APM飞控程序解读Word格式.docx

APM飞控程序解读Word格式.docx

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*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_Sprayer.h>

//cropsprayerlibrary

#endif

//AP_HALArduino兼容性层#include"

compat.h"

//配置

#include"

defines.h"

config.h"

config_channels.h"

//Localmodules

Parameters.h"

GCS.h"

//cliSerial

//cliSerialisn'

tstrictlynecessary-itisanaliasforhal.console.Itmay

//bedeprecatedinfavorofhal.consoleinlaterreleases.

staticAP_HAL:

:

BetterStream*cliSerial;

//N.B.weneedtokeepastaticdeclarationwhichisn'

tguardedbymacros

//atthetoptocooperatewiththeprototypemangler.

//AP_HALinstance

constAP_HAL:

HAL&

hal=AP_HAL_BOARD_DRIVER;

//Parameters

//

//Globalparametersareallcontainedwithinthe'

g'

class.

staticParametersg;

//mainloopscheduler

staticAP_Schedulerscheduler;

//AP_Notifyinstance

staticAP_Notifynotify;

//prototypes

staticvoidupdate_events（void）;

staticvoidprint_flight_mode（AP_HAL:

BetterStream*port,uint8_tmode）;

//Dataflash

#ifCONFIG_HAL_BOARD==HAL_BOARD_APM2

staticDataFlash_APM2DataFlash;

#elifCONFIG_HAL_BOARD==HAL_BOARD_APM1

staticDataFlash_APM1DataFlash;

#elifCONFIG_HAL_BOARD==HAL_BOARD_AVR_SITL

//staticDataFlash_FileDataFlash（"

/tmp/APMlogs"

）;

staticDataFlash_SITLDataFlash;

#elifCONFIG_HAL_BOARD==HAL_BOARD_PX4

staticDataFlash_FileDataFlash（"

/fs/microsd/APM/logs"

#elifCONFIG_HAL_BOARD==HAL_BOARD_LINUX

logs"

#else

staticDataFlash_EmptyDataFlash;

//运行主循环////////////////////////////////////////////////////////////////////////////////

静态常量AP_InertialSensor:

Sample_rateins_sample_rate=AP_InertialSensor:

RATE_100HZ;

//Sensors

//Therearethreebasicoptionsrelatedtoflightsensorselection.

//-Normalflightmode.Realsensorsareused.

//-HILAttitudemode.Mostsensorsaredisabled,astheHIL

//protocolsuppliesattitudeinformationdirectly.

//-HILSensorsmode.Syntheticsensorsareconfiguredthat

//supplydatafromthesimulation.

//AllGPSaccessshouldbethroughthispointer.

staticGPS*g_gps;

staticGPS_Glitchgps_glitch（g_gps）;

//flightmodesconveniencearray

staticAP_Int8*flight_modes=&

g.flight_mode1;

#ifHIL_MODE==HIL_MODE_DISABLED

#ifCONFIG_ADC==ENABLED

staticAP_ADC_ADS7844adc;

#endif

#ifCONFIG_IMU_TYPE==CONFIG_IMU_MPU6000

staticAP_InertialSensor_MPU6000ins;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_OILPAN

staticAP_InertialSensor_Oilpanins（&

adc）;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_SITL

staticAP_InertialSensor_HILins;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_PX4

staticAP_InertialSensor_PX4ins;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_FLYMAPLE

AP_InertialSensor_Flymapleins;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_L3G4200D

AP_InertialSensor_L3G4200Dins;

#ifCONFIG_HAL_BOARD==HAL_BOARD_AVR_SITL

//WhenbuildingforSITLweusetheHILbarometerandcompassdrivers

staticAP_Baro_HILbarometer;

staticAP_Compass_HILcompass;

staticSITLsitl;

#else

//Otherwise,instantiatearealbarometerandcompassdriver

#ifCONFIG_BARO==AP_BARO_BMP085

staticAP_Baro_BMP085barometer;

#elifCONFIG_BARO==AP_BARO_PX4

staticAP_Baro_PX4barometer;

#elifCONFIG_BARO==AP_BARO_MS5611

#ifCONFIG_MS5611_SERIAL==AP_BARO_MS5611_SPI

staticAP_Baro_MS5611barometer（&

AP_Baro_MS5611:

spi）;

#elifCONFIG_MS5611_SERIAL==AP_BARO_MS5611_I2C

i2c）;

#errorUnrecognizedCONFIG_MS5611_SERIALsetting.

#ifCONFIG_HAL_BOARD==HAL_BOARD_PX4

staticAP_Compass_PX4compass;

staticAP_Compass_HMC5843compass;

//realGPSselection

#ifGPS_PROTOCOL==GPS_PROTOCOL_AUTO

AP_GPS_Autog_gps_driver（&

g_gps）;

#elifGPS_PROTOCOL==GPS_PROTOCOL_NMEA

AP_GPS_NMEAg_gps_driver;

#elifGPS_PROTOCOL==GPS_PROTOCOL_SIRF

AP_GPS_SIRFg_gps_driver;

#elifGPS_PROTOCOL==GPS_P