the remote control signal is detected once between the lower limit of the channel trigger threshold and the upper limit of the channel trigger threshold and stays at the upper limit of the channel trigger threshold When it is above, it is determined to enter the output channel selection mode, and all 8 green status lights are lit, and the red status lights flash slowly at the same time;

用于当变量Setting_Delay累加到0x64前的3秒设置窗口期内，未侦测到遥控信号的高电平脉宽在通道触发阈值下限和通道触发阈值上限之间历经，则进入正常工作模式，载入EEPROM地址0x20的一个字节作为火控板输出路数，时红色状态灯保持点亮的步骤；It is used to enter the normal working mode when the variable Setting_Delay is accumulated to 0x64 in the 3-second setting window period, and the high-level pulse width of the remote control signal is not detected to pass between the lower limit of the channel trigger threshold and the upper limit of the channel trigger threshold. Enter a byte of EEPROM address 0x20 as the output channel number of the fire control board, and the red status light remains on during the process;

用于若当前遥控信号的高电平脉宽在通道触发阈值下限和通道触发阈值上限之间历经n次，则判定设定了n路火控板输出，同时相应位置及数量的绿色状态灯熄灭的步骤；If the high-level pulse width of the current remote control signal has experienced n times between the lower limit of the channel trigger threshold and the upper limit of the channel trigger threshold, it is determined that n channels of fire control board output have been set, and at the same time the green status lights of the corresponding position and number are off A step of;

用于当变量Setting_Delay累加到0x10A时，设定的n路火控板输出对应的绿色状态灯闪烁；且使用从0x20地址开始的一个字节，在EEPROM中存储火控板输出路数的设定值，进入正常工作状态的步骤。When the variable Setting_Delay is accumulated to 0x10A, the green status lights corresponding to the set n fire control board outputs will flash; and use a byte starting from address 0x20 to store the setting of the number of fire control board output channels in EEPROM value, the steps to enter the normal working state.

无人机多路输出火控板的火箭发射方法，芯片ATmega8L内嵌入火箭发射软件，所述火箭发射软件的工作过程包括如下步骤：The rocket launching method of unmanned aerial vehicle multi-channel output fire control board, embedded rocket launch software in the chip ATmega8L, the working process of described rocket launch software comprises the following steps:

用于设定通道触发阈值下限=高电平脉宽极小值+0xA0，设定通道触发阈值上限=高电平脉宽极大值–0xA0，设定当前输出的火控通道的个数Cur_No=0的步骤；It is used to set the lower limit of the channel trigger threshold = the minimum value of the high-level pulse width + 0xA0, set the upper limit of the channel trigger threshold = the maximum value of the high-level pulse width - 0xA0, and set the number of current output fire control channels Cur_No = 0 steps;

用于当接收信号输入端接收的遥控信号的高电平脉宽从低于通道触发阈值下限变更到高于通道触发阈值上限的值，当前输出的火控通道的个数Cur_No=0累加1，直到所述Cur_No的值达到火控板输出通道值的步骤；When the high-level pulse width of the remote control signal received by the receiving signal input terminal is changed from lower than the lower limit of the channel trigger threshold to a value higher than the upper limit of the channel trigger threshold, the number of currently output fire control channels Cur_No=0 is added to 1, The step until the value of the Cur_No reaches the output channel value of the fire control board;

用于当所述Cur_No的值达到火控板输出通道值时，将Cur_No重置为0的步骤；When the value of Cur_No reaches the output channel value of the fire control board, the step of resetting Cur_No to 0;

用于驱动MOSFET管开启第Cur_No个火控通道，并点亮相应的绿色状态灯的步骤；Steps for driving the MOSFET to turn on the Cur_Noth fire control channel and turn on the corresponding green status light;

用于当接收信号输入端接收的遥控信号的高电平脉宽变回低于通道触发阈值下限的值，则熄灭绿色状态灯的步骤。It is used for the step of turning off the green status light when the high-level pulse width of the remote control signal received by the receiving signal input terminal changes back to a value lower than the lower limit of the trigger threshold of the channel.

本发明的优点在于，本发明识别遥控信号，并根据高电平脉宽来顺序发射多枚火箭或执行多路作业。并采用MOSFET管来替代机械式继电器，不但把发射响应时间提升至毫秒级，且理论上无需考虑开关寿命问题。同时，本发明采用以单片机为核心元件的数字电路设计，利用ICP1输入捕捉单元可自动识别遥控信号的有效高电平脉宽，理论上能够支持任何类型的遥控系统。产品实现了多路作业的输出，并能够自定义输出路数，但仍可按需求进行自由扩展，能够实现一路遥控信道驱动多路作业。PWM高电平脉宽的识别分辨率可达2048，火箭发射和作业时间小于1ms，失控保护启动和信号恢复时间小于20ms。The advantage of the present invention is that the present invention identifies the remote control signal, and launches multiple rockets sequentially or performs multiple operations according to the high-level pulse width. And the use of MOSFET tubes to replace mechanical relays not only improves the emission response time to the millisecond level, but also theoretically does not need to consider the problem of switch life. At the same time, the present invention adopts a digital circuit design with a single-chip microcomputer as the core component, and can automatically identify the effective high-level pulse width of the remote control signal by using the ICP1 input capture unit, which can theoretically support any type of remote control system. The product realizes the output of multi-channel operations, and can customize the number of output channels, but can still be freely expanded according to needs, and can realize one remote control channel to drive multiple operations. The recognition resolution of PWM high-level pulse width can reach 2048, the rocket launch and operation time is less than 1ms, and the failsafe start and signal recovery time is less than 20ms.

附图说明Description of drawings

图1为本发明所述的无人机多路火箭发射系统的原理框图。Fig. 1 is the functional block diagram of the unmanned aerial vehicle multi-channel rocket launching system of the present invention.

图2为本发明所述的无人机多路输出火控板的原理示意图。Fig. 2 is a schematic diagram of the principle of the multi-output fire control board of the drone according to the present invention.

图3为具体实施方式三所述的无人机多路输出火控板的原理示意图。Fig. 3 is a schematic diagram of the principle of the multi-output fire control board of the UAV described in the third embodiment.

具体实施方式Detailed ways

具体实施方式一：结合图1和图2说明本实施方式，本实施方式所述的无人机多路输出火控板，Specific Embodiment 1: This embodiment is described in conjunction with FIG. 1 and FIG. 2. The UAV multi-output fire control board described in this embodiment,

它包括单片机系统1、遥控信号接收端口2、m个MOSFET管3、m个火箭电子引信4、点火电源5、红色状态灯LED0和m个绿色状态灯LED1～LEDm；It includes single-chip microcomputer system 1, remote controlsignal receiving port 2,m MOSFET tubes 3, m rocket electronic fuzes 4,ignition power supply 5, red status light LED0 and m green status lights LED1~LEDm;

每个火箭电子引信4分别通过m个MOSFET管3与单片机系统1相应的指令输出端连接，m个绿色状态灯LED1～LEDm的正极也分别与所述单片机系统1相应的指令输出端连接；Each rocket electronic fuze 4 is respectively connected to the corresponding command output end of the single-chip microcomputer system 1 throughm MOSFET tubes 3, and the anodes of the m green state lights LED1～LEDm are also respectively connected to the corresponding command output terminals of the single-chip microcomputer system 1;

单片机系统1的红灯状态指令输出端与红色状态灯LED0的正极连接；The red light state instruction output terminal of the single-chip microcomputer system 1 is connected to the positive pole of the red state light LED0;

点火电源5同时为m个MOSFET管3提供工作电电源；Theignition power supply 5 provides working power form MOSFET tubes 3 at the same time;

遥控信号接收端口2的接受信号输出端与单片机系统1的接受信号输入端连接。遥控信号接收端口2接收遥控接收机通过天线接收到的遥控信号，所述信号为周期50Hz的小占空比PWM波。The receiving signal output end of the remote controlsignal receiving port 2 is connected with the receiving signal input end of the single-chip microcomputer system 1 . The remote controlsignal receiving port 2 receives the remote control signal received by the remote control receiver through the antenna, and the signal is a PWM wave with a small duty cycle of 50 Hz.

每个火箭电子引信连接至一枚机载火箭，任何一枚火箭都可基于遥控指令进行空射。Each rocket electronic fuse is connected to an airborne rocket, and any rocket can be air-launched based on remote command.

具体实施方式二：结合图3说明本实施方式，本实施方式是对具体实施方式一所述的无人机多路输出火控板的进一步限定，Specific embodiment 2: This embodiment is described in conjunction with FIG. 3 . This embodiment is a further limitation of the UAV multi-output fire control board described in thespecific embodiment 1.

m=8，MOSFET管3采用型号为APM9926的4个MOSFET芯片实现。m=8,MOSFET tube 3 is realized by 4 MOSFET chips of model APM9926.

本实施方式中每个MOSFET芯片包括两个MOSFET管3。In this embodiment, each MOSFET chip includes twoMOSFET tubes 3 .

无人机的作业利用在通道两端施加一定的电压驱动外设来实现，如发射火箭即施加驱动压到火箭的底火引信上。要求作业延迟越小越好，适合采用场效应管MOSFET作为开关元件。MOSFET的负载驱动能力强，开关时间在毫秒级，且漏电阻极小（可认为完全导通）。相对于传统的继电器，MOSFET的可靠性更高，理论上无需考虑开关寿命问题。The operation of the UAV is realized by applying a certain voltage at both ends of the channel to drive the peripherals. For example, when launching a rocket, the driving pressure is applied to the primer fuze of the rocket. It is required that the operation delay be as small as possible, and it is suitable to use a field effect transistor MOSFET as a switching element. The MOSFET has a strong load driving capability, the switching time is in milliseconds, and the leakage resistance is extremely small (it can be considered to be completely turned on). Compared with traditional relays, the reliability of MOSFET is higher, and theoretically there is no need to consider the problem of switch life.

具体实施方式三：结合图3说明本实施方式，本实施方式是对具体实施方式二所述的无人机多路输出火控板的进一步限定，Specific embodiment three: This embodiment is described in conjunction with Fig. 3. This embodiment is a further limitation of the UAV multi-output fire control board described in the second specific embodiment.

所述单片机系统1包括芯片ATmega8L、电阻R0-R8、电阻Rs、电容C0和电感L1；Described single-chip microcomputer system 1 comprises chip ATmega8L, resistance R0-R8, resistance Rs, electric capacity C0 and inductance L1;

芯片ATmega8L的PB0脚用于连接遥控信号接收端口2的接收信号输出端；The PB0 pin of the chip ATmega8L is used to connect the receiving signal output terminal of the remote controlsignal receiving port 2;

芯片ATmega8L的PC0脚与电阻R1的一端连接，电阻R1的另一端同时连接第一MOSFET芯片的4脚和绿色状态灯LED1的正极；The PC0 pin of the chip ATmega8L is connected to one end of the resistor R1, and the other end of the resistor R1 is connected to the 4th pin of the first MOSFET chip and the anode of the green status light LED1 at the same time;

