:

(1 : 85
Quadcopter the software
(2 : 85 the
quadcopter we discuss
(3 : 85 )Mission
(planner in this chapter Ground
contril staion base staion
(4 87 quad rotor
(5 88 Tab
(6 92 4.6
(7 92 see figure 4.7

(8 94
Set_Throttle_out
update_rate_controller

(9 95
(10 95
4.4.5
(11 95
4.4.6
(12 95 axes
(13 96 4.4.13
Ability small

 (14 96 Tab 4.4.7

4.4.11
4.4.14
(15 97 Tab 4.4.15
4.4.17
(16 Defines
AP_HAL::GPIO: Defines Small

(17 97 4.4.18

AP_HAL is hardware abstraction layer for the ArduPilot project

(18 97 Tab
(19 98 AP_HAL::SPIDriver
(20 98
AP_HAL::UARTDriver
(21 98 flight modes
(22 98 flight modes

Each

(23 Multi-copter 98
(24 99
mode

Loiter Mode

(25 99
mode

Loiter Mode is that type of

land mode

LAND Mode attempts to bring the copter straight down.

(26 99 Tab Land Mode Loiter

Mode
(27 99
Auto mode the copter will follow

Auto mode In

Guided mode

control 99 ( 28

yaw

AIThold mode

( 29
y

99 ( 30
Note

Follow me mode

100 ( 31

As we said before Follow Me mode & guided mode have

100 ( 32
,the same idea

guided
Follow me

Me

control 100 ( 33
mode

Not only

Parameter

( 34
this

Importance For example

100 ( 35

100 ( 36

The descent speed for the final This is the altitude Automatic
contains 8

The throttle failsafe allows you to configure

Defines the parameters for each one a certain role for example
distance from a waypoint, that when crossed indicates the wp has
contains 7 parameters for example (GPS_AUTO_SWITCH)

been hi