APM飞控程序解读.docx

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APM飞控程序解读.docx

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APM飞控程序解读.docx

APM飞控程序解读

///-*-tab-width:

4;Mode:

C++;c-basic-offset:

4;indent-tabs-mode:

nil-*-

#defineTHISFIRMWARE"ArduCopterV3.1-rc5"

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

*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

//Commondependencies

#include

//AP_HAL

#include

//Applicationdependencies

#include//MAVLinkGCSdefinitions

#include//ArduPilotGPSlibrary

#include//全球定位系统干扰保护库

#include//ArduPilotMegaFlashMemoryLibrary

#include//ArduPilotMegaAnalogtoDigitalConverterLibrary

#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//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//cropsprayerlibrary

#endif

//AP_HALtoArduinocompatibilitylayer

#include"compat.h"

//Configuration

#include"defines.h"

#include"config.h"

#include"config_channels.h"

//Localmodules

#include"Parameters.h"

#include"GCS.h"

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

//cliSerial

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

//cliSerialisn'tstrictlynecessary-itisanaliasforhal.console.Itmay

//bedeprecatedinfavorofhal.consoleinlaterreleases.

staticAP_HAL:

BetterStream*cliSerial;

//N.B.weneedtokeepastaticdeclarationwhichisn'tguardedbymacros

//atthetoptocooperatewiththeprototypemangler.

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

//AP_HALinstance

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

constAP_HAL:

HAL&hal=AP_HAL_BOARD_DRIVER;

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

//Parameters

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

//Globalparametersareallcontainedwithinthe'g'class.

staticParametersg;

//mainloopscheduler

staticAP_Schedulerscheduler;

//AP_Notifyinstance

staticAP_Notifynotify;

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

//prototypes

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

staticvoidupdate_events（void）;

staticvoidprint_flight_mode（AP_HAL:

BetterStream*port,uint8_tmode）;

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

//Dataflash

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

#ifCONFIG_HAL_BOARD==HAL_BOARD_APM2

staticDataFlash_APM2DataFlash;

#elifCONFIG_HAL_BOARD==HAL_BOARD_APM1

staticDataFlash_APM1DataFlash;

#elifCONFIG_HAL_BOARD==HAL_BOARD_AVR_SITL

//staticDataFlash_FileDataFlash（"/tmp/APMlogs"）;

staticDataFlash_SITLDataFlash;

#elifCONFIG_HAL_BOARD==HAL_BOARD_PX4

staticDataFlash_FileDataFlash（"/fs/microsd/APM/logs"）;

#elifCONFIG_HAL_BOARD==HAL_BOARD_LINUX

staticDataFlash_FileDataFlash（"logs"）;

#else

staticDataFlash_EmptyDataFlash;

#endif

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

//theratewerunthemainloopat

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

staticconstAP_InertialSensor:

Sample_rateins_sample_rate=AP_InertialSensor:

RATE_100HZ;

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

//Sensors

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

//Therearethreebasicoptionsrelatedtoflightsensorselection.

//-Normalflightmode.Realsensorsareused.

//-HILAttitudemode.Mostsensorsaredisabled,astheHIL

//protocolsuppliesattitudeinformationdirectly.

//-HILSensorsmode.Syntheticsensorsareconfiguredthat

//supplydatafromthesimulation.

//AllGPSaccessshouldbethroughthispointer.

staticGPS*g_gps;

staticGPS_Glitchgps_glitch（g_gps）;

//flightmodesconveniencearray

staticAP_Int8*flight_modes=&g.flight_mode1;

#ifHIL_MODE==HIL_MODE_DISABLED

#ifCONFIG_ADC==ENABLED

staticAP_ADC_ADS7844adc;

#endif

#ifCONFIG_IMU_TYPE==CONFIG_IMU_MPU6000

staticAP_InertialSensor_MPU6000ins;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_OILPAN

staticAP_InertialSensor_Oilpanins（&adc）;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_SITL

staticAP_InertialSensor_HILins;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_PX4

staticAP_InertialSensor_PX4ins;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_FLYMAPLE

AP_InertialSensor_Flymapleins;

#elifCONFIG_IMU_TYPE==CONFIG_IMU_L3G4200D

AP_InertialSensor_L3G4200Dins;

#endif

#ifCONFIG_HAL_BOARD==HAL_BOARD_AVR_SITL

//WhenbuildingforSITLweusetheHILbarometerandcompassdrivers

staticAP_Baro_HILbarometer;

staticAP_Compass_HILcompass;

staticSITLsitl;

#else

//Otherwise,instantiatearealbarometerandcompassdriver

#ifCONFIG_BARO==AP_BARO_BMP085

staticAP_Baro_BMP085barometer;

#elifCONFIG_BARO==AP_BARO_PX4

staticAP_Baro_PX4barometer;

#elifCONFIG_BARO==AP_BARO_MS5611

#ifCONFIG_MS5611_SERIAL==AP_BARO_MS5611_SPI

staticAP_Baro_MS5611barometer（&AP_Baro_MS5611:

spi）;

#elifCONFIG_MS5611_SERIAL==AP_BARO_MS5611_I2C

staticAP_Baro_MS5611barometer（&AP_Baro_MS5611:

i2c）;

#else

#errorUnrecognizedCONFIG_MS5611_SERIALsetting.

#endif

#ifCONFIG_HAL_BOARD==HAL_BOARD_PX4

staticAP_Compass_PX4compass;

#else

staticAP_Compass_HMC5843compass;

#endif

//realGPSselection

#ifGPS_PROTOCOL==GPS_PROTOCOL_AUTO

AP_GPS_Autog_gps_driver（&g_gps）;

#elifGPS_PROTOCOL==GPS_PROTOCOL_NMEA

AP_GPS_NMEAg_gps_driver;

#elifGPS_PRO

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