APM飞控程序解读.docx

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-#define THISFIRMWARE ArduCopter V3.1-rc5/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; 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 /licenses/. *//* * ArduCopter Version 3.0 * Creator: Jason Short * 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, 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:Libraries * Christof Schmid:Alpha testing * 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 Navigation Controllers * Jonathan Challinger :Inertial Navigation * Jean-Louis Naudin :Auto Landing * Max Levine:Tri Support, Graphics * Jack Dunkle:Alpha testing * James Goppert:Mavlink Support * Jani Hiriven:Testing feedback * John Arne Birkeland:PPM Encoder *