使用Visual Studio 2012配合Visual Micro插件,编译APM3.2.1固件。打开ArduCopter文件夹中的ArduCopter.sln即可使用。
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
....... 681 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok.editorconfig
....... 1503 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok.gitignore
....... 307 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok.pydevproject
....... 464 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok.travis.yml
....... 9274 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerAntennaTracker.pde
....... 9014 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerAntennaTracker.txt
....... 273 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerAPM_Config.h
....... 1543 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerconfig.h
....... 1953 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerdefines.h
....... 32801 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerGCS_Mavlink.pde
....... 21 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerMakefile
....... 4319 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerParameters.h
....... 11945 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerParameters.pde
....... 2343 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackersensors.pde
....... 6428 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackersystem.pde
....... 15292 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTracker racking.pde
....... 29689 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2APMrover2.pde
....... 272 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2APM_Config.h
....... 2191 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2commands.pde
....... 11114 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2commands_logic.pde
....... 321 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2commands_process.pde
....... 3683 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2command_description.txt
....... 223 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2compat.h
....... 274 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2compat.pde
....... 9791 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2config.h
....... 3423 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2control_modes.pde
....... 2334 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2createTags
....... 3447 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2defines.h
....... 153 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2events.pde
....... 1556 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2failsafe.pde
............此处省略2137个文件信息
#include
#include “downstream.h“
#include “state.h“
extern const AP_HAL::HAL& hal;
extern mavlink_channel_t downstream_channel;
extern FMStateMachine sm;
static void downstream_handle_heartbeat(mavlink_message_t* msg) __attribute__((noinline));
static void downstream_handle_heartbeat(mavlink_message_t* msg) {
mavlink_heartbeat_t pkt;
mavlink_msg_heartbeat_decode(msg &pkt);
sm.on_downstream_heartbeat(&pkt);
}
static void downstream_handle_gps(mavlink_message_t* msg) __attribute__((noinline));
static void downstream_handle_gps(mavlink_message_t* msg) {
mavlink_gps_raw_int_t pkt;
mavlink_msg_gps_raw_int_decode(msg &pkt);
sm.on_downstream_gps_raw_int(&pkt);
}
void downstream_handler(mavlink_channel_t from mavlink_message_t* msg) {
switch (msg->msgid) {
case MAVlink_MSG_ID_HEARTBEAT:
downstream_handle_heartbeat(msg);
_mavlink_resend_uart(downstream_channel msg);
break;
case MAVlink_MSG_ID_GPS_RAW_INT:
downstream_handle_gps(msg);
_mavlink_resend_uart(downstream_channel msg);
break;
default:
_mavlink_resend_uart(downstream_channel msg);
}
}
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
....... 681 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok.editorconfig
....... 1503 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok.gitignore
....... 307 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok.pydevproject
....... 464 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok.travis.yml
....... 9274 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerAntennaTracker.pde
....... 9014 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerAntennaTracker.txt
....... 273 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerAPM_Config.h
....... 1543 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerconfig.h
....... 1953 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerdefines.h
....... 32801 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerGCS_Mavli
....... 21 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerMakefile
....... 4319 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerParameters.h
....... 11945 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackerParameters.pde
....... 2343 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackersensors.pde
....... 6428 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTrackersystem.pde
....... 15292 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAntennaTracker racking.pde
....... 29689 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2APMrover2.pde
....... 272 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2APM_Config.h
....... 2191 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2commands.pde
....... 11114 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2commands_logic.pde
....... 321 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2commands_process.pde
....... 3683 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2command_desc
....... 223 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2compat.h
....... 274 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2compat.pde
....... 9791 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2config.h
....... 3423 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2control_modes.pde
....... 2334 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2createTags
....... 3447 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2defines.h
....... 153 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2events.pde
....... 1556 2015-02-10 19:13 ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_okAPMrover2failsafe.pde
............此处省略2137个文件信息
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