Hardware-in-the-loop test-bed of an Unmanned Aerial Vehicle using Orccad

National audienceDuring the development of control systems, hardware-in-the-loop (HIL) takes place between design level simulations and costly experiments with the real plant. In this particular experiment the controller is designed under Orccad, as a set of multi-rate tasks, allowing for testing weakly hard scheduling schemes. The controller is embedded on a microcontroller synchronized via a CAN bus to a mini-drone simulator. Observing the simulation traces helps to tune the control design, and avoid crashing down the real system in early testing