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Central Processing Unit for an Autopilot: Description and Hardware-In-the-Loop Simulation

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Abstract

This paper describes the architecture of the Central Processing Unit (CPU) of Pegasus AutoPilot, which is an academic autopilot, in the developmental stage, for small Unmanned Aerial Vehicles (UAVs). The data manager process and control laws, implemented on dedicated hardware, are described. In order to verify, validate, and optimize the system a Hardware-In-the-Loop (HIL) simulation, between the CPU and the flight simulator X-Plane is performed. X-Plane simulates the other systems of the autopilot, such as the sensors and actuators. The system is designed to facilitate the disconnection of the flight simulator and the connection of the real navigation hardware and control surface manager drive, as a plug and play device. The described control loops, consisting of inner and outer loops, controls the aircraft’s attitude and maintains a constant altitude, direction, and speed. The work presented can also be used as a guide for those who wants to begin to use Hardware-In-the-Loop Simulations using X-Plane.

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Authors and Affiliations

  1. Electronics Division, Instituto Tecnológico de Aeronáutica, São José dos Campos, Brazil

    Adriano Bittar & Neusa M. F. de Oliveira

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  1. Adriano Bittar
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  2. Neusa M. F. de Oliveira
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Correspondence to Adriano Bittar.

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Bittar, A., de Oliveira, N.M.F. Central Processing Unit for an Autopilot: Description and Hardware-In-the-Loop Simulation. J Intell Robot Syst 70, 557–574 (2013). https://doi.org/10.1007/s10846-012-9745-y

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  • DOI: https://doi.org/10.1007/s10846-012-9745-y

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