Patent ID: 11958604
Assignee: AUTEL ROBOTICS CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 10:
11. The method according to claim 10, wherein the controlling, by the flight control system, a posture of the unmanned aerial vehicle according to the output status information of the gimbal comprises:
generating, by the flight control system, a posture angle limit value of the unmanned aerial vehicle according to the actual posture angle of the gimbal;
obtaining, by the flight control system, an actual posture angle of the unmanned aerial vehicle and a posture angle instruction input to the unmanned aerial vehicle;
generating, by the flight control system, a posture angular speed control instruction of the unmanned aerial vehicle according to the posture angle limit value of the unmanned aerial vehicle, the posture angle instruction input to the unmanned aerial vehicle and the actual posture angle of the unmanned aerial vehicle;
generating, by the flight control system, a posture angular speed limit value of the unmanned aerial vehicle according to the actual posture angular speed of the gimbal;
obtaining, by the flight control system, an actual posture angular speed of the unmanned aerial vehicle and the yaw angular speed instruction input to the unmanned aerial vehicle;
generating, by the flight control system, a motor control instruction of the unmanned aerial vehicle according to the posture angular speed control instruction of the unmanned aerial vehicle, the posture angular speed limit value of the unmanned aerial vehicle, the yaw angular speed instruction input to the unmanned aerial vehicle and the actual posture angular speed of the unmanned aerial vehicle; and
controlling, by the flight control system, the posture of the unmanned aerial vehicle according to the motor control instruction of the unmanned aerial vehicle.