为了通过上位机实时采集飞控数据、在线调试飞行器,设计了一种基于USB HID和nRF24L01+的无线地面调试系统。系统接收飞控数据,并将数据发送到上位机,用于动态显示飞行器状态和后续研究分析;同时系统可以将上位机的控制信号发送给飞控系统,实现在线调试、上位机控制。测试结果表明,该调试系统成本低、实时性好,满足四旋翼飞行器的开发需要。 In order to collect the flight control data in real time by the host computer and debug the aircraft online, a wireless ground debugging system based on USB HID and nRF24L01 + is designed. The system receives the flight control data and sends the data to the host computer for dynamic display of the aircraft status and subsequent research and analysis. At the same time, the system can send the control signals of the host computer to the flight control system for on-line debugging and host computer control. The test results show that the debugging system has the advantages of low cost and good real-time performance, and meets the development needs of quadrotor.