摘  要：提出并实现了一种以MSP430F149单片机为硬件核心的某小型无人机舵机控制系统，描述了系统的功能及硬件结构配置，给出了实时控制软件的功能模块及算法和流程图，并着重指出在软件实现过程中应注意的关键问题。实验结果表明此设计符合飞行控制器的实时性控制要求，可靠性高，具有广泛的应用价值。
关键词：无人机;舵机;MSP430F149;飞行控制

Abstract: The servo control system of one small UAV,which includes detailed function and architecture and presents software blocks、arithmetics and flowchars,employs microcontroller MSP430F149 as its core hardware.The system fixes mainly on key issues of software designing process.Tests show that the system meets the trend of real-time and high reliability with the most potential value.
Key Words: UAV;Servo;MSP430F149;Flight control