| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for accurately controlling an electric motor of an drone having a plurality of rotors. <P>SOLUTION: Each motor is controlled by microcontrollers 21, 22, 23 and 24, and a set of the microcontrollers are driven by a central controller 10. An asynchronous serial communication link is established on a line between the central controller and the respective microcontrollers, and each microcontroller includes an allocation preparatory step which allocates an address parameter to each microcontroller, and a primary control step which (1) makes the central controller simultaneously transmit a message including a command designated by the address parameter of a mating microcontroller which may execute the command on each link line, and (2) makes each mating microcontroller extract the command which is address-designated at the mating microcontroller from the message, and execute the command. <P>COPYRIGHT: (C)2012,JPO&INPIT |