芯片ATmega8L的PC1脚与电阻R2的一端连接，电阻R2的另一端用于同时连接第一MOSFET芯片的2脚和绿色状态灯LED2的正极；The PC1 pin of the chip ATmega8L is connected to one end of the resistor R2, and the other end of the resistor R2 is used to simultaneously connect thepin 2 of the first MOSFET chip and the anode of the green status light LED2;

芯片ATmega8L的PC2脚与电阻R3的一端连接，电阻R3的另一端同时连接第二MOSFET芯片的4脚和绿色状态灯LED3的正极；The PC2 pin of the chip ATmega8L is connected to one end of the resistor R3, and the other end of the resistor R3 is connected to the 4th pin of the second MOSFET chip and the anode of the green status light LED3 at the same time;

芯片ATmega8L的PC3脚与电阻R4的一端连接，电阻R4的另一端同时连接第二MOSFET芯片的2脚和绿色状态灯LED4的正极；PC3 pin of chip ATmega8L is connected to one end of resistor R4, and the other end of resistor R4 is connected to pin 2 of the second MOSFET chip and the anode of green status light LED4;

芯片ATmega8L的PD4脚与电阻R5的一端连接，电阻R5的另一端同时连接第三MOSFET芯片的4脚和绿色状态灯LED5的正极；The PD4 pin of the chip ATmega8L is connected to one end of the resistor R5, and the other end of the resistor R5 is connected to the 4th pin of the third MOSFET chip and the anode of the green status light LED5;

芯片ATmega8L的PD5脚与电阻R6的一端连接，电阻R6的另一端同时连接第三MOSFET芯片的2脚和绿色状态灯LED6的正极；The PD5 pin of the ATmega8L chip is connected to one end of the resistor R6, and the other end of the resistor R6 is connected to thepin 2 of the third MOSFET chip and the anode of the green status light LED6 at the same time;

芯片ATmega8L的PD6脚与电阻R7的一端连接，电阻R7的另一端同时连接第四MOSFET芯片的4脚和绿色状态灯LED7的正极；The PD6 pin of the chip ATmega8L is connected to one end of the resistor R7, and the other end of the resistor R7 is connected to the 4th pin of the fourth MOSFET chip and the anode of the green status light LED7 at the same time;

芯片ATmega8L的PD7脚与电阻R8的一端连接，电阻R8的另一端同时连接第四MOSFET芯片的2脚和绿色状态灯LED8的正极；The PD7 pin of the ATmega8L chip is connected to one end of the resistor R8, and the other end of the resistor R8 is connected to thepin 2 of the fourth MOSFET chip and the anode of the green status light LED8;

芯片ATmega8L的PB7脚与电阻R0的一端连接，电阻R0的另一端连接红色状态灯LED0的正极；The PB7 pin of the chip ATmega8L is connected to one end of the resistor R0, and the other end of the resistor R0 is connected to the positive pole of the red status light LED0;

芯片ATmega8L的PC6脚与电阻Rs的一端连接，电阻Rs的另一端与供电电源VCC的正极连接；在供电电源VCC和供电电源的电源地之间串联电容C0；The PC6 pin of the chip ATmega8L is connected to one end of the resistor Rs, and the other end of the resistor Rs is connected to the positive pole of the power supply VCC; a capacitor C0 is connected in series between the power supply VCC and the power ground of the power supply;

芯片ATmega8L的3脚、5脚和21脚同时连接电感L1的一端且同时接电源地，电感L1的另一端用于连接点火电源5的负极。Pin 3,pin 5 and pin 21 of the chip ATmega8L are connected to one end of the inductor L1 and the power ground at the same time, and the other end of the inductor L1 is used to connect the negative pole of theignition power supply 5 .

第一MOSFET芯片的5脚和6脚同时连接第一枚火箭电子引信（4）的负极，第一MOSFET管芯片的1脚和3脚同时连接点火电源5的负极；Pins 5 and 6 of the first MOSFET chip are simultaneously connected to the negative pole of the first rocket electronic fuze (4), and pins 1 and 3 of the first MOSFET chip are simultaneously connected to the negative pole of theignition power supply 5;

第一MOSFET芯片的7脚和8脚同时连接第二枚火箭电子引信（4）的负极；Pin 7 andpin 8 of the first MOSFET chip are simultaneously connected to the negative pole of the second rocket electronic fuze (4);

第二MOSFET芯片的5脚和6脚同时连接第三枚火箭电子引信（4）的负极，第二MOSFET芯片的1号和3号端口连接点火电源（5）的负极；Pins 5 and 6 of the second MOSFET chip are simultaneously connected to the negative pole of the third rocket electronic fuze (4), andports 1 and 3 of the second MOSFET chip are connected to the negative pole of the ignition power supply (5);

第二MOSFET芯片的7脚和8脚同时连接第四枚火箭电子引信（4）的负极；Pin 7 andpin 8 of the second MOSFET chip are simultaneously connected to the negative pole of the fourth rocket electronic fuze (4);

第三个MOSFET芯片的5脚和6脚同时连接第五枚火箭电子引信（4）的负极，第三MOSFET芯片的1号和3号端口连接点火电源（5）的负极；Pins 5 and 6 of the third MOSFET chip are simultaneously connected to the negative pole of the fifth rocket electronic fuze (4), andports 1 and 3 of the third MOSFET chip are connected to the negative pole of the ignition power supply (5);

第三MOSFET芯片的7脚和8脚同时连接第六枚火箭电子引信（4）的负极；Pin 7 andpin 8 of the third MOSFET chip are simultaneously connected to the negative pole of the sixth rocket electronic fuze (4);

