WO2020118719A1 - Firmware upgrading method, firmware upgrading device and control device of unmanned aerial vehicle, unmanned aerial vehicle and medium - Google Patents

Abstract

A firmware upgrading method, firmware upgrading device (500) and control devices (600, 700, 820) of an unmanned aerial vehicle (800), the unmanned aerial vehicle and a computer readable storage medium, relating to the technical field of unmanned aerial vehicles. The method comprises: acquiring the current Loader version of a module to be upgraded in the unmanned aerial vehicle (S110); determining, according to the current Loader version, a firmware target version required by the module to be upgraded (S120); and upgrading a firmware of the module to be upgraded to the target version (S130). The safety of unmanned aerial vehicle firmware upgrading is improved, and method and procedure for firmware upgrading are simplified.

Description

Unmanned aerial vehicle firmware upgrade method, firmware upgrade device, control device, unmanned aerial vehicle and medium Technical field

The present disclosure relates to the technical field of unmanned aerial vehicles, and in particular, to a method for upgrading firmware of an unmanned aerial vehicle, a firmware upgrade device for an unmanned aerial vehicle, a control device for an unmanned aerial vehicle, an unmanned aerial vehicle, and a computer-readable storage medium.

Background technique

Unmanned aerial vehicles are unmanned aerial vehicles that are controlled by wireless control equipment or built-in automatic control devices, usually with built-in firmware (Firmware), which can be regarded as a driver program inside the unmanned aerial vehicle. Interoperability largely determines the functions and performance of UAVs.

With the rapid development of unmanned aerial vehicles, it is often necessary to upgrade their firmware. At present, when a manufacturer releases a new version of firmware, it usually releases the corresponding version according to the device model of the UAV, so that the user can select the firmware version according to the device model and upgrade. However, as the software environment inside the UAV becomes more and more complex, UAVs of the same device model may work in different software environments, and there may be different adaptation situations for different firmware versions, so the existing method may As a result, the UAV cannot work normally after upgrading the firmware.

It should be noted that the information disclosed in the above background section is only for enhancing the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to those of ordinary skill in the art.

Summary of the invention

The present disclosure provides a firmware upgrade method for an unmanned aerial vehicle, a firmware upgrade device for an unmanned aerial vehicle, a control device for an unmanned aerial vehicle, an unmanned aerial vehicle, and a computer-readable storage medium, thereby overcoming the possibility of the prior art at least to a certain extent The problem that caused the unmanned aerial vehicle to not work normally after upgrading the firmware.

Other features and advantages of the present disclosure will become apparent through the following detailed description, or partly learned through the practice of the present disclosure.

According to an aspect of the present disclosure, a firmware upgrade method for an unmanned aerial vehicle is provided, including: acquiring a current Loader version of a module to be upgraded in an unmanned aerial vehicle; and determining the location of the module to be upgraded according to the current Loader version A target version of firmware is required; upgrade the firmware of the module to be upgraded to the target version.

In an exemplary embodiment of the present disclosure, the module to be upgraded includes a multi-level Loader; and determining the target version of the firmware required by the module to be upgraded according to the current Loader version includes: according to the module to be upgraded The current version of the first-level Loader determines the target version of the firmware required by the module to be upgraded.

In an exemplary embodiment of the present disclosure, the determining the target version of the firmware required by the module to be upgraded according to the current Loader version includes: obtaining a mapping relationship table, where the mapping relationship table includes the Loader version and the firmware version Mapping relationship; searching the firmware version mapped to the current Loader version of the module to be upgraded in the mapping relationship table, and using the found firmware version as the target version.

In an exemplary embodiment of the present disclosure, the method further includes: if the current Loader version of the module to be upgraded is found in the mapping relationship table to map multiple firmware versions, then the multiple firmware The latest firmware version among the versions is determined as the target version.

In an exemplary embodiment of the present disclosure, the acquiring the mapping relationship table includes: acquiring multiple versions of Loader and multiple versions of firmware; extracting a list of loaders in each version of Loader and a startup program in each version of firmware List, and match the loader list of each version of the Loader with the startup program list of the firmware of each version; between the Loader version corresponding to the matched loader list and the firmware version corresponding to the startup program list Establish a mapping relationship to construct the mapping relationship table.

