Implementation of VxWorks in autopilot for micro aerial vehicle based on PXA255 and FPGA

The overall hardware construction of autopilot within micro aerial vehicle is presented. The boot process of VxWorks real-time operating system as well as the conception and function of board-support package (BSP) is described. And the transplantation process of the VxWroks operating system into the hardware platform mentioned above is highlighted. It is shown from the final results that VxWorks has high stability and real-time performance, ensuring accurate flight control and a smooth flight of the micro aerial vehicle.