Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2 middleware via Protocol Buffers bridging. We evaluate the architecture through a 32.25-minute indoor quadrotor flight test using vision-based navigation. The vision system achieved 87.19 Hz position estimation with 99.90\% data continuity and 11.47 ms mean latency, validating real-time performance requirements. All 15 ground commands executed successfully with 100 % success rate, demonstrating robust F'--PX4 integration. System resource utilization remained low (15.19 % CPU, 1,244 MB RAM) with zero stale telemetry messages, confirming efficient operation on embedded platforms. Results validate the feasibility of hybrid flight-software architectures combining certification-grade determinism with flexible autonomy for autonomous aerial vehicles.

翻译：自主航空航天系统需要兼顾确定性实时控制与先进感知能力的架构。本文提出了一种集成系统，通过Protocol Buffers桥接技术将NASA的F'飞行软件框架与ROS2中间件相结合。我们通过一次32.25分钟的室内四旋翼飞行测试对该架构进行了评估，测试采用基于视觉的导航方案。视觉系统实现了87.19 Hz的位置估计频率，数据连续性达99.90%，平均延迟为11.47毫秒，满足了实时性要求。所有15项地面指令均成功执行，成功率100%，验证了F'与PX4飞控的稳健集成。系统资源占用保持在较低水平（CPU使用率15.19%，内存占用1,244 MB），且遥测数据零延迟，证实了该架构在嵌入式平台上的高效运行能力。实验结果验证了混合飞行软件架构的可行性，该架构将符合认证标准的确定性与灵活自主性相结合，适用于自主飞行器系统。