In an exemplary embodiment of the present disclosure, the acquiring the current Loader version of the module to be upgraded includes: acquiring a current hardware identifier of the module to be upgraded, and determining the status of the module to be upgraded by the current hardware identifier Current Loader version.

In an exemplary embodiment of the present disclosure, the module to be upgraded is an embedded module.

According to an aspect of the present disclosure, there is provided a firmware upgrade device for an unmanned aerial vehicle, including: a Loader version acquiring unit for acquiring a current Loader version of a module to be upgraded; and a firmware version determining unit for determining a firmware version according to the module to be upgraded The current Loader version determines the target version of the firmware required by the module to be upgraded; the target version upgrade unit is used to upgrade the firmware of the module to be upgraded to the target version.

According to an aspect of the present disclosure, there is provided a control device for an unmanned aerial vehicle, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the Execute instructions to perform any of the methods described above.

According to an aspect of the present disclosure, there is provided an unmanned aerial vehicle, including: a fuselage; and the control device according to any one of the above, the control device being provided on the fuselage.

According to an aspect of the present disclosure, a computer-readable storage medium is provided on which a computer program is stored, and when the computer program is executed by a processor, the method according to any one of the above is implemented.

The exemplary embodiments of the present disclosure have the following beneficial effects:

The target version of the firmware required by the module to be upgraded is determined according to the current Loader version of the module to be upgraded in the UAV to upgrade the firmware of the module to be upgraded to the target version. On the one hand, when the firmware is upgraded, the adaptability between the Loader of the module to be upgraded and the firmware is considered, so that the Loader can load the firmware program normally after the upgrade, such as the firmware driver, the associated application, etc., which can avoid the Loader and The situation that the module to be upgraded cannot work normally after the firmware upgrade due to the mismatch of the firmware improves the safety of the UAV firmware upgrade. On the other hand, this exemplary embodiment can determine the target version of the firmware upgrade according to the current Loader version of the module to be upgraded. In the case where the manufacturer provides the corresponding information of the two, the UAV or the electronic device connected to it can automatically execute this The method of the exemplary embodiment determines the target version and completes the upgrade without requiring the user to understand each firmware version, thereby reducing the user's learning cost and simplifying the firmware upgrade method flow.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present disclosure.

BRIEF DESCRIPTION

The drawings herein are incorporated into and constitute a part of this specification, show embodiments consistent with this disclosure, and are used together with the specification to explain the principles of this disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on these drawings.

FIG. 1 shows a flowchart of a method for upgrading firmware of an unmanned aerial vehicle in this exemplary embodiment;

2 shows a schematic diagram of a hardware identifier and a Loader version in this exemplary embodiment;

FIG. 3 shows a sub-flow diagram of a method for upgrading the firmware of an unmanned aerial vehicle in this exemplary embodiment;

FIG. 4 shows a flowchart of another method for upgrading the firmware of an unmanned aerial vehicle in this exemplary embodiment;

FIG. 5 shows a structural block diagram of a firmware upgrading apparatus of an unmanned aerial vehicle in this exemplary embodiment;

6 shows a structural block diagram of a control device of an unmanned aerial vehicle in this exemplary embodiment;

7 shows a structural block diagram of another unmanned aerial vehicle control device in this exemplary embodiment;

FIG. 8 shows a structural block diagram of an unmanned aerial vehicle in this exemplary embodiment;

FIG. 9 shows a computer-readable storage medium for implementing the above method in this exemplary embodiment.

detailed description

Example embodiments will now be described more fully with reference to the drawings. However, the example embodiments can be implemented in various forms, and should not be construed as being limited to the examples set forth herein; on the contrary, providing these embodiments makes the present disclosure more comprehensive and complete, and fully conveys the idea of the example embodiments For those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner.

Exemplary embodiments of the present disclosure first provide a method for firmware upgrade of an unmanned aerial vehicle, which can be applied to an unmanned aerial vehicle to enable the unmanned aerial vehicle to independently execute the exemplary implementation in the case of networking or having a firmware upgrade program The method of this example can be used to upgrade the firmware; this exemplary embodiment can also be applied to other electronic devices such as computers and tablets connected to the unmanned aerial vehicle, by performing the method of this exemplary embodiment to control the unmanned aerial vehicle to upgrade the firmware Among them, the connection between the electronic equipment and the UAV can include TTL (Transistor Transistor Logic, parallel transmission interface), USB (Universal Serial Bus), SATA (Serial Advanced Technology Attachment), and other wired The connection method may also include Wifi (Wireless Fidelity, wireless fidelity), Bluetooth and other wireless connection methods; this exemplary embodiment can also be applied to a server of a firmware manufacturer to obtain information about the unmanned aerial vehicle by remotely connecting the unmanned aerial vehicle , The method of the present exemplary embodiment is executed to realize remotely controlled firmware upgrade.

