{"id":11203,"date":"2026-04-09T22:36:38","date_gmt":"2026-04-09T14:36:38","guid":{"rendered":"https:\/\/www.archimetric.com\/vn\/state-machine-diagram-drone-control-logic-case-study\/"},"modified":"2026-04-09T22:36:38","modified_gmt":"2026-04-09T14:36:38","slug":"state-machine-diagram-drone-control-logic-case-study","status":"publish","type":"post","link":"https:\/\/www.archimetric.com\/vn\/state-machine-diagram-drone-control-logic-case-study\/","title":{"rendered":"Nghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p s\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i: V\u00ed d\u1ee5 th\u1ef1c t\u1ebf v\u1ec1 thi\u1ebft k\u1ebf logic \u0111i\u1ec1u khi\u1ec3n drone"},"content":{"rendered":"

Trong l\u0129nh v\u1ef1c h\u1ec7 th\u1ed1ng nh\u00fang v\u00e0 robot t\u1ef1 h\u00e0nh, qu\u1ea3n l\u00fd h\u00e0nh vi ph\u1ee9c t\u1ea1p \u0111\u00f2i h\u1ecfi h\u01a1n l\u00e0 c\u00e1c c\u00e2u l\u1ec7nh \u0111i\u1ec1u ki\u1ec7n \u0111\u01a1n gi\u1ea3n. M\u1ed9t s\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i \u0111\u01b0\u1ee3c \u0111\u1ecbnh ngh\u0129a r\u00f5 r\u00e0ng cung c\u1ea5p c\u00e1ch ti\u1ebfp c\u1eadn c\u00f3 c\u1ea5u tr\u00fac \u0111\u1ec3 m\u00f4 h\u00ecnh h\u00f3a h\u00e0nh vi \u0111\u1ed9ng c\u1ee7a m\u1ed9t h\u1ec7 th\u1ed1ng. H\u01b0\u1edbng d\u1eabn n\u00e0y tr\u00ecnh b\u00e0y m\u1ed9t nghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p to\u00e0n di\u1ec7n t\u1eadp trung v\u00e0o vi\u1ec7c thi\u1ebft k\u1ebf logic \u0111i\u1ec1u khi\u1ec3n cho m\u1ed9t drone t\u1ef1 h\u00e0nh b\u1eb1ng c\u00e1c nguy\u00ean t\u1eafc s\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i UML. Ch\u00fang ta s\u1ebd kh\u00e1m ph\u00e1 c\u00e1ch x\u00e1c \u0111\u1ecbnh c\u00e1c tr\u1ea1ng th\u00e1i, qu\u1ea3n l\u00fd c\u00e1c chuy\u1ec3n ti\u1ebfp, x\u1eed l\u00fd c\u00e1c s\u1ef1 ki\u1ec7n v\u00e0 \u0111\u1ea3m b\u1ea3o ho\u1ea1t \u0111\u1ed9ng \u1ed5n \u0111\u1ecbnh d\u01b0\u1edbi c\u00e1c \u0111i\u1ec1u ki\u1ec7n th\u1ef1c t\u1ebf.<\/p>\n

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\"Child's<\/figure>\n<\/div>\n

Hi\u1ec3u v\u1ec1 s\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i trong UML \ud83d\udcd0<\/h2>\n

S\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i, th\u01b0\u1eddng \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 S\u01a1 \u0111\u1ed3 bi\u1ec3u \u0111\u1ed3 tr\u1ea1ng th\u00e1i trong UML 2.0, bi\u1ec3u di\u1ec5n c\u00e1c tr\u1ea1ng th\u00e1i r\u1eddi r\u1ea1c c\u1ee7a m\u1ed9t \u0111\u1ed1i t\u01b0\u1ee3ng ho\u1eb7c h\u1ec7 th\u1ed1ng v\u00e0 c\u00e1c chuy\u1ec3n ti\u1ebfp gi\u1eefa c\u00e1c tr\u1ea1ng th\u00e1i \u0111\u00f3. Kh\u00e1c v\u1edbi s\u01a1 \u0111\u1ed3 l\u1edbp t\u0129nh, m\u00f4 h\u00ecnh n\u00e0y ghi l\u1ea1i h\u00e0nh vi theo th\u1eddi gian c\u1ee7a h\u1ec7 th\u1ed1ng. N\u00f3 \u0111\u1eb7c bi\u1ec7t h\u1eefu \u00edch cho c\u00e1c h\u1ec7 th\u1ed1ng ph\u1ea3n \u1ee9ng, n\u01a1i \u0111\u1ea7u ra ph\u1ee5 thu\u1ed9c v\u00e0o tr\u1ea1ng th\u00e1i hi\u1ec7n t\u1ea1i v\u00e0 c\u00e1c s\u1ef1 ki\u1ec7n \u0111\u1ea7u v\u00e0o.<\/p>\n

C\u00e1c th\u00e0nh ph\u1ea7n ch\u00ednh bao g\u1ed3m:<\/p>\n

    \n
  • Tr\u1ea1ng th\u00e1i:<\/strong> M\u1ed9t \u0111i\u1ec1u ki\u1ec7n ho\u1eb7c t\u00ecnh hu\u1ed1ng trong qu\u00e1 tr\u00ecnh s\u1ed1ng c\u1ee7a m\u1ed9t \u0111\u1ed1i t\u01b0\u1ee3ng, trong \u0111\u00f3 n\u00f3 th\u1ecfa m\u00e3n m\u1ed9t \u0111i\u1ec1u ki\u1ec7n nh\u1ea5t \u0111\u1ecbnh, th\u1ef1c hi\u1ec7n m\u1ed9t ho\u1ea1t \u0111\u1ed9ng n\u00e0o \u0111\u00f3 ho\u1eb7c ch\u1edd \u0111\u1ee3i m\u1ed9t s\u1ef1 ki\u1ec7n n\u00e0o \u0111\u00f3.<\/li>\n
  • Chuy\u1ec3n ti\u1ebfp:<\/strong> M\u1ed9t m\u1ed1i quan h\u1ec7 gi\u1eefa hai tr\u1ea1ng th\u00e1i cho th\u1ea5y c\u00e1c \u0111\u1ed1i t\u01b0\u1ee3ng \u1edf tr\u1ea1ng th\u00e1i \u0111\u1ea7u ti\u00ean s\u1ebd chuy\u1ec3n sang tr\u1ea1ng th\u00e1i th\u1ee9 hai khi m\u1ed9t s\u1ef1 ki\u1ec7n c\u1ee5 th\u1ec3 x\u1ea3y ra v\u00e0 c\u00e1c \u0111i\u1ec1u ki\u1ec7n nh\u1ea5t \u0111\u1ecbnh \u0111\u01b0\u1ee3c th\u1ecfa m\u00e3n.<\/li>\n
  • S\u1ef1 ki\u1ec7n:<\/strong> M\u1ed9t s\u1ef1 ki\u1ec7n quan tr\u1ecdng, ch\u1eb3ng h\u1ea1n nh\u01b0 vi\u1ec7c nh\u1eadn t\u00edn hi\u1ec7u, th\u1eddi gian tr\u00f4i qua ho\u1eb7c m\u1ed9t ngo\u1ea1i l\u1ec7, l\u00e0m k\u00edch ho\u1ea1t m\u1ed9t chuy\u1ec3n ti\u1ebfp.<\/li>\n
  • \u0110i\u1ec1u ki\u1ec7n b\u1ea3o v\u1ec7:<\/strong> M\u1ed9t bi\u1ec3u th\u1ee9c logic ph\u1ea3i \u0111\u00fang \u0111\u1ec3 chuy\u1ec3n ti\u1ebfp x\u1ea3y ra.<\/li>\n
  • H\u00e0nh \u0111\u1ed9ng:<\/strong> M\u1ed9t ph\u00e9p t\u00ednh ho\u1eb7c ho\u1ea1t \u0111\u1ed9ng \u0111\u01b0\u1ee3c th\u1ef1c hi\u1ec7n khi nh\u1eadp v\u00e0o, r\u1eddi kh\u1ecfi ho\u1eb7c trong qu\u00e1 tr\u00ecnh chuy\u1ec3n ti\u1ebfp.<\/li>\n<\/ul>\n

