APM飞控程序解读Word下载.docx

1、 without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ * ArduCopter Version 3.0 * Creator: Jason Short

2、* Lead Developer: Randy Mackay * Based on code and ideas from the Arducopter team: Pat Hickey, Jose Julio, Jani Hirvinen, Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni * Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier

3、, Robert Lefebvre, Marco Robustini * * Special Thanks for Contributors （in alphabetical order by first name）: * Adam M Rivera :Auto Compass Declination * Amilcar Lucas :Camera mount library * Andrew Tridgell :General development, Mavlink Support * Angel Fernandez :Alpha testing * Doug Weibel :Librar

4、ies * Christof Schmid : * Dani Saez :V Octo Support * Gregory Fletcher :Camera mount orientation math * Guntars :Arming safety suggestion * HappyKillmore :Mavlink GCS * Hein Hollander :Octo Support * Igor van Airde :Control Law optimization * Leonard Hall :Flight Dynamics, Throttle, Loiter and Navig

5、ation Controllers * Jonathan Challinger :Inertial Navigation * Jean-Louis Naudin :Auto Landing * Max Levine :Tri Support, Graphics * Jack Dunkle : * James Goppert :Mavlink Support * Jani Hiriven :Testing feedback * John Arne Birkeland :PPM Encoder * Jose Julio :Stabilization Control laws * Marco Rob

6、ustini :Lead tester * Michael Oborne :Mission Planner GCS * Mike Smith :Libraries, Coding support * Oliver :Piezo support * Olivier Adler : * Robert Lefebvre :Heli Support & LEDs * Sandro Benigno :Camera support * And much more so PLEASE PM me on DIYDRONES to add your contribution to the List * Requ

7、ires modified mrelax version of Arduino, which can be found here: * / Header includes#include stdio.hstdarg.h/ Common dependenciesAP_Common.hAP_Progmem.hAP_Menu.hAP_Param.h/ AP_HALAP_HAL.hAP_HAL_AVR.hAP_HAL_AVR_SITL.hAP_HAL_PX4.hAP_HAL_FLYMAPLE.hAP_HAL_Linux.hAP_HAL_Empty.h/ Application dependencies

8、GCS_MAVLink.h / MAVLink GCS定义AP_GPS.h / ArduPilot GPS libraryAP_GPS_Glitch.h / 全球定位系统干扰保护库DataFlash.h / ArduPilot Mega Flash Memory LibraryAP_ADC.h / ArduPilot Mega Analog to Digital Converter LibraryAP_ADC_AnalogSource.hAP_Baro.hAP_Compass.h / ArduPilot Mega Magnetometer LibraryAP_Math.h / ArduPilo

9、t Mega Vector/Matrix math LibraryAP_Curve.h / Curve used to linearlise throttle pwm to thrustAP_InertialSensor.h / ArduPilot Mega Inertial Sensor （accel & gyro） LibraryAP_AHRS.hAPM_PI.h / PI libraryAC_PID.h / PID libraryRC_Channel.h /遥控通道库AP_Motors.h / AP Motors libraryAP_RangeFinder.h / Range finde

10、r libraryAP_OpticalFlow.h / Optical Flow libraryFilter.h / Filter libraryAP_Buffer.h / APM FIFO BufferAP_Relay.h / APM relayAP_Camera.h / Photo or video cameraAP_Mount.h / Camera/Antenna mountAP_Airspeed.h / needed for AHRS buildAP_Vehicle.hAP_InertialNav.h / ArduPilot Mega inertial 导航 libraryAC_WPN

11、av.h / ArduCopter waypoint navigation libraryAP_Declination.h / ArduPilot Mega Declination Helper LibraryAC_Fence.h / Arducopter Fence librarymemcheck.h / memory limit checkerSITL.h / software in the loop supportAP_Scheduler.h / 主循环调度程序AP_RCMapper.h / RC input mapping libraryAP_Notify.h / Notify libraryAP_BattMonitor.h / Battery monitor library#if SPRAYER = ENABLEDAC_Spraye