Referring to FIG. 1, the method may include the following steps S110-S130:

Step S110: Obtain the current Loader version of the module to be upgraded in the UAV.

Among them, the module to be upgraded is a specific hardware module that needs to be upgraded in the UAV. With the development of precision in UAVs, the internal hardware modules are also showing a trend of division of labor. The current UAVs usually include multiple Hardware modules, such as rotor control module, GPS (Global Positioning System) positioning module, remote communication module, image acquisition module, etc. In this exemplary embodiment, each module may have its own firmware. The firmware of each module is independent of each other. The firmware of one of the modules can be upgraded independently. Of course, the firmware of multiple modules can also be integrated. The upgrade is performed (equivalent to running multiple upgrade programs at a time), so the above-mentioned module to be upgraded may be one or more modules in an unmanned aerial vehicle, which is not specifically limited in this disclosure.

Loader is a loader used when loading software programs for the operating system of an unmanned aerial vehicle, which is essentially a loading program. In this exemplary embodiment, one loader can be configured in the unmanned aerial vehicle to load firmware programs of all modules, or multiple loader can be configured, each loader corresponds to a specific one or more modules. The Loader can usually update or upgrade itself, and has different versions. Therefore, the current Loader version of the module to be upgraded can be obtained, usually expressed as a specific version identifier, such as 01.00.01.01, v101.00.02 and other forms. The system can read the relevant information of Loader to obtain the current version, or it can scan the header information of its code to determine its current version, etc.

In an exemplary embodiment, the module to be upgraded may be an embedded module. The embedded module usually has an embedded processor and a memory. The embedded processor may be an MCU (Microcontroller Unit, embedded microcontroller) or MPU (Microprocessor Unit, embedded processor), DPS (Digital Signal Processor, embedded signal processor), etc., by calling the program stored in the memory, such as Loader, to execute the program instructions. The embedded module has strong independence, and its initialization and operation process depend more on the firmware, so it needs to control the firmware upgrade process to achieve an effective upgrade.

In an exemplary embodiment, step S110 may be implemented by the following steps:

Obtain the current hardware identifier of the module to be upgraded, and determine the current Loader version of the module to be upgraded through the current hardware identifier.

Referring to FIG. 2, there may be a one-to-one correspondence between the hardware identifier of module A and the Loader version. For example, the hardware identifier “MODAC2018” corresponds to the Loader version “01.00.00.02”, and the hardware identifier “MODAU2019” corresponds to Loader version "01.00.01.01", based on the correspondence between the two, the current Loader version of the module can be determined according to the current hardware identifier of the module. Specifically, the correspondence table between the hardware identifier and the Loader version can be obtained from the hardware manufacturer or the Loader provider in advance, and the current Loader version corresponding to the current hardware identifier of the module to be upgraded can be found from the table, or it can be accessed on the Internet. In the case of, search the current Loader version corresponding to the current hardware identifier from the Internet.

Step S120: Determine the target version of the firmware required by the module to be upgraded according to the current Loader version.

There may also be a correspondence between the Loader version and the firmware version, and the correspondence relationship refers to which version of the firmware the Loader of each version is adapted to. Loader is used to load software programs. The programs loaded by different versions of Loader may be different, and the loading method may also be different. That is to say, which version of Loader is currently used by the module to be upgraded can reflect the location of the module to be upgraded to a certain extent. Software Environment. The driver of the module to be upgraded is an important type of loader. If the Loader cannot load the driver correctly, the module to be upgraded will not start normally. For example, when upgrading the firmware, the built-in driver is usually upgraded. If the driver does not match the Loader after the upgrade, for example, the upgraded driver contains code that the Loader cannot recognize, or the way the code is executed occurs Changes, the Loader cannot be executed, or new pre-loaded code is added, and the Loader does not pre-load this part of the code, etc., the driver cannot run normally, the module to be upgraded cannot be initialized, and it is not normal jobs. In addition, Loader can also load some applications. For example, when the driver of the image acquisition module is started, the application programs for image processing and video processing can be simultaneously loaded to make the image acquisition module enter the shooting standby state. When upgrading the firmware, It may change the original application environment, application version, the association between the driver and the application, etc., causing the application to fail to load normally, affecting the normal work of the module to be upgraded. Therefore, in the present exemplary embodiment, it is necessary to determine the target version of the firmware required by the module to be upgraded to avoid the erroneous upgrade situation similar to that described above.