    S\u1eed d\u1ee5ng k\u00fd hi\u1ec7u n\u00e0y gi\u00fap c\u00e1c k\u1ef9 s\u01b0 h\u00ecnh dung lu\u1ed3ng \u0111i\u1ec1u khi\u1ec3n m\u00e0 kh\u00f4ng b\u1ecb l\u1ea1c trong c\u00fa ph\u00e1p m\u00e3 ngu\u1ed3n. N\u00f3 \u0111\u00f3ng vai tr\u00f2 nh\u01b0 b\u1ea3n v\u1ebd thi\u1ebft k\u1ebf cho vi\u1ec7c tri\u1ec3n khai, \u0111\u1ea3m b\u1ea3o r\u1eb1ng m\u1ecdi h\u00e0nh vi h\u1ec7 th\u1ed1ng kh\u1ea3 d\u0129 \u0111\u1ec1u \u0111\u01b0\u1ee3c t\u00ednh \u0111\u1ebfn tr\u01b0\u1edbc khi vi\u1ebft b\u1ea5t k\u1ef3 d\u00f2ng m\u00e3 th\u1ef1c thi n\u00e0o.<\/p>\n

    Nghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p: Drone giao h\u00e0ng t\u1ef1 h\u00e0nh \ud83d\ude81<\/h2>\n

    X\u00e9t m\u1ed9t drone quadcopter \u0111\u01b0\u1ee3c thi\u1ebft k\u1ebf cho vi\u1ec7c giao h\u00e0ng cu\u1ed1i c\u00f9ng trong m\u00f4i tr\u01b0\u1eddng \u0111\u00f4 th\u1ecb. H\u1ec7 th\u1ed1ng n\u00e0y ph\u1ea3i ho\u1ea1t \u0111\u1ed9ng t\u1ef1 \u0111\u1ed9ng nh\u01b0ng c\u1ea7n s\u1ef1 gi\u00e1m s\u00e1t c\u1ee7a con ng\u01b0\u1eddi \u0111\u1ed1i v\u1edbi c\u00e1c s\u1ef1 ki\u1ec7n quan tr\u1ecdng c\u1ee5 th\u1ec3. Drone \u0111\u01b0\u1ee3c trang b\u1ecb GPS, h\u1ec7 th\u1ed1ng qu\u1ea3n l\u00fd pin, c\u1ea3m bi\u1ebfn tr\u00e1nh v\u1eadt c\u1ea3n v\u00e0 m\u1ed9t module truy\u1ec1n th\u00f4ng. Logic \u0111i\u1ec1u khi\u1ec3n ph\u1ea3i x\u1eed l\u00fd c\u00e1c thao t\u00e1c b\u00ecnh th\u01b0\u1eddng, \u0111\u1ecbnh v\u1ecb, v\u00e0 nhi\u1ec1u ch\u1ebf \u0111\u1ed9 l\u1ed7i kh\u00e1c nhau.<\/p>\n

    Th\u00e1ch th\u1ee9c thi\u1ebft k\u1ebf bao g\u1ed3m \u0111\u1ea3m b\u1ea3o drone kh\u00f4ng c\u1ed1 g\u1eafng c\u1ea5t c\u00e1nh khi pin y\u1ebfu, kh\u00f4ng m\u1ea5t k\u1ebft n\u1ed1i m\u00e0 kh\u00f4ng quay v\u1ec1 nh\u00e0, v\u00e0 h\u1ea1 c\u00e1nh an to\u00e0n trong t\u00ecnh hu\u1ed1ng kh\u1ea9n c\u1ea5p. M\u1ed9t \u0111o\u1ea1n m\u00e3 tuy\u1ebfn t\u00ednh s\u1ebd kh\u00f3 b\u1ea3o tr\u00ec v\u00e0 d\u1ec5 x\u1ea3y ra c\u00e1c \u0111i\u1ec1u ki\u1ec7n \u0111ua. M\u1ed9t M\u00e1y tr\u1ea1ng th\u00e1i cung c\u1ea5p m\u1ed9t c\u1ea5u tr\u00fac r\u00f5 r\u00e0ng cho c\u00e1c thao t\u00e1c.<\/p>\n

    X\u00e1c \u0111\u1ecbnh c\u00e1c tr\u1ea1ng th\u00e1i c\u1ed1t l\u00f5i \u2699\ufe0f<\/h2>\n

    B\u01b0\u1edbc \u0111\u1ea7u ti\u00ean trong qu\u00e1 tr\u00ecnh thi\u1ebft k\u1ebf l\u00e0 x\u00e1c \u0111\u1ecbnh c\u00e1c ch\u1ebf \u0111\u1ed9 ho\u1ea1t \u0111\u1ed9ng ri\u00eang bi\u1ec7t. \u0110\u1ed1i v\u1edbi drone n\u00e0y, ch\u00fang ta x\u00e1c \u0111\u1ecbnh c\u00e1c tr\u1ea1ng th\u00e1i ch\u00ednh sau \u0111\u00e2y. M\u1ed7i tr\u1ea1ng th\u00e1i \u0111\u1ea1i di\u1ec7n cho m\u1ed9t giai \u0111o\u1ea1n c\u1ee5 th\u1ec3 trong s\u1ee9 m\u1ec7nh.<\/p>\n

      \n
    • D\u1eeaNG CH\u1ea0M:<\/strong> Drone \u0111\u01b0\u1ee3c b\u1eadt ngu\u1ed3n nh\u01b0ng ch\u01b0a \u0111\u01b0\u1ee3c k\u00edch ho\u1ea1t. N\u00f3 ch\u1edd l\u1ec7nh \u0111\u1ec3 b\u1eaft \u0111\u1ea7u s\u1ee9 m\u1ec7nh.<\/li>\n
    • K\u00cdCH HO\u1ea0T:<\/strong> C\u00e1c \u0111\u1ed9ng c\u01a1 \u0111ang quay, drone \u0111\u00e3 s\u1eb5n s\u00e0ng c\u1ea5t c\u00e1nh. N\u00f3 ch\u01b0a bay l\u00ean kh\u00f4ng trung.<\/li>\n
    • C\u1ea4T C\u00c1NH:<\/strong> Drone \u0111ang leo l\u00ean t\u1eeb m\u1eb7t \u0111\u1ea5t \u0111\u1ebfn \u0111\u1ed9 cao \u1ed5n \u0111\u1ecbnh khi l\u01a1 l\u1eedng.<\/li>\n
    • L\u01a0 L\u1eecNG:<\/strong> Drone \u0111\u1ee9ng y\u00ean tr\u00ean kh\u00f4ng, duy tr\u00ec v\u1ecb tr\u00ed.<\/li>\n
    • \u0110I\u1ec0U H\u01af\u1edaNG:<\/strong> M\u00e1y bay kh\u00f4ng ng\u01b0\u1eddi l\u00e1i \u0111ang di chuy\u1ec3n ch\u1ee7 \u0111\u1ed9ng gi\u1eefa c\u00e1c \u0111i\u1ec3m \u0111\u1ecbnh v\u1ecb \u0111\u1ec3 giao h\u00e0ng.<\/li>\n
    • \u0110ANG TR\u1ede V\u1ec0 NHAU:<\/strong> M\u00e1y bay kh\u00f4ng ng\u01b0\u1eddi l\u00e1i \u0111ang bay tr\u1edf l\u1ea1i v\u1ecb tr\u00ed ph\u00f3ng do pin y\u1ebfu ho\u1eb7c m\u1ea5t t\u00edn hi\u1ec7u.<\/li>\n
    • \u0110ANG H\u1ea0 C\u00c1NH:<\/strong> M\u00e1y bay kh\u00f4ng ng\u01b0\u1eddi l\u00e1i \u0111ang h\u1ea1 c\u00e1nh t\u1eeb tr\u00ean kh\u00f4ng xu\u1ed1ng m\u1eb7t \u0111\u1ea5t.<\/li>\n
    • H\u1ea0 C\u00c1NH KH\u1ea8N C\u1ea4P:<\/strong> Vi\u1ec7c h\u1ea1 c\u00e1nh ngay l\u1eadp t\u1ee9c v\u00e0 b\u1eaft bu\u1ed9c do s\u1ef1 c\u1ed1 nghi\u00eam tr\u1ecdng (v\u00ed d\u1ee5: h\u1ecfng \u0111\u1ed9ng c\u01a1).<\/li>\n
    • L\u1ed6I:<\/strong> Tr\u1ea1ng th\u00e1i t\u1ed5ng qu\u00e1t cho c\u00e1c l\u1ed7i kh\u00f4ng \u0111\u01b0\u1ee3c x\u1eed l\u00fd ho\u1eb7c kh\u1edfi \u0111\u1ed9ng l\u1ea1i h\u1ec7 th\u1ed1ng.<\/li>\n<\/ul>\n

