A Verified UAV Flight Plan Generator
Baptiste Pollien, Christophe Garion, Gautier Hattenberger, Pierre Roux, Xavier Thirioux · 2023
FPL is a domain specific language used to specify complex drone missions for the Paparazzi open-source autopilot. FPL missions are compiled into C code that is directly embedded into the autopilot code. The FPL to C code generator, currently written in OCaml, is therefore a critical component when addressing the drone safety. This paper presents the formal verification of the FPL compilation process. First, we have developed in Coq a new three-pass code generator, targeting the Clight intermediate language from the CompCert suite. We have then formally defined an operational semantics for FPL. Finally, we have proved a bisimulation relation between FPL semantics and Clight semantics. In the course of the formalization and verification process, we have also unveiled several problems in the original Paparazzi code generator.