The Research On Development Of Embedded Aerial Robot Flight Control System Based On ARM-Linux

Aiming at small aerial robot with fixed wings of National Aerial Robotics Competition, the em-bedded flight control system based on ARM-Linux is researched in this paper.Firstly, based on the overall functional requirements of aerial robots, the overall scheme of flight control system is given, and then, the flight control system hardware platform based on ARM is de-signed and realized. Secondly, ARM-Linux software of flight control system, including u-boot, linux kernel, yaffs root file systems, are researched and transplanted into this hardware platform to con-struct the embedded ARM-Linux Software Development Environment. Thirdly, based on the embed-ded software development platform, we compile drivers for every sensor module in Aerial Robot flight control system. Attitude updating algorithm based quaternion for Strap-down Inertial Naviga-tion System (SINS) is introduced and SINS module according to this algorithm is compiled. Accord-ing to the flight control system's function and software workflow, the initialization module, main Loop module and data communication module are designed and coded. Finally, unit test and system integration test of every functional software and hardware module of flight control system is done in the laboratory, and the results show that hardware circuit and system of the flight control system runs rightly and software modules could meet the design requirements.