Flight Control Software Design And Research For UAV Based On μC/OS-Ⅱ

With increasing complex flight control system functions of the UAV, the performance flight control software has become increasingly demanding. This article, which is written in this background and the actual project demand, proposed designing the flight control software of UAV based on the real time operation systemμC/OS-II. This paper presented a new approach to design flight control software. Embedded flight control software developed operating environment and of service function modules in the flight control computer. But control module was designed and developed in the equivalent flight control software. It directly transferred in embedded flight control software without any modification. It simplified verification process of the control function module.Firstly, embedded flight control software of operating environment and service function modules designed and developed in flight control computer. It completed the transplant in the MPC555 CPU, and developed the Flash driver, RTC driver, watchdog driver, analog driver, discrete driver and serial communications driver. In the underlying operating environment, it was divided some task and allocated priority task. According to the modular design idea, it designed each task of the service modules designed in detail. It achieved reliable communication between each task by using of sharing data structure and semaphores.Secondly, according to the idea of equivalent flight control software, equivalent flight control software was designed and developed in the Windows XP by using ofμC/OS-II. It focused on designing tasks of the control function module and resolved data communications between equivalent console of simulation and equivalent flight control software. After equivalent flight control software had developed, it constituted equivalent simulation environment with equivalent console of simulation. Control module verified and optimized in equivalent simulation environment.Finally, it tested the performance of embedded flight control software, it was comprehensively verified in the semi-physical simulation system. The results of Experiment showed that the flight control software architecture and the control policy was reasonable, and also control function module which designed by using of equivalent flight control software was feasible.