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1、实用文档///-*-tab-width:4;Mode:C++;c-basic-offset:4;indent-tabs-mode:nil-*-#defineTHISFIRMWARE"ArduCopterV3.0.1"/**ArduCopterVersion3.0*Creator:JasonShort*LeadDeveloper:RandyMackay*BasedoncodeandideasfromtheArducopterteam:PatHickey,JoseJulio,JaniHirvinen,AndrewTridge
2、ll,JustinBeech,AdamRivera,Jean-LouisNaudin,RobertoNavoni*Thanksto:ChrisAnderson,MikeSmith,JordiMunoz,DougWeibel,JamesGoppert,BenjaminPelletier,RobertLefebvre,MarcoRobustini**Thisfirmwareisfreesoftware;youcanredistributeitand/or*modifyitunderthetermsoftheGNULesser
3、GeneralPublic*LicenseaspublishedbytheFreeSoftwareFoundation;either*version2.1oftheLicense,or(atyouroption)anylaterversion.**SpecialThanksforContributors(inalphabeticalorderbyfirstname):**AdamMRivera:AutoCompassDeclination*AmilcarLucas:Cameramountlibrary*AndrewTri
4、dgell:Generaldevelopment,MavlinkSupport*AngelFernandez:Alphatesting*DougWeibel:Libraries*ChristofSchmid:Alphatesting*DaniSaez:VOctoSupport*GregoryFletcher:Cameramountorientationmath*Guntars:Armingsafetysuggestion*HappyKillmore:MavlinkGCS*HeinHollander:OctoSupport
5、*IgorvanAirde:ControlLawoptimization*LeonardHall:FlightDynamics,Throttle,LoiterandNavigationControllers*JonathanChallinger:InertialNavigation*Jean-LouisNaudin:AutoLanding*MaxLevine:TriSupport,Graphics*JackDunkle:Alphatesting*JamesGoppert:MavlinkSupport*JaniHirive
6、n:Testingfeedback*JohnArneBirkeland:PPMEncoder*JoseJulio:StabilizationControllaws*MarcoRobustini:Leadtester*MichaelOborne:MissionPlannerGCS*MikeSmith:Libraries,Codingsupport*Oliver:Piezosupport文案大全实用文档*OlivierAdler:PPMEncoder*RobertLefebvre:HeliSupport&LEDs*Sandr
7、oBenigno:Camerasupport**AndmuchmoresoPLEASEPMmeonDIYDRONEStoaddyourcontributiontotheList**Requiresmodified"mrelax"versionofArduino,whichcanbefoundhere:*http://code.google.com/p/ardupilot-mega/downloads/list**///////////////////////////////////////////////////////
8、////////////////////////////Headerincludes////////////////////////////////////////////////////////////////////////////////#include#include#inc