第四MOSFET芯片的5脚和6脚同时连接第七枚火箭电子引信（4）的负极，第四MOSFET芯片的1号和3号端口连接点火电源（5）的负极；Pins 5 and 6 of the fourth MOSFET chip are simultaneously connected to the negative pole of the seventh rocket electronic fuze (4), andports 1 and 3 of the fourth MOSFET chip are connected to the negative pole of the ignition power supply (5);

第四MOSFET芯片的7脚和8脚同时连接第七枚火箭电子引信（4）的负极；Pin 7 andpin 8 of the fourth MOSFET chip are simultaneously connected to the negative pole of the seventh rocket electronic fuze (4);

单片机系统（1）的PB7脚通过电阻R0与红色状态灯LED0的正极连接，红色状态灯LED0的负极连接数字地；The PB7 pin of the microcontroller system (1) is connected to the positive pole of the red status light LED0 through the resistor R0, and the negative pole of the red status light LED0 is connected to the digital ground;

Ri选择阻值为51Ω的电阻；R0、R1～R8均选择阻值为470Ω的电阻。Ri selects the resistor whose resistance is 51Ω; R0, R1～R8 all select the resistance whose resistance is 470Ω.

所述电容C0选择容值为100nF的电容；。The capacitor C0 is selected to have a capacitance value of 100nF;

电阻Rs选择阻值为5.1KΩ的电阻；The resistor Rs selects a resistor with a resistance value of 5.1KΩ;

电感L1选择感值为20μh的电感；Inductor L1 selects an inductance with an inductance value of 20μh;

电容C1选择容值为100nF的电容；Capacitor C1 selects a capacitor with a capacitance value of 100nF;

遥控信号输入线为白红黑三联线，白线为信号、红黑线为5v电源的正负级。遥控信号白线串接一个51Ω保护电阻Ri连入单片机的PB0管脚；红线连接单片机的VCC管脚（第4、6脚），并串接一个5.1KΩ电阻后连入单片机的RESET管脚；黑线连接单片机的GND管脚（第3，5，21脚），并作为数字地网络；红线和黑线间并联一个104电容C0。The remote control signal input line is a white, red and black three-wire line, the white line is the signal, and the red and black lines are the positive and negative levels of the 5v power supply. The white wire of the remote control signal is connected in series with a 51Ω protection resistor Ri to connect to the PB0 pin of the microcontroller; the red wire is connected to the VCC pin (4th and 6th pin) of the microcontroller, and a 5.1KΩ resistor is connected in series to the RESET pin of the microcontroller; The black wire is connected to the GND pin of the MCU (pins 3, 5, and 21) and serves as a digital ground network; a 104 capacitor C0 is connected in parallel between the red wire and the black wire.

芯片ATmega8L的PC0～PC3、PD4～PD7脚分别通过电阻R1～R8与8个绿色状态灯LED1～LED8的正极连接，绿色状态灯LED1～LED8的负极连接数字地。The pins PC0~PC3, PD4~PD7 of the chip ATmega8L are respectively connected to the anodes of 8 green state lights LED1~LED8 through resistors R1~R8, and the negative poles of the green state lights LED1~LED8 are connected to the digital ground.

具体实施方式四：本实施方式是具体实施方式三所述的无人机多路输出火控板的通道设定方法，Embodiment 4: This embodiment is the channel setting method of the UAV multi-channel output fire control board described inEmbodiment 3,

芯片ATmega8L嵌入通道设定软件，所述软件的工作过程包括如下步骤：The chip ATmega8L is embedded in the channel setting software, and the working process of the software includes the following steps:

用于开启Timer0定时器，设定为1024分频，设置Timer0定时器计数寄存器TCNT0=0xE0使得单片机系统每30ms进入一次T0中断，并建立一个变量Setting_Delay=0x00并在T0中断内累加的步骤；It is used to start the Timer0 timer, set to 1024 frequency division, set the Timer0 timer count register TCNT0=0xE0 to make the single-chip system enter a T0 interrupt every 30ms, and establish a variable Setting_Delay=0x00 and accumulate in the T0 interrupt;

用于开启Timer1定时器及其中断，不分频，开启ICP1输入捕捉单元并设定Timer1定时器为上升沿触发的步骤；It is used to open the Timer1 timer and its interrupt, without frequency division, open the ICP1 input capture unit and set the Timer1 timer as a rising edge trigger;

用于当接收信号输入端接收的遥控信号上升沿被捕捉入，Timer1定时器中断，设置Timer1定时器计数寄存器TCNT0=0x00，设置Timer1定时器控制寄存器TCCR1B&=0xBF，Timer1定时器改为下降沿触发的步骤；When the rising edge of the remote control signal received by the receiving signal input terminal is captured, the Timer1 timer is interrupted, the Timer1 timer count register TCNT0=0x00 is set, the Timer1 timer control register TCCR1B&=0xBF is set, and the Timer1 timer is changed to a falling edge trigger A step of;

用于当接收信号输入端接收的遥控信号下降沿被捕捉入，Timer1定时器中断，读出Timer1定时器计数暂存器的值，将所述Timer1定时器计数暂存器的值乘以计数周期1us，得到遥控信号的有效高电平脉宽，设置Timer1定时器控制寄存器TCCR1B|=0x40，重设Timer1定时器为上升沿触发的步骤；When the falling edge of the remote control signal received by the receiving signal input terminal is captured, the Timer1 timer is interrupted, the value of the Timer1 timer count register is read, and the value of the Timer1 timer count register is multiplied by the count cycle 1us, to get the effective high-level pulse width of the remote control signal, set the Timer1 timer control register TCCR1B|=0x40, reset the Timer1 timer to the steps of rising edge trigger;