The Loader provider or firmware manufacturer can provide the corresponding information of the Loader version and the firmware version. When upgrading the firmware, you can visit the manufacturer's server or website to obtain information about the target version, or you can push to the remote server to identify the upgrade The current Loader version of the module is the target version of the required firmware, and the corresponding information file of the Loader version and the firmware version can be downloaded in advance and configured locally. This file can be read when the firmware is upgraded to determine the target version and so on.

In an exemplary embodiment, a plurality of adapted firmware versions may be determined according to the current Loader version of the module to be upgraded, and these firmware versions may be provided to the user in an optional manner so that the user can select a target version from it, or According to specific rules, a target version is automatically selected, for example, the latest version may be selected as the target version, and the version with the highest user evaluation may be selected as the target version.

Step S130: Upgrade the firmware of the module to be upgraded to the target version.

After determining the target version, you can obtain the firmware update program of the target version. For example, you can search and download the firmware update program of the target version from the Internet, or select the firmware upgrade program of the target version from the firmware upgrade package provided in advance, and run the The firmware upgrade program upgrades the firmware of the module to be upgraded to the target version.

Based on the above description, in the present exemplary embodiment, the target version of the firmware required by the module to be upgraded is determined according to the current Loader version of the module to be upgraded in the UAV, so as to upgrade the firmware of the module to be upgraded to the target version. On the one hand, when the firmware is upgraded, the adaptability between the Loader of the module to be upgraded and the firmware is considered, so that the Loader can load the firmware program normally after the upgrade, such as the firmware driver, the associated application, etc., which can avoid the Loader and The situation that the module to be upgraded cannot work normally after the firmware upgrade due to the mismatch of the firmware improves the safety of the UAV firmware upgrade. On the other hand, this exemplary embodiment can determine the target version of the firmware upgrade according to the current Loader version of the module to be upgraded. In the case where the manufacturer provides the corresponding information of the two, the UAV or the electronic device connected to it can automatically execute this The method of the exemplary embodiment determines the target version and completes the upgrade without requiring the user to understand each firmware version, thereby reducing the user's learning cost and simplifying the firmware upgrade method flow.

In an exemplary embodiment, the module to be upgraded may include a multi-level loader. The multi-level loader can be used to load specific programs at different stages, for example, the first-level loader loads the first-level program first, and then loads the first-level program. After completion, the second-level Loader loads the second-level programs, etc., and there may be one or more programs loaded in each level of the Loader. In view of this situation, step S120 may be implemented by the following steps:

The target version of the firmware required by the module to be upgraded is determined according to the current version of the first-level Loader of the module to be upgraded.

Among them, the first level Loader is usually used to load the driver of the module to be upgraded, guide the module to be upgraded to initialize, and the performance of the module to be upgraded has the greatest impact, so the correspondence between the first level Loader version and the firmware version can be established. When upgrading the firmware, the target version of the firmware is determined according to the version of the first-level Loader, so that the firmware is adapted to the first-level Loader, which can ensure the normal loading of the driver and the normal initialization of the module to be upgraded.

In an exemplary embodiment, step S120 may include the following steps:

Obtain the mapping relationship table, which includes the mapping relationship between the Loader version and the firmware version;

Find the firmware version mapped to the current Loader version of the module to be upgraded in the mapping relationship table, and use the found firmware version as the target version.

Among them, the mapping relationship is a specific manifestation of the correspondence between the Loader version and the firmware version. The mapping relationship table can be a data table that contains a large number of mapping relationships, which can form a row mapping or a column mapping between the Loader version and the firmware version. The mapping relationship between each Loader version can also be mapped to the firmware version of multiple different modules. For example, a Loader is responsible for loading the firmware programs of the wired communication module and the wireless communication module in the UAV. Each version of the software is mapped to the firmware version of the wired communication module and the wireless communication module. In a mapping group, the firmware version of the wired communication module and the firmware version of the wireless communication module can be found according to the current version of the Loader. The disclosure does not limit the specific form of the mapping relationship table. Based on the mapping relationship table, the firmware version mapped to the current Loader version of the module to be upgraded can be found and used as the target version of the firmware upgrade.

