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1、///-*-tab-width:4;Mode:C++;c-basic-offset:4;indent-tabs-mode:nil-*-#defineTHISFIRMWARE"ArduCopterV3.1-rc5"/*Thisprogramisfreesoftware:youcanredistributeitand/ormodifyitunderthetermsoftheGNUGeneralPublicLicenseaspublishedbytheFreeSoftwareFoundation,ei
2、therversion3oftheLicense,or(atyouroption)anylaterversion.Thisprogramisdistributedinthehopethatitwillbeuseful,butWITHOUTANYWARRANTY;withouteventheimpliedwarrantyofMERCHANTABILITYorFITNESSFORAPARTICULARPURPOSE.SeetheGNUGeneralPublicLicenseformoredetail
3、s.YoushouldhavereceivedacopyoftheGNUGeneralPublicLicensealongwiththisprogram.Ifnot,see.*//**ArduCopterVersion3.0*Creator:JasonShort*LeadDeveloper:RandyMackay*BasedoncodeandideasfromtheArducopterteam:PatHickey,JoseJulio,J
4、aniHirvinen,AndrewTridgell,JustinBeech,AdamRivera,Jean-LouisNaudin,RobertoNavoni*Thanksto:ChrisAnderson,MikeSmith,JordiMunoz,DougWeibel,JamesGoppert,BenjaminPelletier,RobertLefebvre,MarcoRobustini**SpecialThanksforContributors(inalphabeticalorderbyfi
5、rstname):**AdamMRivera:AutoCompassDeclination*AmilcarLucas:Cameramountlibrary*AndrewTridgell:Generaldevelopment,MavlinkSupport*AngelFernandez:Alphatesting*DougWeibel:Libraries*ChristofSchmid:Alphatesting*DaniSaez:VOctoSupport*GregoryFletcher:Cameramo
6、untorientationmath*Guntars:Armingsafetysuggestion*HappyKillmore:MavlinkGCS*HeinHollander:OctoSupport*IgorvanAirde:ControlLawoptimization*LeonardHall:FlightDynamics,Throttle,LoiterandNavigationControllers*JonathanChallinger:InertialNavigation*Jean-Lou
7、isNaudin:AutoLanding*MaxLevine:TriSupport,Graphics*JackDunkle:Alphatesting*JamesGoppert:MavlinkSupport*JaniHiriven:Testingfeedback*JohnArneBirkeland:PPMEncoder*JoseJulio:StabilizationControllaws*MarcoRobustini:Leadtester*MichaelOborne:MissionPlannerG
8、CS*MikeSmith:Libraries,Codingsupport*Oliver:Piezosupport*OlivierAdler:PPMEncoder*RobertLefebvre:HeliSupport&LEDs*SandroBenigno:Camerasupport**AndmuchmoresoPLEASEPMmeonDIYDRONEStoaddyourcontributiontotheList**Requiresmodified"mrelax"versionofArduino,w
