Learning ArduPilot - Vehicle Code

Learning ArduPilot - Vehicle Code

Now that you understand the ArduPilot libraries and the way tasks work in ArduPilot it is time to start exploring a particular vehicle type. There are currently 4 vehicles in ArduPilot:

• Copter - for multicopters and helitopters
• Plane - for fixed wing aircraft
• APMrover2 - for ground vehicles and boats
• AntennaTracker - for antenna trackers

While there are a lot of common elements between different vehicle types, they are each different. For now we only have a detailed description of the code structure for the Copter code. You should go and read the Copter Code Overview wiki page now.

As you explore Copter you should also learn the following:

• how to run the ArduPilot SITL system to simulate a vehicle and autopilot
• how to use gdb to debug your board or SITL
• gdb cheatsheet
• how to add parameters to vehicle code or libraries