Software Adaptation And Unit Testing Of Uav System Based On ARM Architecture

People’s life style has changed dramatically due to the widespread use of drones.With the frequent occurrence of UAV crash,the safety of UAV system has been paid more and more attention.At the same time,the safety problems faced by UAV system have been paid more and more attention.The traditional UAV system is usually implemented by writing all programs into a super loop.This single core system is not only lack of expansibility,but also prone to system vulnerabilities.Therefore,this paper focuses on the reliability and scalability of UAV system.Based on the unit test method and the existing operating system kernel,this paper implements a whole set of UAV system software architecture,which include from the bottom hardware driver to the user process.This architecture uses the micro-kernel developed by Yale FLINT laboratory as the middle layer of the embedded system software system,which isolates the hardware driver and user process of the embedded system safely.Therefore,this paper first adapts the micro-kernel to the Raspberry pi platform based on ARM architecture,and expands the sensor driver related to flight control.Secondly,in order to make the system support UAV flight control function,this paper improves the implementation of micro-kernel,and realizes the priority scheduling mechanism of UAV related processes in multi-core parallel state through multi-process static priority scheduling mechanism.In addition,this paper also designs and implements the efficient testing process of embedded system software testing,explores the embedded system unit test and test instrumentation based on source code,and simulates the target machine environment with QEMU software,which improves the test and development efficiency and greatly shortens the unit test and development time.Finally,this paper tests the basic functions of the UAV system architecture through the flight process related experiments.The experimental results show that: the adaptation of the system architecture realizes the functionalities of extended hardware through system call.It meets the real-time requirements of UAV process.