APM飞控程序解读Word下载.docx

APM飞控程序解读Word下载.docx

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withouteventheimpliedwarrantyof

MERCHANTABILITYorFITNESSFORAPARTICULARPURPOSE.Seethe

GNUGeneralPublicLicenseformoredetails.

YoushouldhavereceivedacopyoftheGNUGeneralPublicLicense

alongwiththisprogram.Ifnot,see<

http:

//www.gnu.org/licenses/>

.

*/

*ArduCopterVersion3.0

*Creator:

JasonShort

*LeadDeveloper:

RandyMackay

*BasedoncodeandideasfromtheArducopterteam:

PatHickey,JoseJulio,JaniHirvinen,AndrewTridgell,JustinBeech,AdamRivera,Jean-LouisNaudin,RobertoNavoni

*Thanksto:

ChrisAnderson,MikeSmith,JordiMunoz,DougWeibel,JamesGoppert,BenjaminPelletier,RobertLefebvre,MarcoRobustini

*

*SpecialThanksforContributors（inalphabeticalorderbyfirstname）:

*AdamMRivera:

AutoCompassDeclination

*AmilcarLucas:

Cameramountlibrary

*AndrewTridgell:

Generaldevelopment,MavlinkSupport

*AngelFernandez:

Alphatesting

*DougWeibel:

Libraries

*ChristofSchmid:

*DaniSaez:

VOctoSupport

*GregoryFletcher:

Cameramountorientationmath

*Guntars:

Armingsafetysuggestion

*HappyKillmore:

MavlinkGCS

*HeinHollander:

OctoSupport

*IgorvanAirde:

ControlLawoptimization

*LeonardHall:

FlightDynamics,Throttle,LoiterandNavigationControllers

*JonathanChallinger:

InertialNavigation

*Jean-LouisNaudin:

AutoLanding

*MaxLevine:

TriSupport,Graphics

*JackDunkle:

*JamesGoppert:

MavlinkSupport

*JaniHiriven:

Testingfeedback

*JohnArneBirkeland:

PPMEncoder

*JoseJulio:

StabilizationControllaws

*MarcoRobustini:

Leadtester

*MichaelOborne:

MissionPlannerGCS

*MikeSmith:

Libraries,Codingsupport

*Oliver:

Piezosupport

*OlivierAdler:

*RobertLefebvre:

HeliSupport&

LEDs

*SandroBenigno:

Camerasupport

*AndmuchmoresoPLEASEPMmeonDIYDRONEStoaddyourcontributiontotheList

*Requiresmodified"

mrelax"

versionofArduino,whichcanbefoundhere:

*

////////////////////////////////////////////////////////////////////////////////

//Headerincludes

#include<

math.h>

stdio.h>

stdarg.h>

//Commondependencies

AP_Common.h>

AP_Progmem.h>

AP_Menu.h>

AP_Param.h>

//AP_HAL

AP_HAL.h>

AP_HAL_AVR.h>

AP_HAL_AVR_SITL.h>

AP_HAL_PX4.h>

AP_HAL_FLYMAPLE.h>

AP_HAL_Linux.h>

AP_HAL_Empty.h>

//Applicationdependencies

GCS_MAVLink.h>

//MAVLinkGCS定义

AP_GPS.h>

//ArduPilotGPSlibrary

AP_GPS_Glitch.h>

//全球定位系统干扰保护库

DataFlash.h>

//ArduPilotMegaFlashMemoryLibrary

AP_ADC.h>

//ArduPilotMegaAnalogtoDigitalConverterLibrary

AP_ADC_AnalogSource.h>

AP_Baro.h>

AP_Compass.h>

//ArduPilotMegaMagnetometerLibrary

AP_Math.h>

//ArduPilotMegaVector/MatrixmathLibrary

AP_Curve.h>

//Curveusedtolinearlisethrottlepwmtothrust

AP_InertialSensor.h>

//ArduPilotMegaInertialSensor（accel&

gyro）Library

AP_AHRS.h>

APM_PI.h>

//PIlibrary

AC_PID.h>

//PIDlibrary

RC_Channel.h>

//遥控通道库

AP_Motors.h>

//APMotorslibrary

AP_RangeFinder.h>

//Rangefinderlibrary

AP_OpticalFlow.h>

//OpticalFlowlibrary

Filter.h>

//Filterlibrary

AP_Buffer.h>

//APMFIFOBuffer

AP_Relay.h>

//APMrelay

AP_Camera.h>

//Photoorvideocamera

AP_Mount.h>

//Camera/Antennamount

AP_Airspeed.h>

//neededforAHRSbuild

AP_Vehicle.h>

AP_InertialNav.h>

//ArduPilotMegainertial导航library

AC_WPNav.h>

//ArduCopterwaypointnavigationlibrary

AP_Declination.h>

//ArduPilotMegaDeclinationHelperLibrary

AC_Fence.h>

//ArducopterFencelibrary

memcheck.h>

//memorylimitchecker

SITL.h>

//softwareintheloopsupport

AP_Scheduler.h>

//主循环调度程序

AP_RCMapper.h>

//RCinputmappinglibrary

AP_Notify.h>

//Notifylibrary

AP_BattMonitor.h>

//Batterymonitorlibrary

#ifSPRAYER==ENABLED

AC_Spraye