Research On The Flight Control Software For Unmanned Helicopter Based On QNX

Compared with fixed-wing UAV, Unmanned Helicopter(UMH) has more flight modes to achieve more complex missions, and the amount of data need to be processed is huger. With the development of UMH flight control technology, the traditional model of software development appeared to be inadequate in front of increasing requirements of flight control performance. New tools and means need to be explored and studied in the design of flight control software. This paper was written on this background and the project demand.After studying the research status of onboard software technology, this paper proposed the flight control software scheme based on QNX RTOS, including two kinds of architectures:single-process and multi-process. Firstly, it configured QNX image to meet the requirement of flight control software development platform, transplanted QNX image to the flight control computer, and established the host-target cross development environment through the network. Secondly, two modes of hardware drivers in QNX were studied according to the hardware environment. The direct-port operation mode resolved the problems of operations to the I/O ports and the hardware interrupt. By introducing the relation between resource managers and device drivers, the other mode summarized a general method of programming PC/104 device drivers, and accomplished the standard driving program.Thirdly, with the foundation of hardware driver and in view of the special property of QNX operating system, upper application software including two kinds of architectures, single-process and multi-process, were developed. In the process of software design, the paper analyzed the key issues, gave the solutions, and completed flight control software of UMH.Finally, the paper tested function and performance of the flight control software, the under drivers and the software modules. Based on the correct results of the former test, the simulation for the flight control system was carried out, and the whole system fullfilled the design requirements. Through the research, this paper expanded the design and implementation means of the on-board flight control software, made the technical groundwork for high reliability UMH flight control system.