APM Code Learning Note 3: Execution process

Taking Linux platform Arduplane as an example

The \ARDUPLANE\PLANE.CPP definition Plane class inherits from Ap_hal::hal::callbacks, which gets the HAL object.

\arduplane\arduplane.cpp Implementing the Setup and loop functions to place the main function

\libraries\ap_hal\ap_hal_main.h preprocessing defines two Main functions as a default setup loop callback for example. Another subclass that needs to pass in ap_hal::hal::callbacks such as Copter, Plane. The main function is only one line to execute the Hal.run method

\libraries\ap_hal_linux\hal_linux_class.cpp implementation of the Hal.run method initializes the I²c SPI UART to perform setup, loop

APM Code Learning Note 3: Execution process