      L\u01b0u \u00fd r\u1eb1ng c\u00e1c tr\u1ea1ng th\u00e1i nh\u01b0 D\u1eeaNG CH\u1ea0M<\/em> v\u00e0 L\u1ed6I<\/em> l\u00e0 tr\u1ea1ng th\u00e1i k\u1ebft th\u00fac ho\u1eb7c g\u1ea7n k\u1ebft th\u00fac. M\u1ed9t khi h\u1ec7 th\u1ed1ng b\u01b0\u1edbc v\u00e0o L\u1ed6I<\/em>, n\u00f3 kh\u00f4ng th\u1ec3 ti\u1ebfp t\u1ee5c \u0111\u1ebfn \u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec0U H\u01af\u1edaNG<\/em> m\u00e0 kh\u00f4ng c\u00f3 thao t\u00e1c reset th\u1ee7 c\u00f4ng. \u0110i\u1ec1u n\u00e0y ng\u0103n m\u00e1y bay kh\u00f4ng ng\u01b0\u1eddi l\u00e1i c\u1ed1 g\u1eafng bay khi \u0111ang \u1edf tr\u1ea1ng th\u00e1i l\u1ed7i.<\/p>\n

      Logic chuy\u1ec3n tr\u1ea1ng th\u00e1i v\u00e0 b\u1ed9 k\u00edch ho\u1ea1t s\u1ef1 ki\u1ec7n \ud83d\udce1<\/h2>\n

      C\u00e1c chuy\u1ec3n tr\u1ea1ng th\u00e1i x\u00e1c \u0111\u1ecbnh c\u00e1ch h\u1ec7 th\u1ed1ng di chuy\u1ec3n gi\u1eefa c\u00e1c tr\u1ea1ng th\u00e1i \u0111\u01b0\u1ee3c li\u1ec7t k\u00ea \u1edf tr\u00ean. Nh\u1eefng chuy\u1ec3n \u0111\u1ed9ng n\u00e0y \u0111\u01b0\u1ee3c k\u00edch ho\u1ea1t b\u1edfi c\u00e1c s\u1ef1 ki\u1ec7n nh\u01b0 \u0111\u1ea7u v\u00e0o ng\u01b0\u1eddi d\u00f9ng, d\u1eef li\u1ec7u c\u1ea3m bi\u1ebfn ho\u1eb7c b\u1ed9 \u0111\u1ebfm th\u1eddi gian n\u1ed9i b\u1ed9. B\u1ea3ng d\u01b0\u1edbi \u0111\u00e2y n\u00eau r\u00f5 c\u00e1c chuy\u1ec3n tr\u1ea1ng th\u00e1i quan tr\u1ecdng c\u1ea7n thi\u1ebft cho logic \u0111i\u1ec1u khi\u1ec3n.<\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n
      S\u1ef1 ki\u1ec7n<\/th>\nTr\u1ea1ng th\u00e1i ngu\u1ed3n<\/th>\nTr\u1ea1ng th\u00e1i \u0111\u00edch<\/th>\n\u0110i\u1ec1u ki\u1ec7n b\u1ea3o v\u1ec7<\/th>\n<\/tr>\n<\/thead>\n
      L\u1ec6NH K\u00cdNH CH\u1ee6<\/td>\nD\u1eeaNG CH\u1ea0M<\/td>\nCHU\u1ea8N B\u1eca<\/td>\nPin > 20%<\/td>\n<\/tr>\n
      HO\u00c0N T\u1ea4T C\u1ea4T C\u00c1NH<\/td>\nCHU\u1ea8N B\u1eca<\/td>\nC\u1ea4T C\u00c1NH<\/td>\nC\u1ea3m bi\u1ebfn \u0111\u1ed9 cao \u0111ang ho\u1ea1t \u0111\u1ed9ng<\/td>\n<\/tr>\n
      \u0110\u1ea0T V\u1eca TR\u00cd L\u01afNG L\u00d9NG<\/td>\nC\u1ea4T C\u00c1NH<\/td>\nL\u01afNG L\u00d9NG<\/td>\n\u0110\u1ed9 cao = 1,5m<\/td>\n<\/tr>\n
      B\u1eaeT \u0110\u1ea6U NHI\u1ec6M V\u1ee4<\/td>\nL\u01afNG L\u00d9NG<\/td>\n\u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec0U H\u01af\u1edaNG<\/td>\nGPS \u0111\u00e3 kh\u00f3a = \u0110\u00fang<\/td>\n<\/tr>\n
      PIN Y\u1ebeU<\/td>\n\u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec0U H\u01af\u1edaNG<\/td>\nTR\u1ede V\u1ec0 NH\u00c0<\/td>\nPin < 30%<\/td>\n<\/tr>\n
      M\u1ea4T T\u00cdN HI\u1ec6U<\/td>\n\u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec0U H\u01af\u1edaNG<\/td>\nTR\u1ede V\u1ec0 NH\u00c0<\/td>\nTh\u1eddi gian > 5s m\u00e0 kh\u00f4ng c\u00f3 t\u00edn hi\u1ec7u<\/td>\n<\/tr>\n
      \u0110\u1ebeN NH\u00c0<\/td>\nTR\u1ede V\u1ec0 NH\u00c0<\/td>\nH\u1ea0 C\u00c1NH<\/td>\nKho\u1ea3ng c\u00e1ch = 0m<\/td>\n<\/tr>\n
      CH\u1ea0M \u0110\u1ea4T<\/td>\nH\u1ea0 C\u00c1NH<\/td>\n\u0110ANG D\u1eeaNG<\/td>\n\u0110\u1ed9 cao = 0m<\/td>\n<\/tr>\n
      L\u1ed6I \u0110\u1ed8NG C\u01a0<\/td>\nB\u1ea5t k\u1ef3<\/td>\nH\u1ea0 C\u00c1NH KH\u1ea8N C\u1ea4P<\/td>\nD\u00f2ng \u0111i\u1ec7n < 0A<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

