apm飞控源代码

#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
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     目录           0  2013-07-15 01:30  ArduPlane-2.74b
     文件         513  2013-05-13 07:01  ArduPlane-2.74bVagrantfile
     目录           0  2013-07-15 01:30  ArduPlane-2.74bmk
     文件          84  2013-05-13 07:01  ArduPlane-2.74bmkoard_px4.mk
     文件        3655  2013-04-07 00:16  ArduPlane-2.74bmkenviron.mk
     目录           0  2013-07-15 01:30  ArduPlane-2.74bmkPX4
     目录           0  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFS
     目录           0  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixers
     文件        1611  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_RET.mix
     文件         188  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_octo_x.mix
     文件        2270  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_AERT.mix
     文件         187  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_hex_+.mix
     文件        1372  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_X5.mix
     文件        5414  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersREADME
     文件         187  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_quad_v.mix
     文件         554  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_pass.mix
     文件         188  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_hex_x.mix
     文件        1406  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_Q.mix
     文件         186  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_quad_+.mix
     文件         187  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_quad_x.mix
     文件         187  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_octo_+.mix
     文件        1372  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_delta.mix
     文件        1969  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSmixersFMU_AET.mix
     目录           0  2013-07-15 01:30  ArduPlane-2.74bmkPX4ROMFSinit.d
     文件        3522  2013-07-15 01:30  ArduPlane-2.74bmkPX4ROMFSinit.d
c.APM
     文件        1735  2013-05-13 07:01  ArduPlane-2.74bmkPX4ROMFSinit.d
cS
     文件        1914  2013-07-15 01:30  ArduPlane-2.74bmkPX4config_px4fmu_APM.mk
     文件         909  2013-04-07 00:16  ArduPlane-2.74bmkapm.mk
     文件        3337  2013-07-15 01:30  ArduPlane-2.74bmkoard_avr_sitl.mk
     文件        1889  2013-05-13 07:01  ArduPlane-2.74bmkfind_tools.mk
     文件        4920  2013-05-13 07:01  ArduPlane-2.74bmksketch_sources.mk
............此处省略1664个文件信息