APM COPTER MAIN PROGRAM文档格式.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 * Lead Tester: Marco Robustini * Based on code and ideas from the Arducopter team: Leonard Hall, Andrew Tridgell, Robert Lefebvre, Pat Hickey, Michael Oborne, Jani Hirvinen, Olivier Adler, Kevin Hester, Arthur Benemann, Jonathan Challinger, John Arne Birkeland, Jean-Lo

3、uis Naudin, Mike Smith, and more * Thanks to: Chris Anderson, Jordi Munoz, Jason Short, Doug Weibel, Jose Julio * * Special Thanks to contributors （in alphabetical order by first name）: * Adam M Rivera :Auto Compass Declination * Amilcar Lucas :Camera mount library * Andrew Tridgell :General develop

4、ment, Mavlink Support * Angel Fernandez :Alpha testing * AndreasAntonopoulous:GeoFence * Arthur Benemann :DroidPlanner GCS * Benjamin Pelletier :Libraries * Bill King :Single Copter * Christof Schmid : * Craig Elder :Release Management, Support * Dani Saez :V Octo Support * Doug Weibel :DCM, Librari

5、es, Control law advice * Emile Castelnuovo :VRBrain port, bug fixes * Gregory Fletcher :Camera mount orientation math * Guntars :Arming safety suggestion * HappyKillmore :Mavlink GCS * Hein Hollander :Octo Support, Heli Testing * Igor van Airde :Control Law optimization * Jack Dunkle : * James Goppe

6、rt :Mavlink Support * Jani Hiriven :Testing feedback * Jean-Louis Naudin :Auto Landing * John Arne Birkeland :PPM Encoder * Jose Julio :Stabilization Control laws, MPU6k driver * Julien Dubois :PosHold flight mode * Julian Oes :Pixhawk * Jonathan Challinger :Inertial Navigation, CompassMot, Spin-Whe

7、n-Armed * Kevin Hester :Andropilot GCS * Max Levine :Tri Support, Graphics * Leonard Hall :Flight Dynamics, Throttle, Loiter and Navigation Controllers * Marco Robustini :Lead tester * Michael Oborne :Mission Planner GCS * Mike Smith :Pixhawk driver, coding support * Olivier Adler :PPM Encoder, piez

8、o buzzer * Pat Hickey :Hardware Abstraction Layer （HAL） * Robert Lefebvre :Heli Support, Copter LEDs * Roberto Navoni :Library testing, Porting to VRBrain * Sandro Benigno :Camera support, MinimOSD * Sandro Tognana : * .and many more. * Code commit statistics can be found here: * Wiki: * Requires mo

9、dified 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_VRBRAIN.hAP_HAL_FLYMAPLE.hAP_HAL_Linux.hAP_HAL_Empty.h/ Application dependenciesG

10、CS.hGCS_MAVLink.h / MAVLink GCS definitionsAP_GPS.h / ArduPilot GPS libraryAP_GPS_Glitch.h / GPS glitch protection libraryDataFlash.h / ArduPilot Mega Flash Memory LibraryAP_ADC.h / ArduPilot Mega Analog to Digital Converter LibraryAP_ADC_AnalogSource.hAP_Baro.hAP_Compass.h / ArduPilot Mega Magnetom

11、eter LibraryAP_Math.h / ArduPilot 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.hAP_NavEKF.hAP_Mission.h / Mission command libraryAP_Rally.h / Rally point libraryAC_PID.h / PID libraryAC_HELI_PID.h / Heli specific Rate PID libraryAC_P.h / P libraryAC_AttitudeControl.h / Attitude control libraryAC_AttitudeControl_Heli.h / Attitude control library for