      Quan s\u00e1t r\u1eb1ng S\u1ef0 C\u1ed0 \u0110\u1ed8NG C\u01a0<\/em> s\u1ef1 ki\u1ec7n c\u00f3 tr\u1ea1ng th\u00e1i ngu\u1ed3n l\u00e0 B\u1ea5t k\u1ef3<\/em>. \u0110\u00e2y \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 chuy\u1ec3n ti\u1ebfp vu\u00f4ng g\u00f3c ho\u1eb7c ng\u1eaft qu\u00e3ng. D\u00f9 cho m\u00e1y bay kh\u00f4ng ng\u01b0\u1eddi l\u00e1i \u0111ang \u1edf tr\u1ea1ng th\u00e1i D\u1eeaNG L\u1ea0I<\/em> hay \u0110I\u1ec0U H\u01af\u1edaNG<\/em>, m\u1ed9t s\u1ef1 c\u1ed1 \u0111\u1ed9ng c\u01a1 nghi\u00eam tr\u1ecdng bu\u1ed9c ph\u1ea3i thay \u0111\u1ed5i tr\u1ea1ng th\u00e1i ngay l\u1eadp t\u1ee9c sang H\u1ea0 C\u00c1NH KH\u1ea8N C\u1ea4P<\/em>. \u0110i\u1ec1u n\u00e0y \u0111\u1ea3m b\u1ea3o an to\u00e0n \u0111\u01b0\u1ee3c \u01b0u ti\u00ean h\u01a1n so v\u1edbi vi\u1ec7c duy tr\u00ec nhi\u1ec7m v\u1ee5.<\/p>\n

      \u0110i\u1ec1u ki\u1ec7n b\u1ea3o v\u1ec7 v\u00e0 H\u00e0nh \u0111\u1ed9ng \ud83d\uded1<\/h2>\n

      C\u00e1c chuy\u1ec3n ti\u1ebfp kh\u00f4ng ph\u1ea3i l\u00fac n\u00e0o c\u0169ng kh\u00f4ng \u0111i\u1ec1u ki\u1ec7n. C\u00e1c \u0111i\u1ec1u ki\u1ec7n b\u1ea3o v\u1ec7 ho\u1ea1t \u0111\u1ed9ng nh\u01b0 c\u00e1c ki\u1ec3m tra an to\u00e0n. V\u00ed d\u1ee5, ng\u01b0\u1eddi d\u00f9ng kh\u00f4ng th\u1ec3 kh\u1edfi \u0111\u1ed9ng chu\u1ed7i c\u1ea5t c\u00e1nh n\u1ebfu pin \u1edf m\u1ee9c th\u1ea5p nghi\u00eam tr\u1ecdng. \u0110i\u1ec1u ki\u1ec7n b\u1ea3o v\u1ec7 Pin > 20%<\/em> ng\u0103n c\u1ea3n chuy\u1ec3n ti\u1ebfp t\u1eeb D\u1eeaNG L\u1ea0I<\/em> sang CHU\u1ea8N B\u1eca<\/em>.<\/p>\n

      H\u01a1n n\u1eefa, c\u00e1c chuy\u1ec3n ti\u1ebfp th\u01b0\u1eddng k\u00edch ho\u1ea1t c\u00e1c h\u00e0nh \u0111\u1ed9ng. Nh\u1eefng h\u00e0nh \u0111\u1ed9ng n\u00e0y \u0111\u01b0\u1ee3c th\u1ef1c thi khi chuy\u1ec3n ti\u1ebfp x\u1ea3y ra ho\u1eb7c trong m\u1ed9t tr\u1ea1ng th\u00e1i c\u1ee5 th\u1ec3.<\/p>\n

        \n
      • H\u00e0nh \u0111\u1ed9ng v\u00e0o tr\u1ea1ng th\u00e1i:<\/strong> M\u00e3 \u0111\u01b0\u1ee3c th\u1ef1c thi ngay l\u1eadp t\u1ee9c khi v\u00e0o m\u1ed9t tr\u1ea1ng th\u00e1i. \u0110\u1ed1i v\u1edbi tr\u1ea1ng th\u00e1i C\u1ea4T C\u00c1NH<\/em> tr\u1ea1ng th\u00e1i, m\u1ed9t h\u00e0nh \u0111\u1ed9ng v\u00e0o tr\u1ea1ng th\u00e1i c\u00f3 th\u1ec3 l\u00e0 \u0111\u1eb7t l\u1ef1c \u0111\u1ea9y \u0111\u1ed9ng c\u01a1 \u1edf m\u1ee9c 60% v\u00e0 kh\u1edfi t\u1ea1o b\u1ed9 \u0111i\u1ec1u khi\u1ec3n PID \u0111\u1ed9 cao.<\/li>\n
      • H\u00e0nh \u0111\u1ed9ng r\u1eddi tr\u1ea1ng th\u00e1i:<\/strong> M\u00e3 \u0111\u01b0\u1ee3c th\u1ef1c thi ngay l\u1eadp t\u1ee9c khi r\u1eddi kh\u1ecfi m\u1ed9t tr\u1ea1ng th\u00e1i. Khi r\u1eddi kh\u1ecfi L\u01afU L\u1ed8NG<\/em>, h\u1ec7 th\u1ed1ng c\u00f3 th\u1ec3 d\u1eebng b\u1ed9 theo d\u00f5i \u0111i\u1ec3m \u0111\u1ebfn \u0111\u1ec3 tr\u00e1nh c\u00e1c l\u1ec7nh m\u00e2u thu\u1eabn.<\/li>\n
      • Th\u1ef1c hi\u1ec7n Ho\u1ea1t \u0111\u1ed9ng:<\/strong> M\u00e3 \u0111\u01b0\u1ee3c th\u1ef1c thi li\u00ean t\u1ee5c trong khi \u1edf trong m\u1ed9t tr\u1ea1ng th\u00e1i. Trong tr\u1ea1ng th\u00e1i \u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec2M \u0110\u1ebeN<\/em> tr\u1ea1ng th\u00e1i, m\u1ed9t Th\u1ef1c hi\u1ec7n<\/em>ho\u1ea1t \u0111\u1ed9ng n\u00e0y bao g\u1ed3m vi\u1ec7c li\u00ean t\u1ee5c \u0111\u1ecdc d\u1eef li\u1ec7u GPS v\u00e0 \u0111i\u1ec1u ch\u1ec9nh t\u1ed1c \u0111\u1ed9 \u0111\u1ed9ng c\u01a1 \u0111\u1ec3 duy tr\u00ec qu\u1ef9 \u0111\u1ea1o bay.<\/li>\n<\/ul>\n

        Xem x\u00e9t tr\u1ea1ng th\u00e1i TR\u1ede V\u1ec0 NH\u00c0<\/em>tr\u1ea1ng th\u00e1i. Khi v\u00e0o tr\u1ea1ng th\u00e1i, drone ph\u1ea3i t\u00ednh to\u00e1n vect\u01a1 quay v\u1ec1 \u0111i\u1ec3m xu\u1ea5t ph\u00e1t. Khi r\u1eddi kh\u1ecfi tr\u1ea1ng th\u00e1i, n\u00f3 ph\u1ea3i x\u00f3a vect\u01a1 quay v\u1ec1. \u0110i\u1ec1u n\u00e0y \u0111\u1ea3m b\u1ea3o r\u1eb1ng n\u1ebfu drone chuy\u1ec3n l\u1ea1i sang \u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec2M \u0110\u1ebeN<\/em> (c\u00f3 th\u1ec3 do ng\u01b0\u1eddi d\u00f9ng l\u1ea5y l\u1ea1i quy\u1ec1n ki\u1ec3m so\u00e1t), logic quay v\u1ec1 s\u1ebd kh\u00f4ng can thi\u1ec7p v\u00e0o logic nhi\u1ec7m v\u1ee5.<\/p>\n