In the mapping relationship table, the mapping relationship between the Loader version and the firmware version may be "one-to-one", "one-to-many", or "many-to-one" mapping. Among them, "one-to-many" refers to a Loader version mapped to multiple firmware versions of a module; usually the update cycle of the Loader is longer, a version of the Loader can continue to be used for a longer period of time, relative to the case of frequent firmware upgrades, Loader The number of versions is less than the number of firmware versions, so there are many cases of "one-to-many".

Based on this, in an exemplary embodiment, if it is found in the mapping relationship table that the current Loader version of the module to be upgraded maps multiple firmware versions, the latest firmware version among the multiple firmware versions is determined as the target version. In other words, among the firmware that the current Loader can adapt, select the latest version of the firmware to upgrade. Among them, the latest firmware version can be the latest firmware version released by the firmware manufacturer, or the firmware version with the largest version number, usually with the most comprehensive functions, supporting the latest operating system, the fewest errors, the most optimized code, etc. As the target version, the firmware version is the best choice within the scope of Loader adaptation.

In an exemplary embodiment, referring to FIG. 3, a mapping table may be constructed through the following steps:

Step S302, acquiring multiple versions of Loader and multiple versions of firmware;

Step S304: extract the loader program list in each version of Loader and the startup program list in each version of firmware, and match the loader program list of each version of Loader with the startup program list of each version of firmware;

In step S306, a mapping relationship is established between the Loader version corresponding to the successfully matched loading program list and the firmware version corresponding to the starting program list, so as to construct a mapping relationship table.

Among them, the loader program list in the Loader refers to which programs are loaded by each version of the Loader; the startup program list in the firmware refers to which programs need to be initialized and started by each version of the firmware. The loader program list and boot program list can be obtained from the relevant information provided by the manufacturer, or can be extracted from the code instructions of the loader or firmware. The startup program list in the firmware usually contains the driver and necessary applications. If these programs are not all part of the Loader loader, the Loader will not load all the startup programs in the firmware, which will cause the firmware to fail to initialize, that is, the Loader and the firmware will not The situation of adaptation.

Based on this, in this exemplary embodiment, it can be determined whether the two are suitable according to the loader program list in the Loader and the startup program list in the firmware. Specifically, the programs in the loader program list need to include the programs in the startup program list That is, the startup program list is a subset of the loader program list, and the match in step S304 refers to this case, so that the Loader can ensure that the firmware startup programs are all loaded, and the mapping relationship can be determined between the versions of the two. By detecting the matching of a large number of versions of Loader's loader program list and a large number of firmware's startup program lists, the matching Loader version-firmware version combination can be screened out to establish a mapping relationship, thereby obtaining a mapping relationship table.

FIG. 4 shows a flow of another method of firmware upgrade in this exemplary embodiment. Referring to FIG. 4, an upgrade process can be started on the UAV or its connected external electronic device or remote server, and the upgrade process performs the following steps:

Step S401: Obtain a mapping relationship table. Among them, the upgrade process can be downloaded on the firmware manufacturer's website to obtain the mapping relationship table, or it can match the mapping relationship based on the multi-version Loader and the firmware, and construct the mapping relationship table.

Step S402, the upgrade process may establish data interaction with the module to be upgraded, and query the current Loader version of the module to be upgraded.

Step S403: Receive the current Loader version it returns from the module to be upgraded.

Step S404: Determine the target version of the firmware required by the module to be upgraded according to the mapping relationship table.

Step S405: Run an upgrade program to upgrade the firmware of the module to be upgraded to the target version.

It can be seen that the present exemplary embodiment completes the entire firmware upgrade process through the upgrade process, implements a fully automated upgrade, and further improves the safety and convenience of firmware upgrade.

Exemplary embodiments of the present disclosure also provide a firmware upgrade device for an unmanned aerial vehicle, which can be applied to an unmanned aerial vehicle, an electronic device connected to the unmanned aerial vehicle, or a remotely connected to an unmanned aerial vehicle On the server, to control the UAV to upgrade the firmware. Referring to FIG. 5, the device 500 may include: a Loader version acquiring unit 510 for acquiring the current Loader version of the module to be upgraded; a firmware version determining unit 520 for determining the location of the module to be upgraded according to the current Loader version of the module to be upgraded The target version of the firmware is required; the target version upgrade unit 530 is used to upgrade the firmware of the module to be upgraded to the target version.

