Design And Development Of Uav Flight Control Software Based On VxWorks

Flight control software is an important part of the UAV(Unmanned Aerial Vehicles) flight control system. It determines the success of the flight directly and gets lots of attention recently. To develop flight control software based on RTOS(Real Time Operating System) can be good for improving the software quality and shorting the development cycle of software.The property of VxWorks is analyzed and development environment is established by developing of BSP(Board Support Package) according to the requirements of flight control system both in hardware and software in order to develop flight control system software effectively.Meanwhile,the transplanting of VxWorks system to flight control computer is completed and VxWorks can be downloaded from host and local file system on CF card.The driver of A/D,D/A,429,etc. is developed for upper application software module.With the foundation of hardware driver and in view of the property of VxWorks operating system, upper application software including control law module,mode management module and guide module is developed.The function of the software is realized in the form of multi-task. The problem of communication of tasks is solved by managing a public data area.Read-write lock is used to protect mutual source.It has realized automatic control of UAV for entire flight process.As the time of the traditional start-up process of VxWorks on X86 is too long for flight control,a quick start-up method which simplify start-up process is presented after the analysis of the start-up process of VxWorks on X86 series CPUs.A method of online software upgrade is given to solve the problem of software upgrade for flight control system in different situation.After the experiments of evaluating the performance and function of the software, the hardware-in-the-loop simulation for the flight control system is carried out. The results show the whole system is qualified for the design requirements.