ArduPilot 架构分析

 ArduPilot 基本架构 点击打开链接

1.vehicle directories 

       定义了每种载具的固件，目前支持4 vehicle types – Plane, Copter, APMrover2 and AntennaTracker.Along with the *.cpp files, each vehicle directory contains a make.inc file which lists library dependencies. The Makefiles read this to create the -I and -L flags for the build.

2.AP_HAL

        硬件抽象层（Hardware Abstraction Layer），There is a top level AP_HAL in libraries（AP_HAL） that defines the interface（定义接口） that the rest of the code has to specific board features（指明特定的板子特性）, then there is a AP_HAL_XXX subdirectory for each board type, for example AP_HAL_AVR for AVR based boards, AP_HAL_PX4 for PX4 boards and AP_HAL_Linux for Linux based boards.

3.libraries

4.tools directories

       The tools directories are miscellaneous support directories. For examples, tools/autotest provides the autotest infrastructure behind theautotest.diydrones.com site and tools/Replay provides our log replay utility.

5.external support code

       On some platforms we need external support code to provide additional features or board support. Currently the external trees are:

• PX4NuttX – the core NuttX RTOS used on PX4 boards
• PX4Firmware – the base PX4 middleware（中间件） and drivers（驱动） used on PX4 boards
• uavcan – the uavcan CANBUS implementation used in ArduPilot
• mavlink – the mavlink protocol and code generator

Build System

      The build system is based around make, but also supports the old arduino IDE for AVR builds. The makefiles are in themk/ directory, and define build rules for each type of supported board

      To build a vehicle or other ‘sketch’ for a particular board target you would type “make TARGET”, where TARGET is the board type. The following board types are currently available:

• make apm1 – the APM1 board
• make apm2 – the APM2 board
• make px4-v1 – the PX4v1
• make px4-v2 – the Pixhawk (and Arsov AUAV-X2)
• make pxf – the BBB+PXF cape combination
• make navio – the RaspberryPi+NavIO cape combination
• make linux – a generic Linux build
• make flymaple – the FlyMaple board
• make vrbain – the VRBrain boards
• make sitl – the SITL software in the loop simulation

  More ports are being added all the time, so check “make help” file for new targets.