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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,eitherversion3oftheLicense
2、,or(atyouroption)anylaterversion.Thisprogramisdistributedinthehopethatitwillbeuseful,butWITHOUTANYWARRANTY;withouteventheimpliedwarrantyofMERCHANTABILITYorFITNESSFORAPARTICULARPURPOSE.SeetheGNUGeneralPublicLicenseformoredetails.YoushouldhavereceivedacopyoftheGNUGeneralPubli
3、cLicensealongwiththisprogram.Ifnot,see<.gnu.org/licenses/>.*//**ArduCopterVersion3.0*Creator:JasonShort*LeadDeveloper:RandyMackay*BasedoncodeandideasfromtheArducopterteam:PatHickey,JoseJulio,JaniHirvinen,AndrewTridgell,JustinBeech,AdamRivera,Jean-LouisNaudin,RobertoNavoni*T
4、hanksto:ChrisAnderson,MikeSmith,JordiMunoz,DougWeibel,JamesGoppert,BenjaminPelletier,RobertLefebvre,MarcoRobustini**SpecialThanksforContributors(inalphabeticalorderbyfirstname):**AdamMRivera:AutoCompassDeclination*AmilcarLucas:Cameramountlibrary*AndrewTridgell:Generaldevelo
5、pment,MavlinkSupport*AngelFernandez:Alphatesting*DougWeibel:Libraries*ChristofSchmid:Alphatesting*DaniSaez:VOctoSupport*GregoryFletcher:Cameramountorientationmath*Guntars:Armingsafetysuggestion*HappyKillmore:MavlinkGCS*HeinHollander:OctoSupport*IgorvanAirde:ControlLawoptimi
6、zation*LeonardHall:FlightDynamics,Throttle,LoiterandNavigationControllers*JonathanChallinger:InertialNavigation*Jean-LouisNaudin:AutoLanding*MaxLevine:TriSupport,Graphics*JackDunkle:Alphatesting*JamesGoppert:MavlinkSupport*JaniHiriven:Testingfeedback*JohnArneBirkeland:PPMEn
7、coder*JoseJulio:StabilizationControllaws*MarcoRobustini:Leadtester*MichaelOborne:MissionPlannerGCS*MikeSmith:Libraries,Codingsupport*Oliver:Piezosupport*OlivierAdler:PPMEncoder*RobertLefebvre:HeliSupport&LEDs*SandroBenigno:Camerasupport**AndmuchmoresoPLEASEPMmeonDIYDRONESto
8、addyourcontributiontotheList**Requiresmodified"mrelax"versionofArduino,whichcanbef
