Pixhawk on Burn write Ardupilot tutorial routines after flight control does not work the workaround

In the official

Http://ardupilot.org/dev/docs/learning-ardupilot-the-example-sketches.html

In this tutorial, it should be seen that the terminal prints out a series of GPs values, but I am successful in compiling and burning after the terminal can not output any information. After reading the Ardupilot's underlying code in detail, I finally found the reason.

The original code (note in order to express the main problem of the code omitted):

 /// -*-Tab-width:4; mode:c++; C-basic-offset:4; Indent-tabs-mode:nil-*-  simple Hello World Sketch Andrew Tridgell September ( */  #include  <ap_hal/ap_hal.h>const  ap_hal::hal& HAL = Ap_hal::get_hal ();  void   Setup () {
 Hal.console->println (" GPS AUTO Library Test ");     Hal.console->println ("Hello world!"); Hal.scheduler ->delay ();  }ap_hal_main ();  
 

Post-Modification Code

#include <AP_HAL/AP_HAL.h>

Const ap_hal::hal& HAL = Ap_hal::get_hal ();

  
 class  gps_auto_test: public  Span style= "color: #000000;"    > ap_hal::hal::callbacks{ public  :  void   Setup () {Hal.console  println ( gps AUTO library test   " );  void   loop () {Hal.console->printl        N ("Hello world!");    Hal.scheduler ->delay (); }}; Gps_auto_test Gat;  //  Register above functions in HAL board level  Ap_hal_main_callbacks (&gat); 

After Ap_hal_main_callbacks (&gat) is executed, the program automatically calls Gat.setup () and Gat.loop ().

Execution Result:

In fact Ap_hal_main_callbacks (&gat) and Ap_hal_main () Two macros are implemented in almost the same way, the latter will assemble the setup and loop into a class before using the former. I read the source code also did not find any problem, but really can not execute, so the best way is to package setup and loop into a class after the use of Ap_hal_main_callbacks (&gat) Form.

Note that the encapsulated class inherits the public Ap_hal::hal::callbacks class.

Pixhawk on Burn write Ardupilot tutorial routines after flight control does not work the workaround