Steps Towards Scalable and Modularized Flight Software for Unmanned Aircraft Systems

Johann C. Dauer, Lukas Goormann, Christoph Torens
2014 International Journal of Advanced Robotic Systems  
Unmanned aircraft (UA) applications impose a variety of computing tasks on the on-board computer system. From a research perspective, it is often more convenient to evaluate algorithms on bigger aircraft as they are capable of lifting heavier loads and thus more powerful computational units. On the other hand, smaller systems are often less expensive and operation is less restricted in many countries. This paper thus presents a conceptual design for flight software that can be evaluated on the
more » ... A of convenient size. The integration effort required to transfer the algorithm to different sized UA is significantly reduced. This scalability is achieved by using exchangeable payload modules and a flexible process distribution on different processing units. The presented approach is discussed using the example of the flight software of a 14 kg unmanned helicopter and an equivalent of 1.5 kg. The proof of concept is shown by means of flight performance in a hardware-in-the-loop simulation.
doi:10.5772/58363 fatcat:c2mhrpee4narnhedffnpbhqmhy