#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_Mavlink.pde

????.......????????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_description.txt

????.......???????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