        Thi\u1ebft k\u1ebf tr\u1ea1ng th\u00e1i ph\u00e2n c\u1ea5p (Tr\u1ea1ng th\u00e1i h\u1ee3p th\u00e0nh) \ud83c\udfd7\ufe0f<\/h2>\n

        C\u00e1c m\u00e1y tr\u1ea1ng th\u00e1i ph\u1eb3ng c\u00f3 th\u1ec3 tr\u1edf n\u00ean kh\u00f3 ki\u1ec3m so\u00e1t khi \u0111\u1ed9 ph\u1ee9c t\u1ea1p t\u0103ng l\u00ean. C\u00e1c m\u00e1y tr\u1ea1ng th\u00e1i ph\u00e2n c\u1ea5p cho ph\u00e9p c\u00e1c tr\u1ea1ng th\u00e1i ch\u1ee9a c\u00e1c tr\u1ea1ng th\u00e1i con. \u0110i\u1ec1u n\u00e0y \u0111\u1eb7c bi\u1ec7t h\u1eefu \u00edch cho tr\u1ea1ng th\u00e1i \u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec2M \u0110\u1ebeN<\/em>tr\u1ea1ng th\u00e1i. \u0110i\u1ec1u h\u01b0\u1edbng kh\u00f4ng ph\u1ea3i l\u00e0 m\u1ed9t h\u00e0nh \u0111\u1ed9ng duy nh\u1ea5t; m\u00e0 l\u00e0 t\u1eadp h\u1ee3p c\u00e1c h\u00e0nh vi.<\/p>\n

        Ch\u00fang ta c\u00f3 th\u1ec3 \u0111\u1ecbnh ngh\u0129a \u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec2M \u0110\u1ebeN<\/em>l\u00e0 m\u1ed9t tr\u1ea1ng th\u00e1i h\u1ee3p th\u00e0nh v\u1edbi c\u00e1c tr\u1ea1ng th\u00e1i con n\u1ed9i b\u1ed9 sau:<\/p>\n

          \n
        • THEO D\u00d5I \u0110I\u1ec2M \u0110\u1ebeN:<\/strong>Ch\u1ebf \u0111\u1ed9 chu\u1ea9n n\u01a1i drone di chuy\u1ec3n gi\u1eefa c\u00e1c \u0111i\u1ec3m.<\/li>\n
        • TR\u00c1NH VA CH\u1ea0M:<\/strong>Tr\u1ea1ng th\u00e1i \u0111\u01b0\u1ee3c v\u00e0o khi ph\u00e1t hi\u1ec7n v\u1eadt c\u1ea3n.<\/li>\n
        • \u1ed4N \u0110\u1ecaNH:<\/strong>Tr\u1ea1ng th\u00e1i c\u1ea5p th\u1ea5p qu\u1ea3n l\u00fd c\u00e2n b\u1eb1ng \u0111\u1ed9ng c\u01a1 trong c\u00e1c c\u01a1n gi\u00f3 m\u1ea1nh.<\/li>\n<\/ul>\n

          C\u00e1c chuy\u1ec3n ti\u1ebfp gi\u1eefa c\u00e1c tr\u1ea1ng th\u00e1i con n\u00e0y x\u1ea3y ra m\u00e0 kh\u00f4ng r\u1eddi kh\u1ecfi tr\u1ea1ng th\u00e1i cha \u0110I\u1ec0U KHI\u1ec2N \u0110I\u1ec2M \u0110\u1ebeN<\/em>tr\u1ea1ng th\u00e1i. V\u00ed d\u1ee5, n\u1ebfu ph\u00e1t hi\u1ec7n v\u1eadt c\u1ea3n, h\u1ec7 th\u1ed1ng chuy\u1ec3n t\u1eeb THEO D\u00d5I \u0110I\u1ec2M \u0110\u1ebeN<\/em>sang TR\u00c1NH VA CH\u1ea0M<\/em>. Tr\u1ea1ng th\u00e1i cha v\u1eabn ho\u1ea1t \u0111\u1ed9ng, duy tr\u00ec b\u1ed1i c\u1ea3nh nhi\u1ec7m v\u1ee5 t\u1ed5ng th\u1ec3. Khi v\u1eadt c\u1ea3n \u0111\u01b0\u1ee3c lo\u1ea1i b\u1ecf, h\u1ec7 th\u1ed1ng quay l\u1ea1i THEO D\u00d5I \u0110I\u1ec2M \u0110\u1ebeN<\/em>.<\/p>\n

          C\u1ea5u tr\u00fac n\u00e0y gi\u1ea3m thi\u1ec3u s\u1ef1 tr\u00f9ng l\u1eb7p. C\u00e1c h\u00e0nh \u0111\u1ed9ng chung cho \u0111i\u1ec1u h\u01b0\u1edbng, ch\u1eb3ng h\u1ea1n nh\u01b0 c\u1eadp nh\u1eadt nh\u1eadt k\u00fd truy\u1ec1n d\u1eef li\u1ec7u, c\u00f3 th\u1ec3 \u0111\u01b0\u1ee3c \u0111\u1ecbnh ngh\u0129a \u1edf c\u1ea5p \u0111\u1ed9 cha thay v\u00ec l\u1eb7p l\u1ea1i ch\u00fang trong m\u1ed7i tr\u1ea1ng th\u00e1i con. N\u00f3 c\u0169ng c\u1ea3i thi\u1ec7n \u0111\u1ed9 r\u00f5 r\u00e0ng b\u1eb1ng c\u00e1ch nh\u00f3m c\u00e1c h\u00e0nh vi li\u00ean quan l\u1ea1i v\u1edbi nhau v\u1ec1 m\u1eb7t tr\u1ef1c quan.<\/p>\n

          C\u00e1c c\u00e2n nh\u1eafc khi tri\u1ec3n khai cho h\u1ec7 th\u1ed1ng nh\u00fang \ud83d\udcbb<\/h2>\n

          Chuy\u1ec3n \u0111\u1ed5i s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i th\u00e0nh m\u00e3 th\u1ef1c thi \u0111\u00f2i h\u1ecfi s\u1ef1 ch\u00fa \u00fd \u0111\u1ebfn c\u00e1c gi\u1edbi h\u1ea1n c\u1ee7a ph\u1ea7n c\u1ee9ng nh\u00fang. B\u1ed9 \u0111i\u1ec1u khi\u1ec3n bay c\u1ee7a drone th\u01b0\u1eddng ch\u1ea1y tr\u00ean m\u1ed9t vi \u0111i\u1ec1u khi\u1ec3n v\u1edbi b\u1ed9 nh\u1edb RAM v\u00e0 chu k\u1ef3 CPU b\u1ecb gi\u1edbi h\u1ea1n.<\/p>\n

