Design and Implementation of an Operational Flight Program for an Unmanned Helicopter FCC Based on the TMO Scheme

Authors:
Se-Gi Kim;Seung-Hwa Song;Chun-Hyon Chang;Doo-Hyun Kim;Shin Heu;Jungguk Kim
Affiliations:
Hankuk University of Foreign Studies,;Konkuk University,;Konkuk University,;Konkuk University,;Hanyang University,;Hankuk University of Foreign Studies,
Venue:
SEUS '09 Proceedings of the 7th IFIP WG 10.2 International Workshop on Software Technologies for Embedded and Ubiquitous Systems
Year:
2009

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Abstract

HELISCOPE is the name of a project support by MKE (Ministry of Knowledge & Economy) of Korea to develop flying-camera services that transmits the scene of a fire by an unmanned helicopter. In this paper, we introduce the design and implementation of the OFP (Operational Flight Program) for the unmanned helicopter's navigation based on the well-known TMO scheme. Navigation of the unmanned helicopter is done by the commands on flight mode from our GCS (Ground Control System). As the RTOS on the FCC (Flight Control Computer), RT-eCos3.0 that has been developed based on the eCos3.0 to support the basic task model of the TMO scheme is being used. To verify this navigation system, a HILS (Hardware-in-the-loop Simulation) system using the FlightGear simulator also has been developed. The structure and functions of the RT-eCos3.0 and the HILS is also introduced briefly.