用于在所述遥控信号有效期内，重复步骤二至步骤四，每重复20次执行一次数字滤波子程序，所述数字滤波子程序计算遥控信号的实际高电平脉宽，直到遥控信号撤离停止执行数字滤波子程序，并设定通道触发阈值下限=高电平脉宽极小值+0xA0，设定通道触发阈值上限=高电平脉宽极大值–0xA0的步骤；It is used to repeatsteps 2 to 4 within the validity period of the remote control signal, and execute the digital filtering subroutine every 20 times. The digital filtering subroutine calculates the actual high-level pulse width of the remote control signal until the remote control signal is withdrawn and stopped. Execute the digital filter subroutine, and set the lower limit of the channel trigger threshold = the minimum value of the high-level pulse width + 0xA0, and set the upper limit of the channel trigger threshold = the maximum value of the high-level pulse width - 0xA0;

用于当变量Setting_Delay累加到0x64前的3秒设置窗口期内，且侦测到遥控信号的高电平脉宽在通道触发阈值下限和通道触发阈值上限之间历经一次且停留于通道触发阈值上限之上时，则判定进入输出通道选择模式，将8个绿色状态灯全部点亮，同时红色状态灯慢速闪烁的步骤；It is used for the 3-second setting window period before the variable Setting_Delay is accumulated to 0x64, and the high-level pulse width of the remote control signal is detected once between the lower limit of the channel trigger threshold and the upper limit of the channel trigger threshold and stays at the upper limit of the channel trigger threshold When it is above, it is determined to enter the output channel selection mode, and all 8 green status lights are lit, and the red status lights flash slowly at the same time;

用于当变量Setting_Delay累加到0x64前的3秒设置窗口期内，未侦测到遥控信号的高电平脉宽在通道触发阈值下限和通道触发阈值上限之间历经，则进入正常工作模式，载入EEPROM地址0x20的一个字节作为火控板输出路数，时红色状态灯保持点亮的步骤；It is used to enter the normal working mode when the variable Setting_Delay is accumulated to 0x64 in the 3-second setting window period, and the high-level pulse width of the remote control signal is not detected to pass between the lower limit of the channel trigger threshold and the upper limit of the channel trigger threshold. Enter a byte of EEPROM address 0x20 as the output channel number of the fire control board, and the red status light remains on during the process;

用于若当前遥控信号的高电平脉宽在通道触发阈值下限和通道触发阈值上限之间历经n次，则判定设定了n路火控板输出，同时相应位置及数量的绿色状态灯熄灭的步骤；If the high-level pulse width of the current remote control signal has experienced n times between the lower limit of the channel trigger threshold and the upper limit of the channel trigger threshold, it is determined that n channels of fire control board output have been set, and at the same time the green status lights of the corresponding position and number are off A step of;

用于当变量Setting_Delay累加到0x10A时，设定的n路火控板输出对应的绿色状态灯闪烁；且使用从0x20地址开始的一个字节，在EEPROM中存储火控板输出路数的设定值，进入正常工作状态的步骤。When the variable Setting_Delay is accumulated to 0x10A, the green status lights corresponding to the set n fire control board outputs will flash; and use a byte starting from address 0x20 to store the setting of the number of fire control board output channels in EEPROM value, the steps to enter the normal working state.

无人机多路输出火控板的输出通道设定功能在单片机内利用代码完成，分为信号捕捉、输出设定和数据保存三部分。利用单片机的Timer1定时器输入捕捉单元（ICP1），通过切换信号上升沿触发和下降沿触发来捕捉遥控信号；利用设定信号高电平脉宽的上下阈值来判定火控板是否进入设定模式，并利用信号在上下阈值间的历经次数来设定输出路数；利用单片机的EEPROM来存储设定路数的数值；The output channel setting function of the UAV multi-output fire control board is completed by using code in the single chip microcomputer, which is divided into three parts: signal capture, output setting and data storage. Use the Timer1 timer input capture unit (ICP1) of the single-chip microcomputer to capture the remote control signal by switching the signal rising edge trigger and falling edge trigger; use the upper and lower thresholds of the high level pulse width of the set signal to determine whether the fire control board enters the setting mode , and use the number of times the signal passes between the upper and lower thresholds to set the number of output channels; use the EEPROM of the single-chip microcomputer to store the value of the set number of channels;

具体实施方式五：本实施方式是具体实施方式三所述的无人机多路输出火控板的通道设定方法，Specific embodiment five: this embodiment is the channel setting method of the UAV multi-channel output fire control board described in specific embodiment three,

芯片ATmega8L内嵌入火箭发射软件，所述火箭发射软件的工作过程包括如下步骤：Chip ATmega8L is embedded with rocket launching software, and the working process of said rocket launching software includes the following steps:

用于设定通道触发阈值下限=高电平脉宽极小值+0xA0，设定通道触发阈值上限=高电平脉宽极大值–0xA0，设定当前输出的火控通道的个数Cur_No=0的步骤；It is used to set the lower limit of the channel trigger threshold = the minimum value of the high-level pulse width + 0xA0, set the upper limit of the channel trigger threshold = the maximum value of the high-level pulse width - 0xA0, and set the number of current output fire control channels Cur_No = 0 steps;

