//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:
Alphatesting
*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:
Alphatesting
*JamesGoppert:
MavlinkSupport
*JaniHiriven:
Testingfeedback
*JohnArneBirkeland:
PPMEncoder
*JoseJulio:
StabilizationControllaws
*MarcoRobustini:
Leadtester
*MichaelOborne:
MissionPlannerGCS
*MikeSmith:
Libraries,Codingsupport
*Oliver:
Piezosupport
*OlivierAdler:
PPMEncoder
*RobertLefebvre:
HeliSupport&LEDs
*SandroBenigno:
Camerasupport
*
*AndmuchmoresoPLEASEPMmeonDIYDRONEStoaddyourcontributiontotheList
*
*Requiresmodified"mrelax"versionofArduino,whichcanbefoundhere:
*
*
*/
////////////////////////////////////////////////////////////////////////////////
//Headerincludes
////////////////////////////////////////////////////////////////////////////////
#include
#include
#include
//Commondependencies
#include
#include
#include
#include
//AP_HAL
#include
#include
#include
#include
#include
#include
#include
//Applicationdependencies
#include//MAVLinkGCS定义
#include//ArduPilotGPSlibrary
#include//全球定位系统干扰保护库
#include//ArduPilotMegaFlashMemoryLibrary
#include//ArduPilotMegaAnalogtoDigitalConverterLibrary
#include
#include
#include//ArduPilotMegaMagnetometerLibrary
#include//ArduPilotMegaVector/MatrixmathLibrary
#include//Curveusedtolinearlisethrottlepwmtothrust
#include//ArduPilotMegaInertialSensor(accel&gyro)Library
#include
#include//PIlibrary
#include//PIDlibrary
#include//遥控通道库
#include//APMotorslibrary
#include//Rangefinderlibrary
#include//OpticalFlowlibrary
#include//Filterlibrary
#include//APMFIFOBuffer
#include//APMrelay
#include//Photoorvideocamera
#include//Camera/Antennamount
#include//neededforAHRSbuild
#include//neededforAHRSbuild
#include//ArduPilotMegainertial导航library
#include//ArduCopterwaypointnavigationlibrary
#include//ArduPilotMegaDeclinationHelperLibrary
#include//ArducopterFencelibrary
#include//memorylimitchecker
#include//softwareintheloopsupport
#include//主循环调度程序
#include//RCinputmappinglibrary
#include//Notifylibrary
#include//Batterymonitorlibrary
#ifSPRAYER==ENABLED
#include