基于FPGA的四轴飞行控制器的硬件系统设计

为提高四轴飞行器的数据采集与数据处理能力,降低四轴飞行器的功耗,研制了一种基于FPGA的四轴飞行控制器。飞行控制器以NIOS II处理器为控制核心,结合嵌入的SPI、I2C、UART等IP核实现了数据的实时采集与快速处理,并提出并行处理PPM解码和编码、超声波检测与控制、蜂鸣器控制的设计方案,利用VerilogHDL语言在FPGA上设计了这些并行处理功能模块,这些功能模块通过PIO核与NIOS II处理器连接,能够自主完成所规定的处理功能。经过多次飞行测试,四轴飞行器能够稳定的起飞和降落,快速的飞行,转弯,上升和下降,也能够避开障碍物,验证了四轴飞行控制器功能稳定,功耗较低,已达到设计的要求。

Hardware System Design of Four Axis Flight Controller Based on FPGA

In order to improve the four axle aircraft data acquisition and data processing ability, reduce the power consumption of four axis aircraft, developed a four axis flight controller based on FPGA. The flight controller takes the NIOS II processor as the control core, and combined with the embedded SPI, I2C, UART, IP core, realizes the real-time acquisition and fast data processing. And put forward the parallel processing design scheme of PPM encoding and decoding, ultrasonic detection and control, a buzzer control. Using VerilogHDL language in the FPGA design of the parallel processing function module. The function modules that are connected with the NIOS II processor through the PIO core, can complete processing functions required independently. After many flight tests, four axis aircraft take-off and landing is stable, and it can flight, turn, rise and fall fast, avoid obstacles effectively, which verifys the four axis aircraft controller is low power, stable, and meets requirements of the design.