The Design Of Component Flight Control Software Based On Soft Bus

With the development of unmanned aerial vehicle(UAV) technology, the function of UAVs is becoming more and more complex. The requirement of UAVs' performance is more and more strict. Flight control and management software(flight control software) is the key for the performance of flight control system. According to the requirements of high performance and high reliability, this paper designs a new flight control software based on soft-bus architecture which has distributed system cooperation and fault tolerance capabilities to satisfy the demands of the system.This paper first discusses the traditional designing methods of the flight control software and its problem, then introduces the hardware and software platform of the system. According to the requirements of function and performance, we designed the flight control software with the architecture of soft-bus which can be divided into four levels: application layer, management layer, hardware abstraction layer and operating system. It has carried on the design to the hierarchy.Secondly, according to the functional requirements, the tasks of the flight control software are divided into several functional modules with standard interface, such as telecontrol and telemetering module, navigation and guidance module. And they are managed and scheduled by the management layer. We design the module manager, task manager and resource manager to manage the flight control software.To satisfy the demands of distributed system cooperation, the mechanism of synchronization and data communication among nodes is designed, implementing the task load distribution, and coordinated operation of the functional modules among different nodes. Considering the requirements of fault tolerance in the system, the paper puts forward a fault detection method with the synthesis of node self-detection and mutual detection of nodes. According to the results of the node self-detection and mutual detection of nodes, we design comprehensive evaluation mechanism and the function module migration mechanism based on the contract net, implementing the fault isolation and reconfiguration of function module of the fault nodes to satisfy the demands of system reliability.At last, we test the flight control software. The results verifies that the flight control software distributing the task load can satisfy the requirements of the system with high reliability in flight control, flight management and fault tolerance.