/*
???Lead?developers:?Matthew?Ridley?and?Andrew?Tridgell
?
???Please?contribute?your?ideas!?See?http://dev.ardupilot.org?for?details

???This?program?is?free?software:?you?can?redistribute?it?and/or?modify
???it?under?the?terms?of?the?GNU?General?Public?License?as?published?by
???the?Free?Software?Foundation?either?version?3?of?the?License?or
???（at?your?option）?any?later?version.

???This?program?is?distributed?in?the?hope?that?it?will?be?useful
???but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
???MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the
???GNU?General?Public?License?for?more?details.

???You?should?have?received?a?copy?of?the?GNU?General?Public?License
???along?with?this?program.??If?not?see?.
?*/

#include?“Tracker.h“

#define?FORCE_VERSION_H_INCLUDE
#include?“version.h“
#undef?FORCE_VERSION_H_INCLUDE

#define?SCHED_TASK（func?_interval_ticks?_max_time_micros）?SCHED_TASK_CLASS（Tracker?&tracker?func?_interval_ticks?_max_time_micros）

/*
??scheduler?table?-?all?regular?tasks?apart?from?the?fast_loop（）
??should?be?listed?here?along?with?how?often?they?should?be?called
??（in?20ms?units）?and?the?maximum?time?they?are?expected?to?take?（in
??microseconds）
?*/
const?AP_Scheduler::Task?Tracker::scheduler_tasks[]?=?{
????SCHED_TASK（update_ahrs????????????50???1000）
????SCHED_TASK（read_radio?????????????50????200）
????SCHED_TASK（update_tracking????????50???1000）
????SCHED_TASK（update_GPS?????????????10???4000）
????SCHED_TASK（update_compass?????????10???1500）
????SCHED_TASK_CLASS（AP_BattMonitor????&tracker.battery???read???????????10?1500）
????SCHED_TASK（update_barometer???????10???1500）
????SCHED_TASK（gcs_update?????????????50???1700）
????SCHED_TASK（gcs_data_stream_send???50???3000）
????SCHED_TASK（compass_accumulate?????50???1500）
????SCHED_TASK_CLASS（AP_Baro???????????&tracker.barometer?accumulate?????50??900）
????SCHED_TASK（ten_hz_logging_loop????10????300）
????SCHED_TASK_CLASS（DataFlash_Class???&tracker.DataFlash?periodic_tasks?50??300）
????SCHED_TASK_CLASS（AP_InertialSensor?&tracker.ins???????periodic???????50???50）
????SCHED_TASK_CLASS（AP_Notify?????????&tracker.notify????update?????????50??100）
????SCHED_TASK（check_usb_mux??????????10????300）
????SCHED_TASK（gcs_retry_deferred?????50???1000）
????SCHED_TASK（one_second_loop?????????1???3900）
????SCHED_TASK（compass_cal_update?????50????100）
????SCHED_TASK（accel_cal_update???????10????100）
};

/**
??setup?the?sketch?-?called?once?on?startup
?*/
void?Tracker::setup（）?
{
????//?load?the?default?values?of?variables?listed?in?var_info[]
????AP_Param::setup_sketch_defaults（）;

????init_tracker（）;

????//?initialise?the?main?loop?scheduler
????scheduler.init（&scheduler_tasks[0]?ARRAY_SIZE（scheduler_tasks）?（uint32_t）-1）;
}

/**
???loop（）?is?called?continuously?
?*/
void?Tracker::loop（）
{
????//?wait?for?an?INS?sample
????ins.wait_for_sample（）;

????//?tell?the?sch

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-04-09?05:32??ardupilot-master\
?????文件?????????137??2018-04-09?05:32??ardupilot-master\.dir-locals.el
?????文件?????????681??2018-04-09?05:32??ardupilot-master\.editorconfig
?????文件?????????117??2018-04-09?05:32??ardupilot-master\.gitattributes
?????目錄???????????0??2018-04-09?05:32??ardupilot-master\.github\
?????文件????????2099??2018-04-09?05:32??ardupilot-master\.github\CONTRIBUTING.md
?????文件?????????472??2018-04-09?05:32??ardupilot-master\.github\ISSUE_TEMPLATE.md
?????文件????????1456??2018-04-09?05:32??ardupilot-master\.gitignore
?????文件????????1177??2018-04-09?05:32??ardupilot-master\.gitmodules
?????文件?????????307??2018-04-09?05:32??ardupilot-master\.pydevproject
?????文件????????2449??2018-04-09?05:32??ardupilot-master\.travis.yml
?????目錄???????????0??2018-04-09?05:32??ardupilot-master\APMrover2\
?????文件?????????194??2018-04-09?05:32??ardupilot-master\APMrover2\APM_Config.h
?????文件???????10447??2018-04-09?05:32??ardupilot-master\APMrover2\APMrover2.cpp
?????文件????????3961??2018-04-09?05:32??ardupilot-master\APMrover2\AP_Arming.cpp
?????文件?????????831??2018-04-09?05:32??ardupilot-master\APMrover2\AP_Arming.h
?????文件???????20110??2018-04-09?05:32??ardupilot-master\APMrover2\AP_MotorsUGV.cpp
?????文件????????3977??2018-04-09?05:32??ardupilot-master\APMrover2\AP_MotorsUGV.h
?????文件???????49601??2018-04-09?05:32??ardupilot-master\APMrover2\GCS_Mavlink.cpp
?????文件????????1951??2018-04-09?05:32??ardupilot-master\APMrover2\GCS_Mavlink.h
?????文件?????????614??2018-04-09?05:32??ardupilot-master\APMrover2\GCS_Rover.h
?????文件???????11501??2018-04-09?05:32??ardupilot-master\APMrover2\Log.cpp
?????文件??????????21??2018-04-09?05:32??ardupilot-master\APMrover2\Makefile
?????文件??????????44??2018-04-09?05:32??ardupilot-master\APMrover2\Makefile.waf
?????文件???????28396??2018-04-09?05:32??ardupilot-master\APMrover2\Parameters.cpp
?????文件????????9466??2018-04-09?05:32??ardupilot-master\APMrover2\Parameters.h
?????文件??????????94??2018-04-09?05:32??ardupilot-master\APMrover2\Parameters.pde
?????文件????????1168??2018-04-09?05:32??ardupilot-master\APMrover2\Rover.cpp
?????文件???????20691??2018-04-09?05:32??ardupilot-master\APMrover2\Rover.h
?????文件????????1202??2018-04-09?05:32??ardupilot-master\APMrover2\Steering.cpp
?????文件?????????879??2018-04-09?05:32??ardupilot-master\APMrover2\afs_rover.cpp
............此處省略3295個文件信息