APM飞控源码
APM飞控源码,来自github的资源,分享以供学习。。。。。。
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2018-04-09 05:32 ardupilot-master
文件 137 2018-04-09 05:32 ardupilot-master.dir-locals.el
文件 681 2018-04-09 05:32 ardupilot-master.editorconfig
文件 117 2018-04-09 05:32 ardupilot-master.gitattributes
目录 0 2018-04-09 05:32 ardupilot-master.github
文件 2099 2018-04-09 05:32 ardupilot-master.githubCONTRIBUTING.md
文件 472 2018-04-09 05:32 ardupilot-master.githubISSUE_TEMPLATE.md
文件 1456 2018-04-09 05:32 ardupilot-master.gitignore
文件 1177 2018-04-09 05:32 ardupilot-master.gitmodules
文件 307 2018-04-09 05:32 ardupilot-master.pydevproject
文件 2449 2018-04-09 05:32 ardupilot-master.travis.yml
目录 0 2018-04-09 05:32 ardupilot-masterAPMrover2
文件 194 2018-04-09 05:32 ardupilot-masterAPMrover2APM_Config.h
文件 10447 2018-04-09 05:32 ardupilot-masterAPMrover2APMrover2.cpp
文件 3961 2018-04-09 05:32 ardupilot-masterAPMrover2AP_Arming.cpp
文件 831 2018-04-09 05:32 ardupilot-masterAPMrover2AP_Arming.h
文件 20110 2018-04-09 05:32 ardupilot-masterAPMrover2AP_MotorsUGV.cpp
文件 3977 2018-04-09 05:32 ardupilot-masterAPMrover2AP_MotorsUGV.h
文件 49601 2018-04-09 05:32 ardupilot-masterAPMrover2GCS_Mavlink.cpp
文件 1951 2018-04-09 05:32 ardupilot-masterAPMrover2GCS_Mavlink.h
文件 614 2018-04-09 05:32 ardupilot-masterAPMrover2GCS_Rover.h
文件 11501 2018-04-09 05:32 ardupilot-masterAPMrover2Log.cpp
文件 21 2018-04-09 05:32 ardupilot-masterAPMrover2Makefile
文件 44 2018-04-09 05:32 ardupilot-masterAPMrover2Makefile.waf
文件 28396 2018-04-09 05:32 ardupilot-masterAPMrover2Parameters.cpp
文件 9466 2018-04-09 05:32 ardupilot-masterAPMrover2Parameters.h
文件 94 2018-04-09 05:32 ardupilot-masterAPMrover2Parameters.pde
文件 1168 2018-04-09 05:32 ardupilot-masterAPMrover2Rover.cpp
文件 20691 2018-04-09 05:32 ardupilot-masterAPMrover2Rover.h
文件 1202 2018-04-09 05:32 ardupilot-masterAPMrover2Steering.cpp
文件 879 2018-04-09 05:32 ardupilot-masterAPMrover2afs_rover.cpp
............此处省略3295个文件信息
/*
Lead developers: Matthew Ridley and Andrew Tridgell
Please contribute your ideas! See http://dev.ardupilot.org for details
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 .
