The Design And Establishment Of The SUAV Autopilot Development Board Based On Homemade CPU

At the present, SUAV (Small Unmanned Aerial Vehicle) plays more and more important role in the military and civil field, but the core control chip of the SUAV Autopilot is not homemade, which limits its application immensely. So, it is essential to design SUAV Autopilot based on homemade CPU.This thesis derives from SUAV Autopilot based on homemade CPU project in IMKLEMC(Inner Mongolia Key Laboratory of Electro_Mechanical Control). The Arca GT2000 architecture is analyzied, and ArcaFlying2 development board is realized in this thesis. Through researching Arca instruction set and relative development kits, the questions are solved, including how to write a program with Arca Assembly and C,how to access GT2000 registers with C program,how to debug flash program, how to write interrupt program and so on. On this base, through designing Bootloader program, system interrupt structure, arrangement memory method and function library for ArcaFlying2, an expandable, maintainable development platform is built.In addition, in order to design a control system for the SUAV Autopilot based on homemade CPU project, GPS module, digital compass HMR3300 module and servo system are connected with ArcaFlying2, and drive program is designed respectively to every module in this thesis. At last, by the experiment of automaticaly driving the small car with designed system in this thesis, not only the function of the development platform is validated, but also the control algorithm of SUAV autopilot is studied elementarily.