APM COPTER MAIN PROGRAM.docx

APM COPTER MAIN PROGRAM.docx

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APMCOPTERMAINPROGRAM

APMCOPTERMAINPROGRAM

///-*-tab-width:

4;Mode:

C++;c-basic-offset:

4;indent-tabs-mode:

nil-*-

#defineTHISFIRMWARE"ArduCopterV3.2-rc3"

/*

Thisprogramisfreesoftware:

youcanredistributeitand/ormodify

itunderthetermsoftheGNUGeneralPublicLicenseaspublishedby

theFreeSoftwareFoundation,eitherversion3oftheLicense,or

（atyouroption）anylaterversion.

Thisprogramisdistributedinthehopethatitwillbeuseful,

butWITHOUTANYWARRANTY;withouteventheimpliedwarrantyof

MERCHANTABILITYorFITNESSFORAPARTICULARPURPOSE.Seethe

GNUGeneralPublicLicenseformoredetails.

YoushouldhavereceivedacopyoftheGNUGeneralPublicLicense

alongwiththisprogram.Ifnot,see

//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:

Alphatesting

*CraigElder:

ReleaseManagement,Support

*DaniSaez:

VOctoSupport

*DougWeibel:

DCM,Libraries,Controllawadvice

*EmileCastelnuovo:

VRBrainport,bugfixes

*GregoryFletcher:

Cameramountorientationmath

*Guntars:

Armingsafetysuggestion

*HappyKillmore:

MavlinkGCS

*HeinHollander:

OctoSupport,HeliTesting

*IgorvanAirde:

ControlLawoptimization

*JackDunkle:

Alphatesting

*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:

PosHoldflightmode

*..andmanymore.

*

*Codecommitstatisticscanbefoundhere:

*Wiki:

*RequiresmodifiedversionofArduino,whichcanbefoundhere:

*

*/

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

//Headerincludes

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

#include

#include

#include

//Commondependencies

#include

#include

#include

#include

//AP_HAL

#include

#include

#include

#include

#include

#include

#include

#include

//Applicationdependencies

#include

#include//MAVLinkGCSdefinitions

#include//ArduPilotGPSlibrary

#include//GPSglitchprotectionlibrary

#include//ArduPilotMegaFlashMemoryLibrary

#include//ArduPilotMegaAnalogtoDigitalConverterLibrary

#include

#include

#include//ArduPilotMegaMagnetometerLibrary

#include//ArduPilotMegaVector/MatrixmathLibrary

#include//Curveusedtolinearlisethrottlepwmtothrust

#include//ArduPilotMegaInertialSensor（accel&gyro）Library

#include

#include

#include//Missioncommandlibrary

#include//Rallypointlibrary

#include//PIDlibrary

#include//HelispecificRatePIDlibrary

#include//Plibrary

#include//Attitudecontrollibrary

#include//Attitudecontrollibraryfor