#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
-----------?---------??----------?-----??----
?????目錄???????????0??2013-07-15?01:30??ArduPlane-2.74b\
?????文件?????????513??2013-05-13?07:01??ArduPlane-2.74b\Vagrantfile
?????目錄???????????0??2013-07-15?01:30??ArduPlane-2.74b\mk\
?????文件??????????84??2013-05-13?07:01??ArduPlane-2.74b\mk\board_px4.mk
?????文件????????3655??2013-04-07?00:16??ArduPlane-2.74b\mk\environ.mk
?????目錄???????????0??2013-07-15?01:30??ArduPlane-2.74b\mk\PX4\
?????目錄???????????0??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\
?????目錄???????????0??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\
?????文件????????1611??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_RET.mix
?????文件?????????188??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_octo_x.mix
?????文件????????2270??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_AERT.mix
?????文件?????????187??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_hex_+.mix
?????文件????????1372??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_X5.mix
?????文件????????5414??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\README
?????文件?????????187??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_quad_v.mix
?????文件?????????554??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_pass.mix
?????文件?????????188??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_hex_x.mix
?????文件????????1406??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_Q.mix
?????文件?????????186??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_quad_+.mix
?????文件?????????187??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_quad_x.mix
?????文件?????????187??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_octo_+.mix
?????文件????????1372??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_delta.mix
?????文件????????1969??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\mixers\FMU_AET.mix
?????目錄???????????0??2013-07-15?01:30??ArduPlane-2.74b\mk\PX4\ROMFS\init.d\
?????文件????????3522??2013-07-15?01:30??ArduPlane-2.74b\mk\PX4\ROMFS\init.d\rc.APM
?????文件????????1735??2013-05-13?07:01??ArduPlane-2.74b\mk\PX4\ROMFS\init.d\rcS
?????文件????????1914??2013-07-15?01:30??ArduPlane-2.74b\mk\PX4\config_px4fmu_APM.mk
?????文件?????????909??2013-04-07?00:16??ArduPlane-2.74b\mk\apm.mk
?????文件????????3337??2013-07-15?01:30??ArduPlane-2.74b\mk\board_avr_sitl.mk
?????文件????????1889??2013-05-13?07:01??ArduPlane-2.74b\mk\find_tools.mk
?????文件????????4920??2013-05-13?07:01??ArduPlane-2.74b\mk\sketch_sources.mk
............此處省略1664個文件信息