資源簡介
使用Visual Studio 2012配合Visual Micro插件,編譯APM3.2.1固件。打開ArduCopter文件夾中的ArduCopter.sln即可使用。

代碼片段和文件信息
#include?
#include?“downstream.h“
#include?“state.h“
extern?const?AP_HAL::HAL&?hal;
extern?mavlink_channel_t?downstream_channel;
extern?FMStateMachine?sm;
static?void?downstream_handle_heartbeat(mavlink_message_t*?msg)?__attribute__((noinline));
static?void?downstream_handle_heartbeat(mavlink_message_t*?msg)?{
????mavlink_heartbeat_t?pkt;
????mavlink_msg_heartbeat_decode(msg?&pkt);
????sm.on_downstream_heartbeat(&pkt);
}
static?void?downstream_handle_gps(mavlink_message_t*?msg)?__attribute__((noinline));
static?void?downstream_handle_gps(mavlink_message_t*?msg)?{
????mavlink_gps_raw_int_t?pkt;
????mavlink_msg_gps_raw_int_decode(msg?&pkt);
????sm.on_downstream_gps_raw_int(&pkt);
}
void?downstream_handler(mavlink_channel_t?from?mavlink_message_t*?msg)?{
????switch?(msg->msgid)?{
??????case?MAVlink_MSG_ID_HEARTBEAT:
????????downstream_handle_heartbeat(msg);?
????????_mavlink_resend_uart(downstream_channel?msg);
????????break;
??????case?MAVlink_MSG_ID_GPS_RAW_INT:
????????downstream_handle_gps(msg);
????????_mavlink_resend_uart(downstream_channel?msg);
????????break;
??????default:
????????_mavlink_resend_uart(downstream_channel?msg);
????}
}
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
????.......???????681??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\.editorconfig
????.......??????1503??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\.gitignore
????.......???????307??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\.pydevproject
????.......???????464??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\.travis.yml
????.......??????9274??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\AntennaTracker.pde
????.......??????9014??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\AntennaTracker.txt
????.......???????273??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\APM_Config.h
????.......??????1543??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\config.h
????.......??????1953??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\defines.h
????.......?????32801??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\GCS_Mavli
????.......????????21??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\Makefile
????.......??????4319??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\Parameters.h
????.......?????11945??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\Parameters.pde
????.......??????2343??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\sensors.pde
????.......??????6428??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\system.pde
????.......?????15292??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\AntennaTracker\tracking.pde
????.......?????29689??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\APMrover2.pde
????.......???????272??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\APM_Config.h
????.......??????2191??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\commands.pde
????.......?????11114??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\commands_logic.pde
????.......???????321??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\commands_process.pde
????.......??????3683??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\command_desc
????.......???????223??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\compat.h
????.......???????274??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\compat.pde
????.......??????9791??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\config.h
????.......??????3423??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\control_modes.pde
????.......??????2334??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\createTags
????.......??????3447??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\defines.h
????.......???????153??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\events.pde
????.......??????1556??2015-02-10?19:13??ardupilot-ArduCopter-3.2.1-apm-px4_vs2012_compile_ok\APMrover2\failsafe.pde
............此處省略2137個文件信息
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