APM COPTER MAIN PROGRAM文档格式.docx
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withouteventheimpliedwarrantyof
MERCHANTABILITYorFITNESSFORAPARTICULARPURPOSE.Seethe
GNUGeneralPublicLicenseformoredetails.
YoushouldhavereceivedacopyoftheGNUGeneralPublicLicense
alongwiththisprogram.Ifnot,see<
http:
//www.gnu.org/licenses/>
.
*/
*ArduCopterVersion3.0
*Creator:
JasonShort
*LeadDeveloper:
RandyMackay
*LeadTester:
MarcoRobustini
*BasedoncodeandideasfromtheArducopterteam:
LeonardHall,AndrewTridgell,RobertLefebvre,PatHickey,MichaelOborne,JaniHirvinen,
OlivierAdler,KevinHester,ArthurBenemann,JonathanChallinger,JohnArneBirkeland,
Jean-LouisNaudin,MikeSmith,andmore
*Thanksto:
ChrisAnderson,JordiMunoz,JasonShort,DougWeibel,JoseJulio
*
*SpecialThankstocontributors(inalphabeticalorderbyfirstname):
*AdamMRivera:
AutoCompassDeclination
*AmilcarLucas:
Cameramountlibrary
*AndrewTridgell:
Generaldevelopment,MavlinkSupport
*AngelFernandez:
Alphatesting
*AndreasAntonopoulous:
GeoFence
*ArthurBenemann:
DroidPlannerGCS
*BenjaminPelletier:
Libraries
*BillKing:
SingleCopter
*ChristofSchmid:
*CraigElder:
ReleaseManagement,Support
*DaniSaez:
VOctoSupport
*DougWeibel:
DCM,Libraries,Controllawadvice
*EmileCastelnuovo:
VRBrainport,bugfixes
*GregoryFletcher:
Cameramountorientationmath
*Guntars:
Armingsafetysuggestion
*HappyKillmore:
MavlinkGCS
*HeinHollander:
OctoSupport,HeliTesting
*IgorvanAirde:
ControlLawoptimization
*JackDunkle:
*JamesGoppert:
MavlinkSupport
*JaniHiriven:
Testingfeedback
*Jean-LouisNaudin:
AutoLanding
*JohnArneBirkeland:
PPMEncoder
*JoseJulio:
StabilizationControllaws,MPU6kdriver
*JulienDubois:
PosHoldflightmode
*JulianOes:
Pixhawk
*JonathanChallinger:
InertialNavigation,CompassMot,Spin-When-Armed
*KevinHester:
AndropilotGCS
*MaxLevine:
TriSupport,Graphics
*LeonardHall:
FlightDynamics,Throttle,LoiterandNavigationControllers
*MarcoRobustini:
Leadtester
*MichaelOborne:
MissionPlannerGCS
*MikeSmith:
Pixhawkdriver,codingsupport
*OlivierAdler:
PPMEncoder,piezobuzzer
*PatHickey:
HardwareAbstractionLayer(HAL)
*RobertLefebvre:
HeliSupport,CopterLEDs
*RobertoNavoni:
Librarytesting,PortingtoVRBrain
*SandroBenigno:
Camerasupport,MinimOSD
*SandroTognana:
*..andmanymore.
*Codecommitstatisticscanbefoundhere:
*Wiki:
*RequiresmodifiedversionofArduino,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_VRBRAIN.h>
AP_HAL_FLYMAPLE.h>
AP_HAL_Linux.h>
AP_HAL_Empty.h>
//Applicationdependencies
GCS.h>
GCS_MAVLink.h>
//MAVLinkGCSdefinitions
AP_GPS.h>
//ArduPilotGPSlibrary
AP_GPS_Glitch.h>
//GPSglitchprotectionlibrary
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>
AP_NavEKF.h>
AP_Mission.h>
//Missioncommandlibrary
AP_Rally.h>
//Rallypointlibrary
AC_PID.h>
//PIDlibrary
AC_HELI_PID.h>
//HelispecificRatePIDlibrary
AC_P.h>
//Plibrary
AC_AttitudeControl.h>
//Attitudecontrollibrary
AC_AttitudeControl_Heli.h>
//Attitudecontrollibraryfor