中文摘要：

针对执行复杂任务的多旋翼飞行器对多任务和安全性的需求,设计一种基于NuttX实时操作系统的飞行控制系统,并增加失效保护协处理器,达到减少开发过程中坠机几率和提高主处理器任务容量的目的.实验表明,此平台在满足稳定控制飞行的同时,能明显减小开发难度,缩短开发周期,并且给后续算法开发保留了充足的运行资源.

英文摘要：

According to the requirements of multi-rotor unmanned aerial vehicle for multitasking and secutiry, this paper presents a kind of flight control system adding a failsafe coprocessor based on NuttX real-time operation system, to reduce the probability of crash risk and enhance the capacity of task of the main processor. Experimental results show that this platform can meet the flight with great stability, significantly reduce the development effort and shorten the development cycle. It retains adequate resources for the subsequent algorithm development also.