Framework for Development and Test of Embedded Flight Control Software for Autonomous Small Size Helicopters

Abstract

Over the last years, a many applications for small size Unmanned Aerial Vehicles (UAVs) were described. Especially reconnaissance missions can be carried out by these UAVs more efficiently compared with a full sized aircraft. As a platform for UAVs, model helicopters are quite attractive due to their maneuverability, large spectrum of commercially available vehicles and moderate costs. The first step of using UAVs is the establishment of safe autonomous flight capabilities. As it was shown in several publications e.g. [1], the implementation of robust control for small size helicopters requires real flight experiments. It is difficult to conduct such experiments (establishing of reproducible testing conditions, presence of an experienced safety pilot etc.) and these experiments are connected with high risk of helicopter loss. In the presented paper, a framework for development and testing of embedded flight control software for autonomous helicopters is presented. This framework is composed of two main parts: the laboratory setup with small size model helicopter and the software system. The framework allows to perform following tasks: