Building a scalable and highly integrated systems is an important research direction and one of key technologies in Cyber-Physical Systems (CPS). Autonomous helicopter is a typical CPS application and its flight presents challenges in flight control system design with scalability. In this paper, we present the integration architecture of hardware and software for the flight control system based TREX 600 helicopter. In order to enhance scalability, the flight control system uses the PC104 and the ARM which is exerted to process the measurement data, including the position, attitude, height etc. The flight control is developed based multi-loop decoupling PI control which is easy to be implemented. Finally, the flight control system is successfully verified in the actual autonomous flight control experiment