In an exemplary embodiment, the module to be upgraded includes a multi-level Loader; the firmware version determination unit 520 may be used to determine the target version of the firmware required by the module to be upgraded according to the current first-level Loader version of the module to be upgraded.

In an exemplary embodiment, the firmware version determination unit 520 may be used to obtain a mapping relationship table, which includes the mapping relationship between the Loader version and the firmware version, and find the current Loader version of the module to be upgraded in the mapping relationship table The mapped firmware version uses the found firmware version as the target version.

In an exemplary embodiment, the firmware version determination unit 520 may also be used to determine the latest firmware version among the multiple firmware versions if the current Loader version of the module to be upgraded is found in the mapping relationship table to map multiple firmware versions Is the target version.

In an exemplary embodiment, the firmware upgrading apparatus may further include: a mapping table construction unit 540 for extracting the loader list in multiple versions of Loader and the startup program list in multiple versions of firmware, respectively, and separately The loader list of each version of the Loader matches the startup program list of each version of the firmware, and a mapping relationship is established between the Loader version corresponding to the successfully matched loader list and the firmware version corresponding to the startup program list to construct a mapping relationship table .

In an exemplary embodiment, the Loader version obtaining unit 510 may be used to obtain the current hardware identifier of the module to be upgraded, and determine the current Loader version of the module to be upgraded through the current hardware identifier.

In an exemplary embodiment, the module to be upgraded may be an embedded module.

The specific details of each unit in the above device have been described in detail in the corresponding method embodiment, and therefore will not be repeated.

Exemplary embodiments of the present disclosure also provide an unmanned aerial vehicle capable of implementing the above method. Those skilled in the art can understand that various aspects of the present disclosure can be implemented as a system, method, or program product. Therefore, various aspects of the present disclosure may be specifically implemented in the form of: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "Circuit", "Module" or "System".

The control device of the unmanned aerial vehicle according to this exemplary embodiment of the present disclosure will be described below with reference to FIG. 6. The control device 600 shown in FIG. 6 is just an example, and should not bring any limitation to the functions and use scope of the embodiments of the present disclosure.

As shown in FIG. 6, the unmanned aerial vehicle control device 600 may include a processor 610 and a memory 620, where the memory 620 is used to store executable instructions of the processor 610, and the processor 610 is configured to execute the present disclosure by executing the executable instructions Methods of various exemplary embodiments. Executable instructions are usually program code, and the program code can be executed by the processor 610. For example, the processor 610 executes the program code to execute the method steps shown in FIG. 1:

Step S110: Obtain the current Loader version of the module to be upgraded in the UAV;

Step S120: Determine the target version of the firmware required by the module to be upgraded according to the current Loader version;

Step S130: Upgrade the firmware of the module to be upgraded to the target version.

In an exemplary embodiment, the module to be upgraded includes a multi-level Loader; the processor 610 may also perform the following method steps:

The target version of the firmware required by the module to be upgraded is determined according to the current first-level Loader version of the module to be upgraded.

In an exemplary embodiment, the processor 610 may also perform the following method steps:

Obtain the mapping relationship table, which includes the mapping relationship between the Loader version and the firmware version;

Find the firmware version mapped to the current Loader version of the module to be upgraded in the mapping relationship table, and use the found firmware version as the target version.

In an exemplary embodiment, the processor 610 may also perform the following method steps:

If it is found in the mapping relationship table that the current Loader version of the module to be upgraded maps multiple firmware versions, the latest firmware version among the multiple firmware versions is determined as the target version.

In an exemplary embodiment, the processor 610 may also perform the following method steps:

Obtain multiple versions of Loader and multiple versions of firmware;

Extract the loader list in each version of Loader and the startup program list in each version of firmware, and match the loader list of each version of Loader with the startup program list of each version of firmware;

A mapping relationship is established between the Loader version corresponding to the successfully matched loader list and the firmware version corresponding to the startup program list, so as to construct a mapping relationship table.

