Control method and device for unmanned aerial vehicle, and unmanned aerial vehicle

A control device for an unmanned aerial vehicle (UAV) comprising:

• a gimbal configured to carry a photographing device and including a yaw-axis motor;
• a landing gear motor configured to drive a landing gear of the UAV to rotate;
• and
• one or more processors electrically connected to the landing gear motor and the yaw-axis motor, and configured to, individually or collectively:
• when the landing gear is at a zero position, control the yaw-axis motor to rotate to different positions according to a specific strategy that includes the landing gear following the yaw-axis motor to rotate synchronously;
• determine an angle relationship parameter between the landing gear motor and the yaw-axis motor by controlling the yaw-axis motor to rotate to the different positions;
• in a mode where the landing gear follows the yaw-axis to rotate, obtain a real-time rotation angle of the yaw-axis motor;
• and
• control the rotation of the landing gear motor according to the first parameter and the real-time rotation angle of the yaw-axis motor.

An unmanned aerial vehicle (UAV) comprising:

• a frame assembly;
• a gimbal mounted at the frame assembly and configured to carry a photographing device, the gimbal including a yaw-axis motor;
• a landing gear including a landing gear motor configured to drive the landing gear to rotate;
• and
• a processor electrically connected to the yaw-axis motor and the landing gear motor, and configured to:
• when the landing gear is at a zero position, control the yaw-axis motor to rotate to different positions according to a specific strategy that includes the landing gear following the yaw-axis motor to rotate synchronously;
• determine an angle relationship parameter between the landing gear motor and the yaw-axis motor by controlling the yaw-axis motor to rotate to the different positions;
• in a mode where the landing gear follows the yaw-axis to rotate, obtain a real-time rotation angle of the yaw-axis motor;
• and
• control the rotation of the landing gear motor according to the angle relationship parameter and the real-time rotation angle of the yaw-axis motor.