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1、.///-*-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,AndrewTridgell,JustinBeech,AdamRivera,Jean-Lou
2、isNaudin,RobertoNavoni*Thanksto:ChrisAnderson,MikeSmith,JordiMunoz,DougWeibel,JamesGoppert,BenjaminPelletier,RobertLefebvre,MarcoRobustini**Thisfirmwareisfreesoftware;youcanredistributeitand/or*modifyitunderthetermsoftheGNULesserGeneralPublic*LicenseaspublishedbytheFreeSoftwareFoundation;eithe
3、r*version2.1oftheLicense,or(atyouroption)anylaterversion.**SpecialThanksforContributors(inalphabeticalorderbyfirstname):**AdamMRivera:AutoCompassDeclination*AmilcarLucas:Cameramountlibrary*AndrewTridgell:Generaldevelopment,MavlinkSupport*AngelFernandez:Alphatesting*DougWeibel:Libraries*Christo
4、fSchmid:Alphatesting*DaniSaez:VOctoSupport*GregoryFletcher:Cameramountorientationmath*Guntars:Armingsafetysuggestion*HappyKillmore:MavlinkGCS*HeinHollander:OctoSupport*IgorvanAirde:ControlLawoptimization*LeonardHall:FlightDynamics,Throttle,LoiterandNavigationControllers*JonathanChallinger:Iner
5、tialNavigation*Jean-LouisNaudin:AutoLanding*MaxLevine:TriSupport,Graphics*JackDunkle:Alphatesting*JamesGoppert:MavlinkSupport*JaniHiriven:Testingfeedback*JohnArneBirkeland:PPMEncoder*JoseJulio:StabilizationControllaws*MarcoRobustini:Leadtester*MichaelOborne:MissionPlannerGCS..*MikeSmith:Librar
6、ies,Codingsupport*Oliver:Piezosupport*OlivierAdler:PPMEncoder*RobertLefebvre:HeliSupport&LEDs*SandroBenigno:Camerasupport**AndmuchmoresoPLEASEPMmeonDIYDRONEStoaddyourcontributiontotheList**Requiresmodified"mrelax"versionofArduino,whichcanbefoundhere:*code.google./p/ardupilot-mega/downloads/lis
7、t**///////////////////////////////////////////////////////////////////////////////////Headerincludes////////////////////////////////////////////////////////////////////////////////#include#include#include//Com