In an exemplary embodiment, the processor 610 may also perform the following method steps:

Obtain the current hardware identifier of the module to be upgraded, and determine the current Loader version of the module to be upgraded through the current hardware identifier.

In an exemplary embodiment, the module to be upgraded may be an embedded module.

In an exemplary embodiment, as shown in FIG. 7, the control device 700 of the UAV may also be represented in the form of a general-purpose computing device. The processor is represented by at least one processing unit 710, and the memory is represented by at least one storage unit 720. In addition, the components of the control device 700 may also include, but are not limited to: components connected to different system components (including the storage unit 720 and the processing unit 710) Bus 730, I/O (input/output) interface 740, network adapter 750, etc.

The storage unit 720 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 721 and/or a cache storage unit 722, and may further include a read-only storage unit (ROM) 723.

The storage unit 720 may further include a program/utility tool 724 having a set of (at least one) program modules 725. Such program modules 725 include but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each of these examples or some combination may include an implementation of the network environment.

The bus 730 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.

The control device 700 may also communicate with one or more external devices 760 (eg, computers, tablets, pointing devices, etc.), and may also communicate with one or more devices that enable users to interact with the control device 700, and/or This allows the control device 700 to communicate with any device (such as a router, modem, etc.) that communicates with one or more other computing devices. This communication can be performed through the I/O interface 740. Furthermore, the control device 700 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and/or a public network, such as the Internet) through a network adapter 750. As shown in the figure, the network adapter 750 communicates with other modules of the control device 700 through the bus 730. It should be understood that although not shown in the figure, other hardware and/or software modules may be used in conjunction with the control device 700, including but not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive And data backup storage system.

Exemplary embodiments of the present disclosure also provide an unmanned aerial vehicle. Referring to FIG. 8, the unmanned aerial vehicle 800 may include a fuselage 810 and a control device 820, wherein the control device 820 is provided in the fuselage 810, and The control device 820 may be the control device in any of the above embodiments, for example, may be the control device 600 in FIG. 6 or the control device 700 in FIG. 7. The control device 820 may be used to execute the firmware upgrade method of the UAV in any of the foregoing embodiments. For example, the control device 820 may execute the method steps shown in FIG. 1, FIG. 3, or FIG.

Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described here can be implemented by software, or can be implemented by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, U disk, mobile hard disk, etc.) or on a network , Including several instructions to cause a computing device (which may be a personal computer, server, terminal device, or network device, etc.) to perform the method according to an exemplary embodiment of the present disclosure.

Exemplary embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon a program product capable of implementing the above method of this specification. In some possible implementation manners, various aspects of the present disclosure may also be implemented in the form of a program product, which includes program code, and when the program product runs on the terminal device, the program code is used to cause the terminal device to execute the The steps according to various exemplary embodiments of the present disclosure described in the "Exemplary Method" section.

Referring to FIG. 9, a program product 900 for implementing the above method according to an exemplary embodiment of the present disclosure is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include a program code, and can be used in a terminal Devices, such as personal computers. However, the program product of the present disclosure is not limited thereto, and in this document, the readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.

The computer-readable signal medium may include a data signal that is transmitted in baseband or as part of a carrier wave, in which readable program code is carried. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The readable signal medium may also be any readable medium other than a readable storage medium, and the readable medium may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for performing the operations of the present disclosure can be written in any combination of one or more programming languages. The programming language includes object-oriented programming languages such as Java, C++, etc., as well as conventional procedural programming Language-such as "C" language or similar programming language. The program code may be executed entirely on the user's computing device, partly on the user's device, as an independent software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server On the implementation. In situations involving remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using Internet service provision Business to connect via the Internet).

In addition, the above-mentioned drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present disclosure, and are not intended to limit the purpose. It is easy to understand that the processes shown in the above drawings do not indicate or limit the chronological order of these processes. In addition, it is also easy to understand that these processes may be performed synchronously or asynchronously in multiple modules, for example.

It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to exemplary embodiments of the present disclosure, the features and functions of the two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of a module or unit described above can be further divided into multiple modules or units to be embodied.

After considering the description and practicing the invention disclosed herein, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any variations, uses, or adaptive changes of the present disclosure that follow the general principles of the present disclosure and include common general knowledge or customary technical means in the technical field not disclosed in the present disclosure . The description and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are pointed out by the claims.