            \n
          • Hi\u1ec7u qu\u1ea3 b\u1ed9 nh\u1edb:<\/strong>Tr\u00e1nh l\u01b0u tr\u1eef to\u00e0n b\u1ed9 l\u1ecbch s\u1eed tr\u1ea1ng th\u00e1i. Ch\u1ec9 theo d\u00f5i tr\u1ea1ng th\u00e1i hi\u1ec7n t\u1ea1i. S\u1eed d\u1ee5ng ki\u1ec3u li\u1ec7t k\u00ea ho\u1eb7c s\u1ed1 nguy\u00ean \u0111\u1ec3 bi\u1ec3u di\u1ec5n tr\u1ea1ng th\u00e1i s\u1ebd t\u1ed1i thi\u1ec3u h\u00f3a vi\u1ec7c s\u1eed d\u1ee5ng b\u1ed9 nh\u1edb.<\/li>\n
          • Kh\u1ea3 n\u0103ng ph\u1ea3n h\u1ed3i th\u1eddi gian th\u1ef1c:<\/strong> C\u00e1c chuy\u1ec3n \u0111\u1ed5i ph\u1ea3i x\u1ea3y ra m\u1ed9t c\u00e1ch x\u00e1c \u0111\u1ecbnh. N\u1ebfu TH\u1ee8C T\u1ea2I KH\u1ea8N C\u1ea4P<\/em> s\u1ef1 ki\u1ec7n \u0111\u01b0\u1ee3c k\u00edch ho\u1ea1t, m\u00e3 ngu\u1ed3n kh\u00f4ng \u0111\u01b0\u1ee3c ch\u1edd \u0111\u1ee3i m\u1ed9t t\u00e1c v\u1ee5 d\u00e0i ch\u1ea1y ho\u00e0n t\u1ea5t. C\u00e1c ng\u1eaft ph\u1ea3i \u0111\u01b0\u1ee3c x\u1eed l\u00fd b\u00ean ngo\u00e0i v\u00f2ng l\u1eb7p tr\u1ea1ng th\u00e1i ch\u00ednh ho\u1eb7c v\u1edbi m\u1ee9c \u01b0u ti\u00ean cao.<\/li>\n
          • T\u00ednh nh\u1ea5t qu\u00e1n tr\u1ea1ng th\u00e1i:<\/strong> \u0110\u1ea3m b\u1ea3o r\u1eb1ng kh\u00f4ng c\u00f3 tr\u1ea1ng th\u00e1i n\u00e0o c\u00f3 h\u00e0nh vi kh\u00f4ng x\u00e1c \u0111\u1ecbnh. M\u1ecdi s\u1ef1 ki\u1ec7n c\u00f3 th\u1ec3 x\u1ea3y ra \u0111\u1ec1u ph\u1ea3i c\u00f3 chuy\u1ec3n \u0111\u1ed5i \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh. N\u1ebfu x\u1ea3y ra s\u1ef1 ki\u1ec7n kh\u00f4ng mong \u0111\u1ee3i, h\u1ec7 th\u1ed1ng ph\u1ea3i chuy\u1ec3n sang tr\u1ea1ng th\u00e1i L\u1ed6I<\/em> thay v\u00ec b\u1ecb s\u1eadp ho\u1eb7c treo.<\/li>\n
          • Ghi nh\u1eadt k\u00fd:<\/strong> Tri\u1ec3n khai c\u01a1 ch\u1ebf ghi nh\u1eadt k\u00fd tr\u1ea1ng th\u00e1i. Khi x\u1ea3y ra chuy\u1ec3n \u0111\u1ed5i, ghi th\u1eddi \u0111i\u1ec3m, tr\u1ea1ng th\u00e1i ngu\u1ed3n, tr\u1ea1ng th\u00e1i \u0111\u00edch v\u00e0 s\u1ef1 ki\u1ec7n v\u00e0o b\u1ed9 nh\u1edb kh\u00f4ng bay h\u01a1i. \u0110i\u1ec1u n\u00e0y r\u1ea5t quan tr\u1ecdng cho ph\u00e2n t\u00edch sau chuy\u1ebfn bay.<\/li>\n<\/ul>\n

            V\u00ed d\u1ee5, khi tri\u1ec3n khai tr\u1ea1ng th\u00e1i C\u1ea4P C\u1ee8U BAY L\u00caN<\/em> tr\u1ea1ng th\u00e1i, m\u00e3 ngu\u1ed3n kh\u00f4ng \u0111\u01b0\u1ee3c ch\u1eb7n. N\u00f3 n\u00ean s\u1eed d\u1ee5ng b\u1ed9 \u0111\u1ebfm th\u1eddi gian kh\u00f4ng ch\u1eb7n \u0111\u1ec3 gi\u00e1m s\u00e1t \u0111\u1ed9 cao. N\u1ebfu \u0111\u1ed9 cao kh\u00f4ng t\u0103ng trong m\u1ed9t kho\u1ea3ng th\u1eddi gian nh\u1ea5t \u0111\u1ecbnh, n\u00f3 ph\u1ea3i k\u00edch ho\u1ea1t s\u1ef1 ki\u1ec7n h\u1ebft th\u1eddi gian v\u00e0 chuy\u1ec3n sang L\u1ed6I<\/em>.<\/p>\n

            Chi\u1ebfn l\u01b0\u1ee3c ki\u1ec3m th\u1eed v\u00e0 x\u00e1c minh \ud83e\uddea<\/h2>\n

            Tr\u01b0\u1edbc khi tri\u1ec3n khai drone, logic m\u00e1y tr\u1ea1ng th\u00e1i ph\u1ea3i \u0111\u01b0\u1ee3c x\u00e1c minh. M\u00f4 ph\u1ecfng l\u00e0 ph\u01b0\u01a1ng ph\u00e1p hi\u1ec7u qu\u1ea3 chi ph\u00ed nh\u1ea5t. B\u1eb1ng c\u00e1ch t\u1ea1o ra m\u1ed9t b\u1ed9 m\u00f4 ph\u1ecfng ph\u1ea7n m\u1ec1m m\u00f4 ph\u1ecfng \u0111\u1ea7u v\u00e0o c\u1ea3m bi\u1ebfn, c\u00e1c k\u1ef9 s\u01b0 c\u00f3 th\u1ec3 ki\u1ec3m th\u1eed m\u1ecdi h\u00e0nh tr\u00ecnh kh\u1ea3 thi qua s\u01a1 \u0111\u1ed3 tr\u1ea1ng th\u00e1i m\u00e0 kh\u00f4ng ph\u1ea3i m\u1ea1o hi\u1ec3m ph\u1ea7n c\u1ee9ng.<\/p>\n

            C\u00e1c ho\u1ea1t \u0111\u1ed9ng ki\u1ec3m th\u1eed ch\u00ednh bao g\u1ed3m:<\/p>\n

