Hardware Design and Implementation of a MAVLink Interface for an FPGA-Based Autonomous UAV Flight Control System

摘要

This paper details the initial design and planning of a Field Programmable Gate Array (FPGA) implemented control system that will enable a path planner to interact with a MAVLink based flight computer. The design is aimed at small Unmanned Aircraft Vehicles (UAV) under autonomous operation which are typically subject to constraints arising from limited on-board processing capabilities, power and size. An FPGA implementation for the design is chosen for its potential to address such limitations through low power and high speed inhardware computation. The MAVLink protocol offers a low bandwidth interface for the FPGA implemented path planner to communicate with an on-board flight computer. A control system plan is presented that is capable of accepting a string of GPS waypoints generated on-board from a previously developed in-hardware Genetic Algorithm (GA) path planner and feeding them to the open source PX4 autopilot, while simultaneously responding with flight status information.