开发高性能可靠的飞控软件是无人直升机控制系统研制的重要核心。结合控制律软件的设计,本文提出一种基于VxWorks嵌入式操作系统和RTW环境的飞控软件开发方案,构建了机载飞控软件总体架构。采用VxWorks多任务调度机制进行任务管理满足飞行控制的实时性要求,应用有限状态机实现无人直升机的行为控制,最后搭建了基于Simulink/RTW Embedded Coder开发测试平台框架并验证了该方案的有效性和可靠性。 The development of high-performance and reliable flight control software is an important core of unmanned helicopter control system. Combining with the design of control law software, this paper proposes a flight control software development scheme based on VxWorks embedded operating system and RTW environment, and builds the overall architecture of airborne flight control software. VxWorks multi-task scheduling mechanism for mission management to meet the real-time flight control requirements, the application of finite state machine to control the behavior of unmanned helicopters, and finally set up a framework based on Simulink / RTW Embedded Coder development and testing platform and verify the effectiveness of the program And reliability.