UAV Flight Control System Based On Cortex-M7 Microprocessor Core Platform

In recent years,research on unmanned aerial machines has reached a level of intense heating.In recent years,a variety of UAV(Unmanned Aerial Vehicle)system architecture have been competing to put forward.As the control core of UAV,UAV flight control platform shoulder a lot of complex and special tasks,such as a variety of sensor detector data collection and upload,the operation of the servo controller,UAV flight process log records,and the communication with ground control stations.Therefore,a low power consumption,sufficient performance,high reliability UAV flight control platform is the most important part of the UAV system.In this thesis,based on the above-mentioned demand and Cortex-M7 SAMV71Q21 microprocessor,we use the Nuttx embedded real-time operating system as a software platform development basis,designed a set of UAV flight control hardware and software platform.The entire flight control platform can be analysis in two aspects: hardware architecture and software design.In the hardware architecture,this thesis adopts SAMV71Q21 microprocessor which based on the ATMEL's Cortex-M7 architecture as the core of flight control hardware,taking into account the low power consumption,high performance,rich interfaceand other features.Peripheral interface design process is taken into account the interface which UAV flight control platform may be related to,such as RS485,I2 C,SPI,CAN,hardware platforms could provide related interface.The sensor module mainly includes MTI attitude measurement components and MS5803 high precision barometer.The wireless communication module provides SBUS interface,mainly for receiving SBUS remote control receiver signal and output SBUS signal which providethe PTZ(Pan/Tilt/Zoom)control and infrared control camera capture.At the same time also provides a UART bus interface for the digital transmission module and communication module communication between the flight control platform and the ground stationIn the software design,taking into account the UAV on the software platform reliability,real-time needs,this thesis adopt the software platform design which base on the Nuttx real-time embedded operating system.The system uses a UNIX-like architecture,with a complete task scheduling module,file management system,memory management module,and which is very suitable for the flight control platform complex peripheral scenarios and diverse mission requirements.At the same time,a micro-agent agent inter-process communication module is proposed to solve the inter-process data transmission.The inter-process communication system is a real-time communication system,which carries on the information interaction between sensing or between the sensor and the upper application.The above set of software design allows thesoftware platform to achieve better real-time,portability and reliability.This thesis verifies and tests the operation of the flight control platform hardware and related sensor network and operating system after completing the set of hardware platform and software platform,and finally verifies the feasibility and practicability of the whole flight control platform.The flight test also validates the real-time and reliability of the flight control system.