基于APM的高级飞控系统设计

APM-based advanced flight control system

摘要:

设计了一种基于开源飞控APM的高级飞控系统，高级飞控系统包含硬件电路模块和软件算法模块，采用MAVLink协议控制APM无人机，设计了以高级飞控系统控制无人机的一键起飞控制流程、遥控量的控制功能、上传飞行任务到APM飞控功能。移植UCOSIII操作系统，并结合MAVLink协议设计了编队组网架构方法，裁减协议数据流，使之适应组网通信数据量限值，在高级飞控系统上测试基于粒子群算法的无人机集群搜索并规划航线的算法仿真实验，结果表明满足实时性要求和通信要求，将计算出的航点通过协议发送给无人机即可实现对无人机航迹规划，高级飞控系统的功能同样适用于MAVLink协议的其他飞控如PX4飞控,具有较广泛的应用。

Abstract:

An advanced flight control system based on the open source flight control APM is designed. The advanced flight control system includes hardware circuit modules and software algorithm modules. The MAVLink protocol is used to control the APM drone. An advanced flight control system to control the drone is designed. Key take-off control process, remote control function, upload flight mission to APM flight control function. The UCOSIII operating system was transplanted, and the formation network architecture method was designed in conjunction with the MAVLink protocol to reduce the protocol data flow to adapt to the limit of the amount of network communication data. Test the drone cluster search based on the particle swarm algorithm on an advanced flight control system And the algorithm simulation experiment of planning the route, the results show that the real-time requirements and communication requirements are met, and the calculated waypoints are sent to the drone through the protocol to achieve the drone flight path planning. The functions of the advanced flight control system are also applicable. Other flight controls based on the MAVLink protocol, such as the PX4 flight control, have a wide range of applications.