apm无人机主程序分析.doc

. . /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #define THISFIRMWARE ArduCopter V3.0.1 /* * ArduCopter Version 3.0 * Creator: Jason Short * Lead Developer: Randy Mackay * Based on code and ideas from the Arducopter team: Pat Hickey, Jose Julio, Jani Hirvinen, Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni * Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier, Robert Lefebvre, Marco Robustini * * This firmware is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * Special Thanks for Contributors (in alphabetical order by first name): * * Adam M Rivera :Auto Compass Declination * Amilcar Lucas :Camera mount library * Andrew Tridgell :General development, Mavlink Support * Angel Fernandez :Alpha testing * Doug Weibel :Libraries * Christof Schmid :Alpha testing * Dani Saez :V Octo Support * Gregory Fletcher :Camera mount orientation math * Guntars :Arming safety suggestion * HappyKillmore :Mavlink GCS * Hein Hollander :Octo Support * Igor van Airde :Control Law optimization * Leonard Hall :Flight Dynamics, Throttle, Loiter and Navigation Controllers * Jonathan Challinger :Inertial Navigation * Jean-Louis Naudin :Auto Landing * Max Levine :Tri Support, Graphics * Jack Dunkle :Alpha testing * James Goppert :Mavlink Support * Jani Hiriven :Testing feedback * John Arne Birkeland :PPM Encoder * Jose Julio :Stabilization Control laws * Marco Robustini :Lead tester * Michael Oborne :Mission Planner GCS * Mike Smith :Libraries, Coding support * Oliver :Piezo support * Olivier Adler :PPM Encoder * Robert Lefebvre :Heli Support LEDs * Sandr