Development Of Flight Control System Software For UAV Based On VxWorks

As more fuction and more complex task needs to be implemented and redundancydesign technology is applied to flight control,flight control software for UAV has becomemore complex.To reduce the workload of software development and maintenance, apowerful multitask RTOS(Real Time Operating System) and a reasonable datamanagement strategy should be applied in software design. Flight control software forUAV that has data management function based on VxWorks is developed.The softwarenot only satisfy all the function needs but also has good real time performance,reliabilityand maintainability.According to the hardware configure of new X86target board,the VxWorksBSP(Board Support Package) is developed and the boot disk is created so thatVxWorks is successfully ported to target board.And a cross-development environment isestablished by a network connection between the host and the target.Then drivers of CPUboard,D/A,A/D, serial communication interface board are developed.According to theneeds of flight control software and a series of mutitask mechanisms based on VxWorks,task modules patitioning,priority allocation and modules design are accomplished.Giventhat global variables used to achieve data transmission between modules have adverseeffects on the readability,maintainability and reliability of flight control software,datacommunication mechanisms,module register and logoff mechanisms,data organizationmethod are designed to the goal of data management function.After development of software,system kernel,drivers and application software aretested fullfilly and half physical real-time simulation is accomplished.The simulation andtests results shows that flight control software meets demands of UAV flight control.