无人机飞控平台ArduPilot源码概览 - 首页

原文链接在http://ardupilot.org/dev/docs/apmcopter-code-overview.html

Code Overview (Copter)

The code is made up of the main Copter code which resides in it’s own directory, and the librarieswhich are shared with Plane and Rover.

Click on the images below to see a high level view of flight-mode to motor output code:

Sections:

• Library description
• Attitude Control
• Adding Parameters
• Adding a new flight mode
• Scheduling your new code to run intermittently
• Adding a new MAVLink message
• Adding a new MAVLink Gimbal