Unmanned Aerial Vehicles (UAVs) are widely used in both industry and academic area. The Flight Control (FC) is the key function which allows stable flight in the air. Typically it is implemented in software using small microcontrollers. In order to do Mission based tasks, user requires extra add-on hardware to support such functionality. In this paper, a VHDL implementation of Flight Control functions of Quadcopter and its integration in Zynq SoC are presented. This hardware implementation has several benefits over conventional software implementation. Firstly migrating Flight Control functions into hardware provides plenty of room for a Microprocessor to do other tasks such as Mission Control. This also leads no extra Microprocessor. Second, it is complete RTL (register-transfer-level) design described in VHDL, i.e., no Vendor specific macros or hard cores are used. Therefore it is easily portable to platforms from different vendors. Next, many efficient algorithms are utilized for arithmetic and trigonometric functions like Non-Restoring Square Root Algorithm, Booth Multiplier Algorithm, Cordic Algorithm. As a result, it achieves less area, higher speed. Finally providing AMBA AXI-lite interface gives easy integration in SoCs like 7 Series Zynq from Xilinx.
VHDL implementation of Flight Control functions of Quadcopter and its integration in Zynq SoC (System on Chip)
2014
4 Seiten, Bilder, Tabellen, 10 Quellen
Aufsatz (Konferenz)
Englisch
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