用于当接收信号输入端接收的遥控信号的高电平脉宽从低于通道触发阈值下限变更到高于通道触发阈值上限的值，当前输出的火控通道的个数Cur_No=0累加1，直到所述Cur_No的值达到火控板输出通道值的步骤；When the high-level pulse width of the remote control signal received by the receiving signal input terminal is changed from lower than the lower limit of the channel trigger threshold to a value higher than the upper limit of the channel trigger threshold, the number of currently output fire control channels Cur_No=0 is added to 1, The step until the value of the Cur_No reaches the output channel value of the fire control board;

用于当所述Cur_No的值达到火控板输出通道值时，将Cur_No重置为0的步骤；When the value of Cur_No reaches the output channel value of the fire control board, the step of resetting Cur_No to 0;

用于驱动MOSFET管开启第Cur_No个火控通道，并点亮相应的绿色状态灯的步骤；Steps for driving the MOSFET to turn on the Cur_Noth fire control channel and turn on the corresponding green status light;

用于当接收信号输入端接收的遥控信号的高电平脉宽变回低于通道触发阈值下限的值，则熄灭绿色状态灯的步骤。It is used for the step of turning off the green status light when the high-level pulse width of the remote control signal received by the receiving signal input terminal changes back to a value lower than the lower limit of the trigger threshold of the channel.

本实施方式中，m=8，无人机多路输出火控板在不进行扩展的情况下可发射八枚火箭（或进行八项作业）。每枚火箭的电子引信含有两根线，第一线为火箭点火正极，第二线为火箭点火负极。利用一个八联双排弯针作为八路输出的负载连接。In this embodiment, m=8, and the multi-output fire control board of the UAV can launch eight rockets (or perform eight operations) without expansion. The electronic fuze of each rocket contains two wires, the first wire is the positive electrode of the rocket ignition, and the second wire is the negative electrode of the rocket ignition. Use an eight-gang double-row looper as the load connection for eight outputs.

采用APM9926MOSFET管作为执行元件来完成多枚火箭的发射（或多个负载的驱动）。分别使用单片机的PC0～PC3、PD4～PD7管脚过两个470Ω排阻后，驱动四个MOSFET管APM9926；APM9926的栅极接单片机控制管脚，源极接外接点火电源负，漏极接火控板输出端的负极（八联双排弯针的第二排）。The APM9926 MOSFET tube is used as the actuator to complete the launch of multiple rockets (or the drive of multiple loads). Use the PC0~PC3, PD4~PD7 pins of the single-chip microcomputer respectively to pass through two 470Ω resistances, and drive four MOSFET tubes APM9926; the gate of the APM9926 is connected to the control pin of the single-chip microcomputer, the source is connected to the negative of the external ignition power supply, and the drain is connected to the fire The negative pole of the output terminal of the control board (the second row of the eight-gang double-row looper).

下面给出一个在实际应用中的具体实施过程：A specific implementation process in practical application is given below:

1、设备连接1. Device connection

将本发明的多路输出火控板连在无人机高空作业系统中。将选择器的遥控信号线（白红黑三色）插入无人机接收机的任一个空闲通道；将无人机上的八枚火箭电子引信插接到多路输出火控板的八联双排弯针；将火箭点火电源插接到多路输出火控板的独立单排弯针。注意弯针均为上正下负，如使用标准杜邦插头，火控板有防插反设计。The multi-channel output fire control board of the present invention is connected in the unmanned aerial vehicle high-altitude operation system. Insert the remote control signal line (white, red and black) of the selector into any free channel of the UAV receiver; plug the eight rocket electronic fuzes on the UAV into the eight-connected double row of the multi-output fire control board Looper; an independent single-row looper that plugs the rocket ignition power supply into the multi-output fire control board. Note that the curved pins are positive on the top and negative on the bottom. If you use a standard DuPont plug, the fire control board has an anti-insertion design.

2、遥控器准备2. Remote control preparation

打开无人机遥控器的发射机，为插接多路输出火控板的通道分配一个控制（旋钮和开关均可）。将该通道的上下行程均调为默认的100。Turn on the transmitter of the remote control of the drone, and assign a control (knob or switch) to the channel of the multi-output fire control board. Adjust the upper and lower strokes of the channel to the default 100.

3、遥控通道行程设置3. Remote control channel travel setting

保持遥控器发射机的开启，再给无人机接收机上电。多路输出火控板的红色LED指示灯开始快速闪烁3秒钟，此期间是遥控通道行程设置窗口。如果之前从未设定通道行程，请在此3秒钟内来回旋转多路选择器插接通道的旋钮，或来回拨动该通道的开关一到两次。确认旋钮和开关都已打到两个方向的最大行程。此时多路选择器的红色LED指示灯变为双频闪烁，提示已经记忆当前的遥控通道行程设置。Keep the remote control transmitter turned on, and then power on the drone receiver. The red LED indicator of the multi-output fire control board starts to flash rapidly for 3 seconds, during this period is the remote control channel travel setting window. If you have never set a channel itinerary before, please turn the knob of the multiplexer plug-in channel back and forth within this 3 seconds, or flip the switch of the channel back and forth once or twice. Make sure that the knobs and switches are pushed to their full travel in both directions. At this time, the red LED indicator light of the multiplexer becomes double-frequency flashing, indicating that the current remote control channel travel setting has been memorized.

只有初次使用本无人机多路输出火控板、或更换了遥控设备、或更换了接驳通道，才有必要进行此遥控通道行程设置。多路输出火控板有记忆功能，在其他正常使用情况下，如果在上电后的3秒窗口期内不转动旋钮（或拨动开关），火控板会自动加载上次的设置数值。Only when using the multi-output fire control board of the UAV for the first time, or changing the remote control device, or changing the connection channel, it is necessary to set the remote control channel schedule. The multi-output fire control board has a memory function. Under other normal use conditions, if the knob (or toggle switch) is not turned within a 3-second window after power-on, the fire control board will automatically load the last set value.

