The APM source code, the use of Arduino can be compiled and learning to read. APM is a powerful control, has been popular.

ArduCopter\.gitignore
..........\AP_State.pde
..........\APM_Config.h
..........\APM_Config_mavlink_hil.h
..........\ArduCopter.pde
..........\Attitude.pde
..........\command_description.txt
..........\commands.pde
..........\commands_logic.pde
..........\commands_process.pde
..........\compat.h
..........\compat.pde
..........\config.h
..........\config_channels.h
..........\control_modes.pde
..........\defines.h
..........\events.pde
..........\failsafe.pde
..........\fence.pde
..........\flip.pde
..........\GCS.h
..........\GCS_Mavlink.pde
..........\inertia.pde
..........\leds.pde
..........\Log.pde
..........\Makefile
..........\motors.pde
..........\navigation.pde
..........\nocore.inoflag
..........\Parameters.h
..........\Parameters.pde
..........\perf_info.pde
..........\position_vector.pde
..........\radio.pde
..........\read_me.text
..........\ReleaseNotes.txt
..........\sensors.pde
..........\setup.pde
..........\system.pde
..........\test.pde
..........\toy.pde
..........\UserCode.pde
..........\UserVariables.h
libraries\AC_Fence
.........\........\AC_Fence.cpp
.........\........\AC_Fence.h
.........\........\examples
.........\........\........\AC_Fence_test
.........\........\........\.............\AC_Fence_test.pde
.........\........\........\.............\Makefile
.........\........\........\.............\nocore.inoflag
.........\........\keywords.txt
.........\AC_PID
.........\......\AC_PID.cpp
.........\......\AC_PID.h
.........\......\examples
.........\......\........\AC_PID_test
.........\......\........\...........\AC_PID_test.pde
.........\......\........\...........\Makefile
.........\......\........\...........\nocore.inoflag
.........\......\keywords.txt
.........\AC_WPNav
.........\........\AC_WPNav.cpp
.........\........\AC_WPNav.h
.........\........\examples
.........\........\........\AC_WPNav_test
.........\........\........\.............\AC_WPNav_test.pde
.........\........\........\.............\Makefile
.........\........\........\.............\nocore.inoflag
.........\........\keywords.txt
.........\AP_ADC
.........\......\AP_ADC.cpp
.........\......\AP_ADC.h
.........\......\AP_ADC_ADS7844.cpp
.........\......\AP_ADC_ADS7844.h
.........\......\AP_ADC_HIL.cpp
.........\......\AP_ADC_HIL.h
.........\......\examples
.........\......\........\AP_ADC_test
.........\......\........\...........\AP_ADC_test.pde
.........\......\........\...........\Makefile
.........\......\........\...........\nocore.inoflag
.........\......\keywords.txt
.........\AP_ADC_AnalogSource
.........\...................\AP_ADC_AnalogSource.cpp
.........\...................\AP_ADC_AnalogSource.h
.........\AP_AHRS
.........\.......\AP_AHRS.cpp
.........\.......\AP_AHRS.h
.........\.......\AP_AHRS_DCM.cpp
.........\.......\AP_AHRS_DCM.h
.........\.......\AP_AHRS_HIL.cpp
.........\.......\AP_AHRS_HIL.h
.........\.......\AP_AHRS_MPU6000.cpp
.........\.......\AP_AHRS_MPU6000.h
.........\.......\examples
.........\.......\........\AHRS_Test
.........\.......\........\.........\AHRS_Test.pde
.........\.......\........\.........\Makefile
.........\.......\........\.........\nocore.inoflag

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