The Design And Development Of Flight Control Software Based On Software Bus

With the widespread use of UAV,developing the flight control system with short development cycle,strong expansibility and high reliability has become the research trend of the UAV applications.Flight control software is the carrier to realize the function of flight control system,and its architecture determines the performance of the whole system.In order to design a reusable and easily maintainable flight control software to shorten the development cycle and improve system scalability,this paper carries out the following work:(1)In order to solve the problem that the flight control system is difficult to expand,this paper selects the flight control computer with distributed architecture as the hardware platform.By introducing the software bus structure,the flight control software is divided into application layer,software bus and operating system,and each layer has been analyzed.(2)To improve the maintainability of software,applying the idea of software modularization and the main guiding principle of realizing various functions of UAV,the modular development of application layer is achieved by dividing flight control software into several functional modules of which each has standard interfaces.Meanwhile,evaluate inter-module communication overhead and the load of nodes,and assign function modules to different nodes,to improve the overall performance of the system.(3)In order to realize the cooperation of functional modules,module manager,task manager and data manager are designed,which make the unified management of function modules and software resources possible and improve the maintainability and scalability of the system.(4)Aiming at the problem of data interaction among nodes,the communication mechanism between nodes,the system hardware resource management method and the clock synchronization scheme among nodes have been designed.These mechanisms realize the sharing of data resource and plug and play of hardware resource in the system and provide a functional support for the system multi-node coordinated operation.The software functionality and performance are verified in the semi-physical simulation enviroment,and the results show that the flight control software based on the software bus can satisfy the requirements of flight control functions and has the advantages of reusable and easy to maintain.