https://github.com/priseborough/InertialNav Instructions To Run Simulink Model Note : Simulink models are only available for 21 and 24 state architecture, and do not include range finder or optical flow measurements. You will need Matlab + Simulink 2…

该文件是APM的主文件. #define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Copter, &copter, func, rate_hz, max_time_micros) /* scheduler table for fast CPUs - all regular tasks apart from the fast_loop() should be listed here, along with how of…