摘要
介绍了民用摄像无人机飞行控制器软件的功能需求。基于数据流图设计了软件的逻辑模型, 利用结构化方法设计了软件的模块构成。在程序权限分配和接口设计时采用了智能递阶控制思想。程序的多运行模式流程实现采用了多个互斥主循环加中断的结构。最终设计的飞行控制软件具有4个功能层次, 能够在飞控、测试和调参3种模式下运行。介绍了软件设计中的几项专门技术。所设计的软件具有功能集成度高、稳定性好、可扩展性强等特点。
The function requirements of commercial camera unmanned aerial vehicle (UAV) flight controller software are given. The software logical model is designed with data flow graph and the software module composition is constructed by structure approach. The intelligent hierarchical control theory is adopted to allocate the modules' purviews and establish the modules' interfaces. The program flow is composed of three exclusive main loops and several interrupt service routines in order for running in multi-modes. The final software has four function levels and can run in three different modes: flight control, test and parameters tuning. Besides, several special techniques in software designing are introduced. The software has advantages such as multipurpose integrating, high stability and strong expandability etc.
出处
《计算机测量与控制》
CSCD
2005年第5期493-495,505,共4页
Computer Measurement &Control
