目前装载高集成度飞行控制器(简称飞控)的无人机广泛应用于农业、军事、航模运动和消费级产品中,在农业、军事和消费级产品应用中,无人机的用途越来越广,比如农业植保、火力、敌情侦察、航拍测绘等。本文主要从飞行控制器的另一个重要的避障功能来阐述这它的硬件和软件设计思路。 UAVs currently loaded with highly-integrated flight controllers are widely used in agriculture, military, aeromodelling and consumer products. UAV applications are increasingly being used in agricultural, military and consumer-grade applications The more widely, such as agricultural plant protection, firepower, enemy reconnaissance, aerial mapping and so on. This paper mainly elaborates on its hardware and software design ideas from another important obstacle avoidance function of flight controller.