*/
#include “Tracker.h“
#define FORCE_VERSION_H_INCLUDE
#include “version.h“
#undef FORCE_VERSION_H_INCLUDE
#define SCHED_TASK(func _interval_ticks _max_time_micros) SCHED_TASK_CLASS(Tracker &tracker func _interval_ticks _max_time_micros)
/*
scheduler table - all regular tasks apart from the fast_loop()
should be listed here along with how often they should be called
(in 20ms units) and the maximum time they are expected to take (in
microseconds)
*/
const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(update_ahrs 50 1000)
SCHED_TASK(read_radio 50 200)
SCHED_TASK(update_tracking 50 1000)
SCHED_TASK(update_GPS 10 4000)
SCHED_TASK(update_compass 10 1500)
SCHED_TASK_CLASS(AP_BattMonitor &tracker.battery read 10 1500)
SCHED_TASK(update_barometer 10 1500)
SCHED_TASK(gcs_update 50 1700)
SCHED_TASK(gcs_data_stream_send 50 3000)
SCHED_TASK(compass_accumulate 50 1500)
SCHED_TASK_CLASS(AP_Baro &tracker.barometer accumulate 50 900)
SCHED_TASK(ten_hz_logging_loop 10 300)
SCHED_TASK_CLASS(DataFlash_Class &tracker.DataFlash periodic_tasks 50 300)
SCHED_TASK_CLASS(AP_InertialSensor &tracker.ins periodic 50 50)
SCHED_TASK_CLASS(AP_Notify &tracker.notify update 50 100)
SCHED_TASK(check_usb_mux 10 300)
SCHED_TASK(gcs_retry_deferred 50 1000)
SCHED_TASK(one_second_loop 1 3900)
SCHED_TASK(compass_cal_update 50 100)
SCHED_TASK(accel_cal_update 10 100)
};
/**
setup the sketch - called once on startup
*/
void Tracker::setup()
{
// load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults();
init_tracker();
// initialise the main loop scheduler
scheduler.init(&scheduler_tasks[0] ARRAY_SIZE(scheduler_tasks) (uint32_t)-1);
}
/**
loop() is called continuously
*/
void Tracker::loop()
{
// wait for an INS sample
ins.wait_for_sample();
// tell the sch
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2018-04-09 05:32 ardupilot-master
文件 137 2018-04-09 05:32 ardupilot-master.dir-locals.el
文件 681 2018-04-09 05:32 ardupilot-master.editorconfig
文件 117 2018-04-09 05:32 ardupilot-master.gitattributes
目录 0 2018-04-09 05:32 ardupilot-master.github
文件 2099 2018-04-09 05:32 ardupilot-master.githubCONTRIBUTING.md
文件 472 2018-04-09 05:32 ardupilot-master.githubISSUE_TEMPLATE.md
文件 1456 2018-04-09 05:32 ardupilot-master.gitignore
文件 1177 2018-04-09 05:32 ardupilot-master.gitmodules
文件 307 2018-04-09 05:32 ardupilot-master.pydevproject
文件 2449 2018-04-09 05:32 ardupilot-master.travis.yml
目录 0 2018-04-09 05:32 ardupilot-masterAPMrover2
文件 194 2018-04-09 05:32 ardupilot-masterAPMrover2APM_Config.h
文件 10447 2018-04-09 05:32 ardupilot-masterAPMrover2APMrover2.cpp
文件 3961 2018-04-09 05:32 ardupilot-masterAPMrover2AP_Arming.cpp
文件 831 2018-04-09 05:32 ardupilot-masterAPMrover2AP_Arming.h
文件 20110 2018-04-09 05:32 ardupilot-masterAPMrover2AP_MotorsUGV.cpp
文件 3977 2018-04-09 05:32 ardupilot-masterAPMrover2AP_MotorsUGV.h
文件 49601 2018-04-09 05:32 ardupilot-masterAPMrover2GCS_Mavli
文件 1951 2018-04-09 05:32 ardupilot-masterAPMrover2GCS_Mavli
文件 614 2018-04-09 05:32 ardupilot-masterAPMrover2GCS_Rover.h
文件 11501 2018-04-09 05:32 ardupilot-masterAPMrover2Log.cpp
文件 21 2018-04-09 05:32 ardupilot-masterAPMrover2Makefile
文件 44 2018-04-09 05:32 ardupilot-masterAPMrover2Makefile.waf
文件 28396 2018-04-09 05:32 ardupilot-masterAPMrover2Parameters.cpp
文件 9466 2018-04-09 05:32 ardupilot-masterAPMrover2Parameters.h
文件 94 2018-04-09 05:32 ardupilot-masterAPMrover2Parameters.pde
文件 1168 2018-04-09 05:32 ardupilot-masterAPMrover2Rover.cpp
文件 20691 2018-04-09 05:32 ardupilot-masterAPMrover2Rover.h
文件 1202 2018-04-09 05:32 ardupilot-masterAPMrover2Steering.cpp
文件 879 2018-04-09 05:32 ardupilot-masterAPMrover2afs_rover.cpp
............此处省略3295个文件信息
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