Deployment and Implementation of a Real-Time Operating System for UAV

Abstract

Unmanned Aerial Vehicles (UAVs) are embedded real-time systems widely used in applica- tions such as surveillance, mapping, and autonomous navigation. Their performance depends on the ability of the onboard controller to ensure stable flight while satisfying strict real-time constraints for sensor processing and control execution. This study focuses on the design and implementation of a real-time UAV flight control system based on the STM32F767 microcontroller and the FreeRTOS operating system. The system integrates several hardware components including an IMU sensor, barometer, Electronic Speed Controllers (ESC), brushless DC motors, and a remote control receiver to achieve accurate state estimation and stable flight control. To evaluate the performance of the proposed system, several experiments were conducted based on timing behavior, task execution, and real-time responsiveness. The obtained results demonstrate that the system satisfies real-time constraints and ensures stable and efficient flight control under dynamic operating conditions.