Uav Controller Software Development And Design Of The Control Algorithm,

This paper mainly focuses on the hardware design of the/a set of mini-UAV and the implementation of the flight control software for the UAV. The functions of the flight controller are: communicating with the communication computer by a RS-232 protocol; getting commands from the ground for the UAV; reporting the position and attitude information to the ground control station via the communication computer; obtaining the position and attitude of the UAV by sensors; processing the incoming sensors' data and calculating the control output; driving the actuators to keep the UAV under control. If the UAV is out of control, the flight controller will deal with it.The main purpose of this paper is to implement a control application. A detailedsoftware frame is given in this article. The writer ports the RTOS μ C/OS-II to theINTEL 80cl96kc with the Tasking C196 compiler, and discovers the method of programming with RTOS. Communication between the two devices via RS232 protocol is discussed, too. At last, with the gained parameters of the UAV, The author analyzed the UAV model's characteristics, and designed the compensators for the UAV and simulated the whole system under MATLAB environment using the MATLAB script language and SIMULINK blocks.