原文链接在http://ardupilot.org/dev/docs/apmcopter-code-overview.html
Code Overview (Copter)
The code is made up of the main Copter code which resides in it’s own directory, and the librarieswhich are shared with Plane and Rover.
Click on the images below to see a high level view of flight-mode to motor output code:
![../_images/AC_CodeOverview_ManualFlightMode.png](https://i-blog.csdnimg.cn/blog_migrate/212dd3f9679d13823c924d9e49db18b0.png)
![../_images/AC_CodeOverview_AutoFlightModes.png](https://i-blog.csdnimg.cn/blog_migrate/0685e4a0f14bf9419c98c0a1335104cc.png)
Sections: