The Design And Implementation Of Real-time And Embedded Flight Control System Based On ARM-Linux

In view of the wide application of small unmanned aerial system (SUAS) in military and civilian area, this paper mainly studies design and realization of a real-time embedded SUAS flight control system based on ARM– Linux.Firstly, this paper analyzes the present domestic and foreign research situation and the develop-ment tendency of SUAS flight control system, and determines a flight control system scheme of em-bedded processor and real-time operating system combining for flight control software development. After that, according to the function requirement of SUAS flight control system and specific software and hardware design requirements,an overall scheme of flight control system based on ARM-Linux was designed, including the selection of embedded processor and real-time operating system, as well as basic structure and design process of hardware and software. Then, a hardware platform based on S3C2440 core board was constructed, including flight control computer module, sensor module, ac-tuator modules, the data link module, task device module and power supply module. The result of hardware platform experimental debugging shows that hardware platform meets the flight control system functional requirements, and has the characteristics of low power consumption, small volume, light weight, etc. Next, a flight control system software platform based on embedded Linux2.6 was constructed, mainly including the establishment of embedded system developing environment, the configuration of system startup guide program U-boot, real-time operating system kernel root files system YAFFS, the transplantation on the flight control system hardware platform, as well as design-ing diver program and passing through application debugging based on SUAS flight control system which includes GPS, magnetometer, altimeter, steering engine and specific peripherals. At last, multi-task processing flight control software based on former constructed hardware and software platform was designed, including the tasks distribution and the priority design of flight control soft-ware, and the detailed design of each task based on multithreading technology. The characteristics of this flight control system software are of real-time, generality and easy maintenance, etc.