#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(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\
?????文件?????????681??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\.editorconfig
?????文件????????1503??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\.gitignore
?????文件?????????307??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\.pydevproject
?????文件?????????464??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\.travis.yml
?????目錄???????????0??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\
?????文件?????????272??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\APM_Config.h
?????文件???????29689??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\APMrover2.pde
?????文件???????37689??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\GCS_Mavlink.pde
?????文件???????17545??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\Log.pde
?????文件??????????21??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\Makefile
?????文件????????8909??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\Parameters.h
?????文件???????27360??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\Parameters.pde
?????文件????????9787??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\Steering.pde
?????文件????????3683??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\command_description.txt
?????文件????????2191??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\commands.pde
?????文件???????11114??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\commands_logic.pde
?????文件?????????321??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\commands_process.pde
?????文件?????????223??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\compat.h
?????文件?????????274??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\compat.pde
?????文件????????9791??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\config.h
?????文件????????3423??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\control_modes.pde
?????文件????????2334??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\createTags
?????文件????????3447??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\defines.h
?????文件?????????153??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\events.pde
?????文件????????1556??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\failsafe.pde
?????文件?????????879??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\navigation.pde
?????文件???????????0??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\nocore.inoflag
?????文件????????3682??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\radio.pde
?????文件????????3439??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\sensors.pde
?????文件???????16831??2015-04-18?03:41??ardupilot-ArduCopter-3.2.1\APMrover2\setup.pde
............此處省略2117個(gè)文件信息