linux运行ardupilot,ardupilot在Linux上的启动过程

代码起步是从ArduCopter.cpp里的展开

AP_HAL_MAIN_CALLBACKS(&copter);

传入的参数是Copter.h

extern Copter copter;

用extern 指向Copter.cpp里

Copter copter;

注意Copter继承自Callbacks

class Copter : public AP_HAL::HAL::Callbacks {

ArduCopter 文件夹下 ArduCopter.cpp

#ifndef AP_MAIN

#define AP_MAIN main

#endif

#define AP_HAL_MAIN_CALLBACKS(CALLBACKS) extern "C" { \

int AP_MAIN(void); \

int AP_MAIN(void) { \

hal.run(0, NULL, CALLBACKS); \

return 0; \

} \

}

AP_HAL_MAIN_CALLBACKS(&copter);

这里的hal是Copter.h用external声明，但是在Copter.cpp里获得，

const AP_HAL::HAL& hal = AP_HAL::get_HAL();

AP_HAL_LINUX 文件夹下 HAL_Linux_Class.cpp

void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const

{

...

}

const AP_HAL::HAL& AP_HAL::get_HAL() {

static const HAL_Linux hal;

return hal;

}

所以函数最终是在HAL_Linux::run下执行各种初始化，最后进入callbacks->loop

实际上是进入了传入的Copter::loop()，从而进一步进入scheduler调度各种在ArduCopter里设置的TASK

// Execute the fast loop

// ---------------------

fast_loop();

// tell the scheduler one tick has passed

scheduler.tick();

// run all the tasks that are due to run. Note that we only

// have to call this once per loop, as the tasks are scheduled

// in multiples of the main loop tick. So if they don't run on

// the first call to the scheduler they won't run on a later

// call until scheduler.tick() is called again

uint32_t time_available = (timer + MAIN_LOOP_MICROS) - micros();

scheduler.run(time_available);

即以下任务

const AP_Scheduler::Task Copter::scheduler_tasks[] = {

SCHED_TASK(rc_loop, 4, 130),

SCHED_TASK(throttle_loop, 8, 75),

SCHED_TASK(update_GPS, 8, 200),

#if OPTFLOW == ENABLED

SCHED_TASK(update_optical_flow, 2, 160),

#endif

SCHED_TASK(update_batt_compass, 40, 120),

SCHED_TASK(read_aux_switches, 40, 50),

SCHED_TASK(arm_motors_check, 40, 50),

SCHED_TASK(auto_disarm_check, 40, 50),

SCHED_TASK(auto_trim, 40, 75),

SCHED_TASK(update_altitude, 40, 140),

SCHED_TASK(run_nav_updates, 8, 100),

SCHED_TASK(update_thr_average, 4, 90),

SCHED_TASK(three_hz_loop, 133, 75),

SCHED_TASK(compass_accumulate, 4, 100),

SCHED_TASK(barometer_accumulate, 8, 90),

#if PRECISION_LANDING == ENABLED

SCHED_TASK(update_precland, 8, 50),

#endif

#if FRAME_CONFIG == HELI_FRAME

SCHED_TASK(check_dynamic_flight, 8, 75),

#endif

SCHED_TASK(update_notify, 8, 90),

SCHED_TASK(one_hz_loop, 400, 100),

SCHED_TASK(ekf_check, 40, 75),

SCHED_TASK(landinggear_update, 40, 75),

SCHED_TASK(lost_vehicle_check, 40, 50),

SCHED_TASK(gcs_check_input, 1, 180),

SCHED_TASK(gcs_send_heartbeat, 400, 110),

SCHED_TASK(gcs_send_deferred, 8, 550),

SCHED_TASK(gcs_data_stream_send, 8, 550),

SCHED_TASK(update_mount, 8, 75),

SCHED_TASK(ten_hz_logging_loop, 40, 350),

SCHED_TASK(fifty_hz_logging_loop, 8, 110),

SCHED_TASK(full_rate_logging_loop, 1, 100),

SCHED_TASK(dataflash_periodic, 1, 300),

SCHED_TASK(perf_update, 4000, 75),

SCHED_TASK(read_receiver_rssi, 40, 75),

SCHED_TASK(rpm_update, 40, 200),

SCHED_TASK(compass_cal_update, 4, 100),

#if FRSKY_TELEM_ENABLED == ENABLED

SCHED_TASK(frsky_telemetry_send, 80, 75),

#endif

#if EPM_ENABLED == ENABLED

SCHED_TASK(epm_update, 40, 75),

#endif

#ifdef USERHOOK_FASTLOOP

SCHED_TASK(userhook_FastLoop, 4, 75),

#endif

#ifdef USERHOOK_50HZLOOP

SCHED_TASK(userhook_50Hz, 8, 75),

#endif

#ifdef USERHOOK_MEDIUMLOOP

SCHED_TASK(userhook_MediumLoop, 40, 75),

#endif

#ifdef USERHOOK_SLOWLOOP

SCHED_TASK(userhook_SlowLoop, 120, 75),

#endif

#ifdef USERHOOK_SUPERSLOWLOOP

SCHED_TASK(userhook_SuperSlowLoop, 400, 75),

#endif

};

scheduler->run() 是AP_Scheduler.cpp里的

void AP_Scheduler::run(uint16_t time_available)

{

最后它读取任务表(tasks)，并调度执行：

_task_time_started = now;

task_fn_t func;

pgm_read_block(&_tasks[i].function, &func, sizeof(func));

current_task = i;

func();

current_task = -1;