              \n
            • Ki\u1ec3m th\u1eed bi\u00ean:<\/strong> Ki\u1ec3m th\u1eed c\u00e1c chuy\u1ec3n \u0111\u1ed5i ph\u1ee5 thu\u1ed9c v\u00e0o ng\u01b0\u1ee1ng c\u1ee5 th\u1ec3. V\u00ed d\u1ee5, x\u00e1c minh r\u1eb1ng chuy\u1ec3n \u0111\u1ed5i sang TR\u1ede V\u1ec0 NH\u00c0<\/em> x\u1ea3y ra ch\u00ednh x\u00e1c khi pin gi\u1ea3m xu\u1ed1ng d\u01b0\u1edbi 30%, ch\u1ee9 kh\u00f4ng ph\u1ea3i \u1edf 29% hay 31%.<\/li>\n
            • Ph\u1ee7 \u0111\u01b0\u1eddng \u0111i:<\/strong> \u0110\u1ea3m b\u1ea3o m\u1ecdi \u0111\u01b0\u1eddng chuy\u1ec3n \u0111\u1ed5i trong s\u01a1 \u0111\u1ed3 \u0111\u01b0\u1ee3c \u0111i qua \u00edt nh\u1ea5t m\u1ed9t l\u1ea7n trong qu\u00e1 tr\u00ecnh ki\u1ec3m th\u1eed. \u0110i\u1ec1u n\u00e0y x\u00e1c nh\u1eadn r\u1eb1ng logic cho m\u1ecdi s\u1ef1 ki\u1ec7n \u0111\u1ec1u ho\u1ea1t \u0111\u1ed9ng.<\/li>\n
            • Ki\u1ec3m th\u1eed ng\u1eaft:<\/strong> M\u00f4 ph\u1ecfng c\u00e1c s\u1ef1 ki\u1ec7n c\u1ea7n ng\u1eaft tr\u1ea1ng th\u00e1i hi\u1ec7n t\u1ea1i. X\u00e1c minh h\u1ec7 th\u1ed1ng tho\u00e1t \u0111\u00fang c\u00e1ch \u0110ANG \u0110I\u1ec0U H\u01af\u1edaNG<\/em> v\u00e0 chuy\u1ec3n sang TH\u1ea2NG C\u1ea4P C\u1ee8U<\/em> ngay c\u1ea3 khi m\u1ed9t ph\u00e9p t\u00ednh d\u00e0i \u0111ang ch\u1ea1y.<\/li>\n
            • Ki\u1ec3m th\u1eed kh\u1edfi \u0111\u1ed9ng l\u1ea1i:<\/strong> X\u00e1c minh h\u1ec7 th\u1ed1ng c\u00f3 th\u1ec3 kh\u00f4i ph\u1ee5c t\u1eeb tr\u1ea1ng th\u00e1i L\u1ed6I<\/em> tr\u1ea1ng th\u00e1i. Li\u1ec7u c\u00f3 th\u1ec3 kh\u1edfi \u0111\u1ed9ng l\u1ea1i th\u1ee7 c\u00f4ng th\u00e0nh D\u1eeaNG CH\u1ea0M<\/em> m\u00e0 kh\u00f4ng c\u1ea7n kh\u1edfi \u0111\u1ed9ng l\u1ea1i b\u1eb1ng ngu\u1ed3n \u0111i\u1ec7n v\u1eadt l\u00fd?<\/li>\n<\/ul>\n

              C\u0169ng c\u00f3 th\u1ec3 s\u1eed d\u1ee5ng c\u00e1c c\u00f4ng c\u1ee5 ki\u1ec3m tra m\u00f4 h\u00ecnh. Nh\u1eefng c\u00f4ng c\u1ee5 n\u00e0y x\u00e1c minh to\u00e1n h\u1ecdc r\u1eb1ng m\u00e1y tr\u1ea1ng th\u00e1i kh\u00f4ng ch\u1ee9a c\u00e1c tr\u1ea1ng th\u00e1i ch\u1ebft (tr\u1ea1ng th\u00e1i m\u00e0 kh\u00f4ng c\u00f3 chuy\u1ec3n ti\u1ebfp n\u00e0o kh\u1ea3 thi) ho\u1eb7c c\u00e1c tr\u1ea1ng th\u00e1i kh\u00f4ng th\u1ec3 ti\u1ebfp c\u1eadn (tr\u1ea1ng th\u00e1i kh\u00f4ng th\u1ec3 v\u00e0o \u0111\u01b0\u1ee3c t\u1eeb tr\u1ea1ng th\u00e1i ban \u0111\u1ea7u).<\/p>\n

              Nh\u1eefng sai l\u1ea7m ph\u1ed5 bi\u1ebfn c\u1ea7n tr\u00e1nh \u26a0\ufe0f<\/h2>\n

              Ngay c\u1ea3 v\u1edbi s\u01a1 \u0111\u1ed3 \u0111\u01b0\u1ee3c thi\u1ebft k\u1ebf t\u1ed1t, l\u1ed7i tri\u1ec3n khai v\u1eabn c\u00f3 th\u1ec3 x\u1ea3y ra. D\u01b0\u1edbi \u0111\u00e2y l\u00e0 nh\u1eefng v\u1ea5n \u0111\u1ec1 ph\u1ed5 bi\u1ebfn \u0111\u01b0\u1ee3c quan s\u00e1t trong c\u00e1c h\u1ec7 th\u1ed1ng \u0111i\u1ec1u khi\u1ec3n drone.<\/p>\n

                \n
              • Thi\u1ebfu chuy\u1ec3n ti\u1ebfp:<\/strong> D\u1ec5 d\u00e0ng qu\u00ean m\u1ea5t m\u1ed9t chuy\u1ec3n ti\u1ebfp cho m\u1ed9t s\u1ef1 ki\u1ec7n c\u1ee5 th\u1ec3. V\u00ed d\u1ee5, \u0111i\u1ec1u g\u00ec x\u1ea3y ra n\u1ebfu pin h\u1ebft trong khi \u1edf tr\u1ea1ng th\u00e1i TH\u1ea2NG C\u1ea4P C\u1ee8U<\/em>? Drone v\u1eabn ph\u1ea3i th\u1ef1c hi\u1ec7n thao t\u00e1c h\u1ea1 c\u00e1nh ki\u1ec3m so\u00e1t ho\u1eb7c logic b\u1ea3o v\u1ec7 r\u01a1i t\u1ef1 do.<\/li>\n
              • S\u1ef1 nh\u1ea7m l\u1eabn v\u1ec1 tr\u1ea1ng th\u00e1i:<\/strong> S\u1eed d\u1ee5ng qu\u00e1 nhi\u1ec1u tr\u1ea1ng th\u00e1i t\u01b0\u01a1ng t\u1ef1 nhau. V\u00ed d\u1ee5, vi\u1ec7c c\u00f3 c\u1ea3 hai tr\u1ea1ng th\u00e1i L\u01afU L\u1ea0I<\/em> v\u00e0 \u0110ANG CH\u1edc<\/em> c\u00f3 th\u1ec3 g\u00e2y nh\u1ea7m l\u1eabn. K\u1ebft h\u1ee3p ch\u00fang n\u1ebfu h\u00e0nh vi c\u1ee7a ch\u00fang gi\u1ed1ng nhau.<\/li>\n
              • Thao t\u00e1c ch\u1eb7n:<\/strong> Kh\u00f4ng d\u00f9ng m\u00e3 ch\u1eb7n b\u00ean trong h\u00e0nh \u0111\u1ed9ng tr\u1ea1ng th\u00e1i. N\u1ebfu m\u1ed9t h\u00e0nh \u0111\u1ed9ng ch\u1edd c\u1ea3m bi\u1ebfn, to\u00e0n b\u1ed9 m\u00e1y tr\u1ea1ng th\u00e1i s\u1ebd b\u1ecb \u0111\u00f3ng b\u0103ng. Thay v\u00e0o \u0111\u00f3, h\u00e3y d\u00f9ng callback b\u1ea5t \u0111\u1ed3ng b\u1ed9 ho\u1eb7c c\u1edd (flags).<\/li>\n
              • V\u00f2ng l\u1eb7p kh\u00f4ng mong mu\u1ed1n:<\/strong> \u0110\u1ea3m b\u1ea3o kh\u00f4ng c\u00f3 v\u00f2ng l\u1eb7p v\u00f4 h\u1ea1n gi\u1eefa c\u00e1c tr\u1ea1ng th\u00e1i ti\u00eau t\u1ed1n v\u00f2ng l\u1eb7p CPU m\u00e0 kh\u00f4ng th\u1ef1c hi\u1ec7n c\u00f4ng vi\u1ec7c h\u1eefu \u00edch. V\u00ed d\u1ee5, m\u1ed9t v\u00f2ng l\u1eb7p gi\u1eefa L\u1ed6I<\/em> v\u00e0 D\u1eeaNG CH\u1ea0Y<\/em> m\u00e0 kh\u00f4ng c\u00f3 l\u1ec7nh kh\u1edfi \u0111\u1ed9ng l\u1ea1i s\u1ebd d\u1eabn \u0111\u1ebfn l\u1ed7i h\u1ec7 th\u1ed1ng.<\/li>\n<\/ul>\n

