pixhawk源码总结_图文.doc

Pixhawk?′??×ü?á_í??? Pixhawk ?′??·???--- Sany_huang????°￠1ú×ü?á??àí---Pixhawk ?′??ò?￡oAPM ′ú???ù±??á11 Pixhawk ?′???t￡oAPM ??3ì Pixhawk ?′??èy￡o′?DD?ó?ú UART oí Console Pixhawk ?′????￡o?§?° RC Input and Output Pixhawk ?′????￡o′?′￠ó? EEPROM 1üàí Pixhawk ?′??áù￡o?′???¤ààó? APM 3ìDò?a Pixhawk ?′????￡o×?ì??????¤àà Pixhawk ?′??°?￡oìí?óD?μ?2?êy Pixhawk ?′????￡oìí?óD?μ?·éDD?￡ê? Pixhawk ?′??ê?￡o′ú??μ÷?è￡?ê1???¨ê±??DD Pixhawk ?′??ê?ò?￡o???óD?μ? MAVLink ???￠ Pixhawk ?′??ê??t:2éó? Visual Studio ±àò? Mission Planner ·?·¨ó??êìa×ü?áPixhawk ?′??±ê??ò?￡o′ú???ù±??á11ArduPilot ′ú??·??a 5 ???÷òa2?·?￡??ù±??á11·?ààè???￡o￡¨?Tè??ú?????μí3 ArduPilotMega (APM) ê?êD??é?×???′óμ??ùóú1?D?μ?o?μ??a?′×??Yò?(2￠?òê?×?±?ò?μ???ò?!) ì?D?°üà¨: ?a·??a?′1ì?t￡?? ? ? ? ?vehicle directories AP_HAL libraries tools directories external support code1?￠vehicle directories ?￡DíààDí μ±?°12óD 4 ???￡Dí￡oArduPlane, ArduCopter, APMrover2 and AntennaTracker ?￡??ê?.pde ???t￡??íê??aá???èY arduino ??ì¨￡?ò?oó?é?ü?á·??ú?￡ ArduPlane￡o1ì?t??DD?ú APM ×??ˉ?Yê?ò?é?,?éò???è?o?1ì?¨òí·é?úè?2?×??÷·éDD?üá| ArduCopter ?àDyòí?ú arduino ??ì¨ò???±??Yáé???￠·?±?é?ê?μ??a?′μ?×ó?-Dí??ì¨￡?°üo?ó2?t￡¨?÷??Dío?μ? Arduino °?￡?oíèí?t ￡¨Arduino IDE) 2?￠AP_HAL ó2?t3é?ó2?ó2?t3é?ó2?￡?ê1μ??ú2?í?ó2?t??ì¨é?μ?ò??2±?μ??òμ￥?￡ ???D AP_HAL ?????¨ò?á?ò???í¨ó?μ??ó?ú?￡????μ????? AP_HAL_XXX ????2?í?ó2?t??ì¨??DD ?ê??μ??¨ò??￡àyè? AP_HAL_AVR ??????óú AVR ??ì¨￡?AP_HAL_PX4 ??ó| PX4 ??ì¨￡?AP_HAL_Linux ??ó| Linux ??ì¨?￡ 3?￠tools directories 1¤?????? ?÷òaìá1??§3??￡For examples, tools/autotest provides the autotest infrastructure behind site and tools/Replay provides our log replay utility. 4?￠external support code ía2??§3?′ú?? ??óú??????ì¨￡?Dèòaía2??§3?′ú???￡àyè? Pixhawk?￠PX4 μ??§3?′ú??è???￡o? ? ? ?PX4NuttX ¨C °???êμê±?μí3?￡the core NuttX RTOS used on PX4 boards PX4Firmware ¨C PX4 1ì?t?￡the base PX4 middleware and drivers used on PX4 boards uavcan ¨C ·éDD?÷ CAN í¨D?D-òé?￡the uavcan CANBUS implementation used in ArduPilot mav