​Abstract: This study introduces a lightweight software framework for controlling servo-based actuation systems in unmanned aerial platforms through a universal serial bus to controller area network communication interface. The proposed approach emphasizes reliable command transmission, structured feedback acquisition, and deterministic communication behavior under general-purpose operating environments. Instead of focusing on closed-loop control design, the framework addresses challenges related to packet framing, timing consistency, and data integrity during continuous communication between host systems and actuator units. A custom byte-level framing structure is employed to ensure clear boundary detection, error validation, and stable parsing of actuator state information such as position, velocity, and electrical current. The system adopts a dual-layer scheduling mechanism to separate command execution from feedback collection, improving temporal consistency and reducing communication interference. Experimental validation demonstrates that the proposed framework achieves stable actuation performance with minimal deviation between commanded and measured states. The results confirm that the system provides a practical and extensible foundation for reliable actuator communication in aerial robotic platforms.

Keywords: Servo motor control, CAN communication protocol, Real-time control loop, Concurrent process scheduling, Modular software framework.

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