                T\u00f3m t\u1eaft l\u1ee3i \u00edch \ud83c\udfc6<\/h2>\n

                Thi\u1ebft k\u1ebf h\u1ec7 th\u1ed1ng \u0111i\u1ec1u khi\u1ec3n drone b\u1eb1ng s\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i mang l\u1ea1i nhi\u1ec1u l\u1ee3i th\u1ebf v\u01b0\u1ee3t tr\u1ed9i so v\u1edbi l\u1eadp tr\u00ecnh th\u1ee7 t\u1ee5c truy\u1ec1n th\u1ed1ng. N\u00f3 \u0111\u1ea3m b\u1ea3o s\u1ef1 ph\u00e2n t\u00e1ch r\u00f5 r\u00e0ng gi\u1eefa c\u00e1c kh\u00eda c\u1ea1nh quan tr\u1ecdng, gi\u00fap m\u00e3 ngu\u1ed3n d\u1ec5 \u0111\u1ecdc v\u00e0 d\u1ec5 g\u1ee1 l\u1ed7i h\u01a1n. B\u1eb1ng c\u00e1ch x\u00e1c \u0111\u1ecbnh r\u00f5 r\u00e0ng c\u00e1c tr\u1ea1ng th\u00e1i v\u00e0 chuy\u1ec3n ti\u1ebfp, c\u00e1c nh\u00e0 ph\u00e1t tri\u1ec3n \u0111\u1ea3m b\u1ea3o h\u1ec7 th\u1ed1ng ho\u1ea1t \u0111\u1ed9ng m\u1ed9t c\u00e1ch d\u1ef1 \u0111o\u00e1n \u0111\u01b0\u1ee3c trong m\u1ecdi t\u00ecnh hu\u1ed1ng.<\/p>\n

                C\u00e1ch ti\u1ebfp c\u1eadn n\u00e0y th\u00fac \u0111\u1ea9y s\u1ef1 h\u1ee3p t\u00e1c gi\u1eefa c\u00e1c \u0111\u1ed9i ng\u0169 ph\u1ea7n c\u1ee9ng v\u00e0 ph\u1ea7n m\u1ec1m. S\u01a1 \u0111\u1ed3 \u0111\u00f3ng vai tr\u00f2 nh\u01b0 m\u1ed9t ng\u00f4n ng\u1eef chung. C\u00e1c k\u1ef9 s\u01b0 ph\u1ea7n c\u1ee9ng c\u00f3 th\u1ec3 th\u1ea5y ch\u00ednh x\u00e1c th\u1eddi \u0111i\u1ec3m c\u1ea3m bi\u1ebfn \u0111\u01b0\u1ee3c \u0111\u1ecdc, c\u00f2n c\u00e1c k\u1ef9 s\u01b0 ph\u1ea7n m\u1ec1m c\u00f3 th\u1ec3 th\u1ea5y khi n\u00e0o c\u00e1c b\u1ed9 ch\u1ea5p h\u00e0nh \u0111\u01b0\u1ee3c l\u1ec7nh. \u0110i\u1ec1u n\u00e0y c\u0169ng gi\u00fap \u0111\u01a1n gi\u1ea3n h\u00f3a vi\u1ec7c \u0111\u01b0a th\u00e0nh vi\u00ean m\u1edbi v\u00e0o \u0111\u1ed9i, v\u00ec logic \u0111\u01b0\u1ee3c tr\u1ef1c quan h\u00f3a thay v\u00ec b\u1ecb \u1ea9n trong c\u00e1c c\u1ea5u tr\u00fac m\u00e3 ph\u1ee9c t\u1ea1p.<\/p>\n

                Cu\u1ed1i c\u00f9ng, kho\u1ea3n \u0111\u1ea7u t\u01b0 v\u00e0o vi\u1ec7c thi\u1ebft k\u1ebf m\u1ed9t m\u00e1y tr\u1ea1ng th\u00e1i m\u1ea1nh m\u1ebd s\u1ebd mang l\u1ea1i hi\u1ec7u qu\u1ea3 v\u1ec1 \u0111\u1ed9 tin c\u1eady. M\u1ed9t chi\u1ebfc drone t\u1ef1 h\u00e0nh l\u00e0 m\u1ed9t h\u1ec7 th\u1ed1ng ph\u1ee9c t\u1ea1p, v\u00e0 vi\u1ec7c qu\u1ea3n l\u00fd h\u00e0nh vi c\u1ee7a n\u00f3 \u0111\u00f2i h\u1ecfi ph\u01b0\u01a1ng ph\u00e1p c\u00f3 k\u1ef7 lu\u1eadt. B\u1eb1ng c\u00e1ch tu\u00e2n th\u1ee7 c\u00e1c ti\u00eau chu\u1ea9n UML v\u00e0 l\u00ean k\u1ebf ho\u1ea1ch c\u1ea9n th\u1eadn cho c\u00e1c chuy\u1ec3n ti\u1ebfp, \u0111i\u1ec1u ki\u1ec7n b\u1ea3o v\u1ec7 v\u00e0 h\u00e0nh \u0111\u1ed9ng, c\u00e1c k\u1ef9 s\u01b0 c\u00f3 th\u1ec3 x\u00e2y d\u1ef1ng c\u00e1c h\u1ec7 th\u1ed1ng an to\u00e0n, d\u1ec5 b\u1ea3o tr\u00ec v\u00e0 hi\u1ec7u qu\u1ea3. Nghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p n\u00e0y cho th\u1ea5y d\u00f9 logic c\u00f3 ph\u1ee9c t\u1ea1p, c\u1ea5u tr\u00fac v\u1eabn mang l\u1ea1i s\u1ef1 r\u00f5 r\u00e0ng v\u00e0 ki\u1ec3m so\u00e1t \u0111\u1ed1i v\u1edbi h\u00e0nh vi t\u1ef1 h\u00e0nh.<\/p>\n","protected":false},"excerpt":{"rendered":"

                Trong l\u0129nh v\u1ef1c h\u1ec7 th\u1ed1ng nh\u00fang v\u00e0 robot t\u1ef1 h\u00e0nh, qu\u1ea3n l\u00fd h\u00e0nh vi ph\u1ee9c t\u1ea1p \u0111\u00f2i h\u1ecfi h\u01a1n l\u00e0<\/p>\n","protected":false},"author":3479,"featured_media":11204,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_yoast_wpseo_title":"Nghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p S\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i: Logic \u0111i\u1ec1u khi\u1ec3n drone UML","_yoast_wpseo_metadesc":"Kh\u00e1m ph\u00e1 m\u1ed9t nghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p th\u1ef1c t\u1ebf v\u1ec1 s\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i UML cho logic \u0111i\u1ec1u khi\u1ec3n drone. Hi\u1ec3u r\u00f5 c\u00e1c tr\u1ea1ng th\u00e1i, chuy\u1ec3n ti\u1ebfp v\u00e0 c\u00e1c m\u1eabu thi\u1ebft k\u1ebf h\u1ec7 th\u1ed1ng nh\u00fang.","fifu_image_url":"","fifu_image_alt":"","footnotes":""},"categories":[127],"tags":[162,101],"class_list":["post-11203","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-unified-modeling-language","tag-academic","tag-uml"],"yoast_head":"\nNghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p S\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i: Logic \u0111i\u1ec1u khi\u1ec3n drone UML<\/title>\n<meta name=\"description\" content=\"Kh\u00e1m ph\u00e1 m\u1ed9t nghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p th\u1ef1c t\u1ebf v\u1ec1 s\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i UML cho logic \u0111i\u1ec1u khi\u1ec3n drone. 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