Modularized Design Of Flight Control System Software For Unmanned Rotorcraft

With the increase of the application scene of unmanned rotorcraft,the function of flight control system software is more and more,but the flight control system software is a relatively solidified software,for different hardware different flight platform,flight control system software has very big difference.However,the flight control system software in different flight platforms has the similar core parts,namely the navigation attitude input,the control target quantity input,the attitude control solution and the control output.Therefore,the main objective of this paper is to extract the same core parts of the flight control system software and use the modular idea to make the core parts independent of each other,to adapt the different hardware and flight platform with the smallest modification,and to make the whole software have the module extensibility.Firstly,this paper analyzes the hardware and software requirements of the conventional unmanned aerial vehicle platform,and chooses the basic hardware configuration of the flight control system according to the analysis.Secondly,according to the software modularization idea,the real-time operating system is selected as the operating environment of the flight control system software,the porting and cutting of the operating system is completed,and the queue function of the operating system is modified according to the actual requirement of the software.Then,the software is refined and layered.According to the idea of software hierarchy,data layer,driver layer and application layer are introduced in detail.In different software layers,the core module is taken as an example,and the module encapsulation,data interaction and operation process of each function module are introduced in detail.Finally,the modules are assembled,and the realization of modular flight control system software is completed.The replaceability and scalability of modules are analyzed and verified.In view of the high real-time requirement of the flight control system software,software real-time testing is carried out.The modularized flight control system software is verified on the coaxial rotor and multirotors.