APM Source Learning Note one, opening

Recently learning APM, because the project to be done on the basis of apmrover.

After watching the blog of the Ant Walk (http://blog.sina.com.cn/s/articlelist_1076627230_0_1.html) , benefited.

Now also want to learn the source of their own process and the problems encountered in the record, do a backup, but also hope to have a lot of expert guidance, we learn together!!!

/* Scheduler Table-all Regular tasks should be listed here, along and how often they should is called (in 20ms units) And the maximum time they is expected to take (in microseconds) */static const Ap_scheduler::task scheduler_tasks[] PRO   Gmem = {Read_radio, 1, +, {ahrs_update, 1, 6400}, {read_sonars, 1,        {update_current_mode, 1, Set_servos}, {1, +/-), {update_gps_50hz,               1, 2500}, {update_gps_10hz, 5, 2500}, {Update_alt, 5, 3400}, {navigate,         5, Update_compass}, {update_commands, 5, +}, {update_logging1, 5, +},             5, +, {update_logging2, 5, +, {gcs_retry_deferred, 1, +}, {gcs_update, 1, 1700}, {gcs_data_stream_send, 1, +}, {Read_control_switch, +, +}, {Read_tri M_switch, 5, 1000}, {read_battery, 5, +, {Read_receiver_rssi, 5, +}, {update_events, 1,     + {Check_usb_mux, +, +}, {mount_update, 1, +}, {Gcs_failsafe_check,       5, (+), {compass_accumulate, 1, +/-}, {update_notify, 1, +}, {one_second_loop, (+), #if frsky_telem_enabled = = ENABLED {telemetry_send, ten, +} #endif};

The next step is to analyze the execution of each task Apmrover.

APM Source Learning Note one, opening