It should be understood that the present disclosure is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (17)

An unmanned aerial vehicle firmware upgrade method is characterized by including: Obtain the current Loader version of the module to be upgraded in the UAV; Determine the target version of the firmware required by the module to be upgraded according to the current Loader version; Upgrade the firmware of the module to be upgraded to the target version. The method according to claim 1, wherein the module to be upgraded comprises a multi-level loader; The determining the target version of the firmware required by the module to be upgraded according to the current Loader version includes: The target version of the firmware required by the module to be upgraded is determined according to the current version of the first-level Loader of the module to be upgraded. The method according to claim 1, wherein the determining the target version of the firmware required by the module to be upgraded according to the current Loader version includes: Obtain a mapping relationship table, where the mapping relationship table includes the mapping relationship between the Loader version and the firmware version; Find the firmware version mapped to the current Loader version of the module to be upgraded in the mapping relationship table, and use the found firmware version as the target version. The method according to claim 3, wherein the method further comprises: If it is found in the mapping relationship table that the current Loader version of the module to be upgraded maps multiple firmware versions, the latest firmware version among the multiple firmware versions is determined as the target version. The method according to claim 3, wherein the acquiring the mapping relationship table comprises: Obtain multiple versions of Loader and multiple versions of firmware; Extracting the loader program list in each version of Loader and the startup program list in each version of firmware, and respectively matching the loader program list of each version of Loader with the startup program list of each version of firmware; A mapping relationship is established between the Loader version corresponding to the successfully matched loading program list and the firmware version corresponding to the starting program list, so as to construct the mapping relationship table. The method according to claim 1, wherein the acquiring the current Loader version of the module to be upgraded comprises: Obtain the current hardware identifier of the module to be upgraded, and determine the current Loader version of the module to be upgraded by using the current hardware identifier. The method according to claim 1, wherein the module to be upgraded is an embedded module. A firmware upgrade device for an unmanned aerial vehicle is characterized by comprising: Loader version obtaining unit, used to obtain the current Loader version of the module to be upgraded; A firmware version determining unit, configured to determine the target version of the firmware required by the module to be upgraded according to the current Loader version of the module to be upgraded; The target version upgrade unit is used to upgrade the firmware of the module to be upgraded to the target version. An unmanned aerial vehicle control device, characterized in that it includes: Processor; and A memory for storing executable instructions of the processor; Wherein, the processor is configured to execute a firmware upgrade method of the unmanned aerial vehicle by executing the executable instruction, the method includes: Obtain the current Loader version of the module to be upgraded in the UAV; Determine the target version of the firmware required by the module to be upgraded according to the current Loader version; Upgrade the firmware of the module to be upgraded to the target version. The control device according to claim 9, wherein the module to be upgraded comprises a multi-level Loader; The determining the target version of the firmware required by the module to be upgraded according to the current Loader version includes: The target version of the firmware required by the module to be upgraded is determined according to the current version of the first-level Loader of the module to be upgraded. The control device according to claim 9, wherein the determining the target version of the firmware required by the module to be upgraded according to the current Loader version includes: Obtain a mapping relationship table, where the mapping relationship table includes the mapping relationship between the Loader version and the firmware version; Find the firmware version mapped to the current Loader version of the module to be upgraded in the mapping relationship table, and use the found firmware version as the target version. The control device according to claim 11, wherein the method further comprises: If it is found in the mapping relationship table that the current Loader version of the module to be upgraded maps multiple firmware versions, the latest firmware version among the multiple firmware versions is determined as the target version. The control device according to claim 11, wherein the acquiring mapping relationship table comprises: Obtain multiple versions of Loader and multiple versions of firmware; Extracting the loader program list in each version of Loader and the startup program list in each version of firmware, and respectively matching the loader program list of each version of Loader with the startup program list of each version of firmware; A mapping relationship is established between the Loader version corresponding to the successfully matched loading program list and the firmware version corresponding to the starting program list, so as to construct the mapping relationship table. The control device according to claim 9, wherein the acquiring the current Loader version of the module to be upgraded comprises: Obtain the current hardware identifier of the module to be upgraded, and determine the current Loader version of the module to be upgraded by using the current hardware identifier. The control device according to claim 9, wherein the module to be upgraded is an embedded module. An unmanned aerial vehicle is characterized by comprising: body; The control device according to any one of claims 9 to 15, wherein the control device is provided in the body. A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1-7 is implemented.

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