T/SZUAVIA 003-2023

Scope: This document provides a method for semi-physical simulation testing of the flight control system of multi-rotor drones. This document is applicable to semi-physical simulation testing of multi-rotor flight control systems; Main technical content: The "Semi-Physical Simulation Test Method for Multi-Rotor Drone Flight Control Systems" provides a method for conducting semi-physical simulation testing of the functional performance and safety of flight control samples. Functional performance semi-physical simulation testing includes: hardware-in-the-loop takeoff and landing, hardware-in-the-loop control mode switching, hardware-in-the-loop flight control testing, one-key return and autonomous landing; Safety semi-physical simulation testing includes: gyroscope fault injection, accelerometer fault injection, magnetometer fault injection, motor fault injection, sensor communication interruption, motor communication interruption, and remote controller communication interruption faults