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Aiming at small UAVs’ increasingly complex functionality and actuality that needs to improve reliability and real-time performance urgently, develops flight control software based on VxWorks real-time operating system for small UAVs to realize the autonomous flight control, including takeoff, cruise , landing etc. The overall structure of flight control software is given based on software requirements analysis, and combines with the operating mechanism of VxWorks operating system to give modularization design of flight control software, emphatically introduces the tasks division and priority allocation strategy under multitasking environments. The results of Hardware-in-the-Loop simulation shows that tasks management by VxWorks real-time operating system for flight control software meets the design requirements completely, also remarkably improves reliability and real-time performance, furthermore, greatly reduces the developing difficult and enhances maintainability and portability.