Flight Controller Pipeline Synchronization for Low-Latency Control
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Solution Overview
Problem
Existing flight controller systems asynchronously poll sensor data and write to actuators, leading to performance issues due to varying execution times and module orders.
Innovation Solution
Implementing a synchronized pipeline architecture with fixed or bounded execution times and priority-based scheduling, allowing high-priority tasks to run frequently while low-priority tasks run less frequently, using a scheduler with preemption to ensure timely execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If asynchronous polling is used for sensor data and actuator control, then the system can operate with simple architecture, but latency and jitter increase leading to performance issues
Solution Approach 1:
The controller is divided into multiple independent modules organized in a pipeline architecture, where each module handles specific tasks (sensor polling, data processing, actuator control). This segmentation allows parallel execution of modules, reducing overall latency and jitter while maintaining architectural simplicity through modular design.
Solution Approach 2:
The patent implements synchronized periodic execution of pipeline modules at fixed time intervals. Each module executes in a predetermined time slot, creating regular, predictable cycles of operation. This periodic action eliminates jitter and ensures deterministic timing, improving real-time performance without significantly increasing system complexity.
2Reliability
If fixed execution times are implemented for pipeline modules, then deterministic operation is achieved, but the system requires more complex scheduling mechanisms
Solution Approach 1:
The execution order and time slots for each pipeline module are predetermined and configured in advance. The scheduler is pre-programmed with the optimal execution sequence for each module based on task priority and data dependencies. This preliminary configuration enables deterministic execution without requiring complex real-time scheduling decisions, reducing the operational complexity of the scheduling mechanism.
3Speed
If high-priority tasks run frequently with preemption, then real-time performance improves, but low-priority tasks may be delayed
Solution Approach 1:
The pipeline architecture implements dynamic priority-based scheduling where module execution frequency and time slots are adjusted based on task priority. High-priority modules execute more frequently with shorter periods, while low-priority modules execute less frequently with longer periods. This dynamic allocation ensures real-time performance for critical tasks while still providing periodic service to lower-priority tasks, balancing speed and delay across different task categories.
Data Source
AI summary
A pipeline in a controller may be configured to interface between sensors and actuators. The pipeline may elements such as drivers, filters, a combine, estimators, controllers, a mixer, and actuator controllers. The drivers may receive sensor data and pre-process the received sensor data. The filters may filter the pre-processed sensor data to generate filtered sensor data. The combine may package the filtered sensor data to generate packaged sensor data. The estimators may determine estimates of a position of a vehicle based on the packaged sensor data. The controllers may generate control signals based on the determined estimates. The mixer may modify the generated control signals based on limitations of the vehicle. The actuator controllers may generate actuator control signals based on the modified control signals to drive the actuators.