如果多路输出火控板从未进行过遥控通道行程设置，或加载上次的设定值失败，则红色LED指示灯会持续快速闪烁，直到转动通道旋钮（或拨动开关）完成遥控通道行程设置。If the multi-output fire control board has never set the remote channel travel, or failed to load the last set value, the red LED indicator will continue to flash rapidly until the channel knob (or toggle switch) is turned to complete the remote channel travel setting .

遥控通道行程设置完成后，或设置窗口期通过后，多路输出火控板进入正常工作状态，会根据所接驳通道对应的旋钮（或开关）位置，点亮相应的绿色LED指示灯，同时发射当前通道的火箭。After the remote control channel travel setting is completed, or after the setting window period passes, the multi-output fire control board will enter the normal working state, and will light up the corresponding green LED indicator according to the position of the knob (or switch) corresponding to the connected channel, and at the same time Launches the current channel's rocket.

4、使用4. Use

保证无人机点火电源的供电有效，操作遥控器所用通道的旋钮或开关，可在空中发射火箭或进行其他作业。旋钮的前段行程（或开关的第一档）对应停止发射，旋钮的后段行程（或开关的第二档）对应发射火箭。多路输出火控板上的绿色LED也会指示当前发射的是第几枚火箭。从实际使用效果可知，火箭的发射速度很快，看不出有任何延迟的现象。Ensure that the power supply of the drone's ignition power supply is effective, and operate the knob or switch of the channel used by the remote control to launch rockets or perform other operations in the air. The front travel of the knob (or the first gear of the switch) corresponds to stopping the launch, and the rear travel of the knob (or the second gear of the switch) corresponds to launching the rocket. The green LED on the multi-output fire control board will also indicate which rocket is currently being launched. It can be seen from the actual use effect that the launch speed of the rocket is very fast, and there is no visible delay.

若在工作状态下丢失了遥控信号（可在地面关闭发射机以模拟该情况），多路输出火控板自动禁止所有火箭的发射，同时红色LED指示灯持续慢速闪烁，指示进入了失控保护状态。此时若找回了遥控信号（可在地面重新打开发射机），多路输出火控板会重新根据旋钮（或开关）的位置来发射火箭或进行作业，同时恢复正常工作状态。本无人机多路输出火控板支持所有制式的无人机遥控设备，包括AM（调幅）、FM（调频）、PCM（脉冲编码调制）和2.4G模式。If the remote control signal is lost in the working state (the transmitter can be turned off on the ground to simulate this situation), the multi-output fire control board will automatically prohibit the launch of all rockets, and at the same time the red LED indicator will continue to flash slowly, indicating that it has entered the out of control protection state. At this time, if the remote control signal is recovered (the transmitter can be turned on again on the ground), the multi-output fire control board will launch the rocket or carry out the operation according to the position of the knob (or switch) again, and at the same time return to the normal working state. The UAV multi-output fire control board supports all types of UAV remote control equipment, including AM (amplitude modulation), FM (frequency modulation), PCM (pulse code modulation) and 2.4G modes.

以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明所提交的权利要求书确定的专利保护范围。The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in this technical field, without departing from the concept of the present invention, some simple deduction or replacement can also be made, which should be regarded as belonging to the scope of patent protection determined by the claims submitted by the present invention .

Claims (5)

1. unmanned plane multichannel output fire control plate, is characterized in that,

It comprises SCM system (1), remote signal receiving port (2), m MOSFET pipe (3), a m rocket electronic fuse (4), priming supply (5), red status light LED0 and m green state lamp LED1～LEDm;

Each rocket electronic fuse (4) is connected by the corresponding instruction output end of m MOSFET pipe (3) and SCM system (1) respectively, and the positive pole of m green state lamp LED1～LEDm also is connected with the corresponding instruction output end of described SCM system (1) respectively;

The red light phase instruction output end of SCM system (1) is connected with the positive pole of red status light LED0;

Priming supply (5) provides work electricity power supply for m MOSFET pipe (3) simultaneously;

The acknowledge(ment) signal output of remote signal receiving port (2) is connected with the acknowledge(ment) signal input of SCM system (1).

2. unmanned plane multichannel output fire control plate according to claim 1, is characterized in that,

M=8, MOSFET pipe (3) adopts 4 MOSFET chips that model is APM9926 to realize.

3. unmanned plane multichannel output fire control plate according to claim 2, is characterized in that,

Described SCM system (1) comprises chip ATmega8L, resistance R 0-R8, resistance R s, capacitor C 0 and inductance L 1;

The PB0 pin of chip ATmega8L is for connecting the acknowledge(ment) signal output of remote signal receiving port (2);

The PC0 pin of chip ATmega8L is connected with an end of resistance R 1, and the other end of resistance R 1 connects 4 pin of a MOSFET chip and the positive pole of green state lamp LED1 simultaneously;

The PC1 pin of chip ATmega8L is connected with an end of resistance R 2, and the other end of resistance R 2 connects 2 pin of a MOSFET chip and the positive pole of green state lamp LED2 simultaneously;

The PC2 pin of chip ATmega8L is connected with an end of resistance R 3, and the other end of resistance R 3 connects 4 pin of the 2nd MOSFET chip and the positive pole of green state lamp LED3 simultaneously;

The PC3 pin of chip ATmega8L is connected with an end of resistance R 4, and the other end of resistance R 4 connects 2 pin of the 2nd MOSFET chip and the positive pole of green state lamp LED4 simultaneously;

