APM COPTER MAIN PROGRAM文档格式.docx

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