基于天脉2操作系统的小型无人机飞行控制软件设计

Flight Control Software Design of Small UAV Based on ACoreOS

天脉2操作系统是国内自主研发的一种基于ARINC653标准的强分区实时操作系统,实现了时间与空间的隔离。早期的小型无人机飞行控制软件运行在无操作系统的单片机上,可以完成简单的飞行控制任务,随着技术的发展,嵌入式实时操作系统的应用很大程度增加了飞控软件的性能,本文介绍了基于天脉2操作系统小型无人机飞行控制软件设计。设计了小型无人机飞行控制软件的数据采集分区、导航控制分区、姿态控制分区和伺服控制分区,提高了小型无人机飞行控制软件的可靠性、可维护性和扩展性。

ACore OS is a strong partition real-time operating system based on ARINC653 standard independently developed in China, which realizes the isolation of time and space. The early small UAV flight control software runs on the microcontroller of the unmanned operating system, which can complete simple flight control tasks. With the development of technology, the application of embedded real-time operating system has greatly increased the performance of the flight control software. This paper introduces the design of small UAV flight control software based on ACoreOS operating system. The data acquisition partition,navigation control partition, attitude control partition and servo control partition of small UAV flight control software are designed, which improves the reliability, maintainability and scalability of small UAV flight control software.