The PD4 pin of chip ATmega8L is connected with an end of resistance R 5, and the other end of resistance R 5 connects 4 pin of the 3rd MOSFET chip and the positive pole of green state lamp LED5 simultaneously;

The PD5 pin of chip ATmega8L is connected with an end of resistance R 6, and the other end of resistance R 6 connects 2 pin of the 3rd MOSFET chip and the positive pole of green state lamp LED6 simultaneously;

The PD6 pin of chip ATmega8L is connected with an end of resistance R 7, and the other end of resistance R 7 connects 4 pin of the 4th MOSFET chip and the positive pole of green state lamp LED7 simultaneously;

The PD7 pin of chip ATmega8L is connected with an end of resistance R 8, and the other end of resistance R 8 connects 2 pin of the 4th MOSFET chip and the positive pole of green state lamp LED8 simultaneously;

The PB7 pin of chip ATmega8L is connected with an end of resistance R 0, and the other end of resistance R 0 connects the positive pole of red status light LED0;

The PC6 pin of chip ATmega8L is connected with the end of resistance R s, and the other end of resistance R s is connected with the positive pole of power supply VCC; Series capacitance C0 between the power supply ground of power supply VCC and power supply;

3 pin of chip ATmega8L, 5 pin and 21 pin are connected an end of inductance L 1 simultaneously and connect power supply ground simultaneously, the negative pole of the other end tie point ignition source (5) of inductance L 1.

4. the path setting method of unmanned plane multichannel output fire control plate claimed in claim 3, is characterized in that, chip ATmega8L embeds path setting software, and the course of work of described software comprises the steps:

For opening the Timer0 timer, be set as 1024 frequency divisions, Timer0 timer counter register TCNT0=0xE0 is set and makes the every 30ms of SCM system enter a T0 interruption, and set up a variable Setting_Delay=0x00 and cumulative step in T0 interrupts;

For opening Timer1 timer and interruption thereof, frequency division, do not open ICP1 input capture unit and set the step that the Timer1 timer is the rising edge triggering;

For when receive remote signal rising edge that signal input part receives be captured into, the Timer1 timer interrupts, and Timer1 timer counter register TCNT0=0x00 is set, and Timer1 Timer Controlling register TCCR1B&amp is set;=0xBF, the Timer1 timer changes the step that trailing edge triggers into;

For when receive remote signal trailing edge that signal input part receives be captured into, the Timer1 timer interrupts, read the value of Timer1 timer counting buffer, the value of described Timer1 timer counting buffer is multiplied by count cycle 1us, obtain effective high level pulsewidth of remote signal, Timer1 Timer Controlling register TCCR1B|=0x40 is set, and reseting the Timer1 timer is the step that rising edge triggers;

For in the described remote signal term of validity, repeating step two is to step 4, every repetition is carried out a digital filtering subprogram 20 times, described digital filtering subprogram is calculated the actual high level pulsewidth of remote signal, until withdrawing, remote signal stops combine digital filtering subprogram, and set passage activation threshold value lower limit=high level pulsewidth minimum+0xA0, set the step of the passage activation threshold value upper limit=high level pulsewidth Ji great Zhi – 0xA0;

For be added to front the arranging in window phase in 3 seconds of 0x64 as variable Setting_Delay, and the high level pulsewidth that detects remote signal is gone through once between passage activation threshold value lower limit and the passage activation threshold value upper limit and while staying on the passage activation threshold value upper limit, judge and enter the output channel preference pattern, 8 green state lamps are all lighted to the step that red status light glimmers at a slow speed simultaneously;

For be added to front the arranging in window phase in 3 seconds of 0x64 as variable Setting_Delay, the high level pulsewidth that does not detect remote signal is gone through between passage activation threshold value lower limit and the passage activation threshold value upper limit, enter normal mode of operation, a byte that is written into eeprom address 0x20 is as fire control plate output way, the time red status light keep the step of lighting;

If the high level pulsewidth for current remote signal is gone through n time between passage activation threshold value lower limit and the passage activation threshold value upper limit, judge and set the output of n road fire control plate, the step that the green state lamp of relevant position and quantity extinguishes simultaneously;

For when variable Setting_Delay is added to 0x10A, the n road fire control plate of setting is exported corresponding green state lamp flicker; And use the byte started from the 0x20 address, in EEPROM, storage fire control plate is exported the setting value of way, enters the step of normal operating conditions.

5. the method for launching rocket of unmanned plane multichannel output fire control plate claimed in claim 3, is characterized in that, chip ATmega8L is embedded in rocket launching software, and the course of work of described rocket launching software comprises the steps:

For setting passage activation threshold value lower limit=high level pulsewidth minimum+0xA0, set the passage activation threshold value upper limit=high level pulsewidth Ji great Zhi – 0xA0, set the step of number Cur_No=0 of the fire control passage of current output;

Be used for working as the high level pulsewidth of the remote signal that receives the signal input part reception from lower than passage activation threshold value lower limit, being altered to the value higher than the passage activation threshold value upper limit, the number Cur_No=0 of the fire control passage of current output adds up 1, until the value of described Cur_No reaches the step of fire control plate output channel value;

For when the value of described Cur_No reaches fire control plate output channel value, Cur_No is reset to 0 step;

Open Cur_No fire control passage for driven MOS FET pipe, and light the step of corresponding green state lamp;

High level pulsewidth for the remote signal when receiving the signal input part reception becomes the value lower than passage activation threshold value lower limit again, extinguishes the step of green state lamp.

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