简介：ArduPilot固件做的一款自动驾驶仪，适用于实验室开发，行业应用，

针对你提供的 ArduPilot 自动驾驶仪硬件图片，我将从需求分析、系统架构设计、核心代码实现、测试验证以及维护升级等方面，构建一个可靠、高效、可扩展的嵌入式系统平台，并使用C语言进行详细的阐述。
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一、 需求分析

基于 ArduPilot 的自动驾驶仪，我们首先要明确其核心功能和性能指标：

1. 核心功能：

   • 飞行控制： 稳定飞行、姿态控制（俯仰、滚转、偏航）、高度控制、速度控制、航点导航等。
   • 传感器数据处理： 读取并处理 IMU（惯性测量单元）、GPS（全球定位系统）、气压计、磁力计等传感器的数据。
   • 执行器控制： 控制电机、舵机等执行器，实现飞行器运动。
   • 任务规划与执行： 执行预定义的飞行任务，如自动起飞、定点悬停、航线飞行、自动降落等。
   • 遥控器控制： 接收来自遥控器的指令，实现手动控制。
   • 数据记录与回放： 记录飞行过程中的传感器数据和控制指令，用于调试和分析。
   • 地面站通信： 通过无线链路与地面站通信，实现数据传输、参数配置、任务设置等。

2. 性能指标：

   • 实时性： 飞行控制环路需要高实时性，确保快速响应和稳定飞行。
   • 精度： 传感器数据处理和控制算法需要高精度，确保飞行器的定位和姿态准确。
   • 可靠性： 系统需要具有高可靠性，确保在各种环境条件下都能稳定工作。
   • 低延迟： 传感器数据采集和处理、控制指令生成等环节需要低延迟，减少系统响应时间。
   • 可扩展性： 系统需要具有良好的可扩展性，方便添加新的传感器和功能模块。
   • 模块化： 软件模块需要设计成可复用、易维护的模块，方便后续的开发和调试。

二、系统架构设计

基于以上需求分析，我们采用分层架构来设计软件系统，包括：

1. 硬件抽象层（HAL）：

   • 目标： 将底层硬件差异隔离，为上层软件提供统一的访问接口。
   • 功能： 包括GPIO、SPI、I2C、UART、ADC等硬件资源的驱动，以及传感器和执行器的驱动。

2. 传感器处理层：

   • 目标： 对传感器数据进行读取、滤波、校准和融合，得到可靠的姿态、位置和速度信息。
   • 功能： 包括IMU数据处理、GPS数据处理、气压计数据处理、磁力计数据处理，以及多传感器数据融合。

3. 控制算法层：

   • 目标： 实现飞行控制算法，包括姿态控制、高度控制、速度控制和航点导航。
   • 功能： 包括PID控制器、滤波器、导航算法等。

4. 任务管理层：

   • 目标： 管理飞行任务，根据用户指令和传感器数据控制飞行器的行为。
   • 功能： 包括任务规划、任务执行、模式切换等。

5. 通信层：

   • 目标： 实现与遥控器和地面站的通信。
   • 功能： 包括遥控器数据解析、地面站数据传输、参数配置等。

6. 应用层：

   • 目标： 提供用户接口，实现各种应用功能。
   • 功能： 包括数据记录、系统状态显示、参数配置等。

三、代码实现（C语言）

为了便于理解，我们将核心模块的代码进行详细的展示，包括HAL层，传感器处理层，控制算法层和任务管理层，通信层和应用层的代码将进行概要介绍。

1. 硬件抽象层 (HAL)

// hal_gpio.h
#ifndef HAL_GPIO_H
#define HAL_GPIO_H

typedef enum {
    GPIO_MODE_INPUT,
    GPIO_MODE_OUTPUT
} gpio_mode_t;

typedef enum {
  GPIO_PIN_RESET,
  GPIO_PIN_SET
} gpio_pin_state_t;

typedef struct {
    // Hardware specific GPIO port configuration
    unsigned int pin;      // e.g. on STM32
} gpio_t;

void hal_gpio_init(gpio_t *gpio, gpio_mode_t mode);
void hal_gpio_write(gpio_t *gpio, gpio_pin_state_t state);
gpio_pin_state_t hal_gpio_read(gpio_t *gpio);

#endif


// hal_spi.h
#ifndef HAL_SPI_H
#define HAL_SPI_H

#include <stdint.h>

typedef struct {
  // Hardware specific SPI peripheral config
} spi_t;


void hal_spi_init(spi_t *spi);
uint8_t hal_spi_transfer(spi_t *spi, uint8_t data);
void hal_spi_select(spi_t *spi);
void hal_spi_deselect(spi_t *spi);


#endif

//hal_i2c.h
#ifndef HAL_I2C_H
#define HAL_I2C_H

#include <stdint.h>

typedef struct {
  // Hardware specific I2C peripheral config
} i2c_t;

void hal_i2c_init(i2c_t *i2c);
uint8_t hal_i2c_write(i2c_t *i2c, uint8_t address, uint8_t reg, uint8_t data);
uint8_t hal_i2c_read(i2c_t *i2c, uint8_t address, uint8_t reg);

#endif

// hal_uart.h
#ifndef HAL_UART_H
#define HAL_UART_H

typedef struct {
    // Hardware specific UART port configuration
} uart_t;

void hal_uart_init(uart_t *uart);
void hal_uart_send_byte(uart_t *uart, uint8_t data);
uint8_t hal_uart_receive_byte(uart_t *uart);

#endif


// hal_timer.h
#ifndef HAL_TIMER_H
#define HAL_TIMER_H

typedef void (*timer_callback_t)(void);

typedef struct {
  // Hardware specific Timer peripheral config
} timer_t;

void hal_timer_init(timer_t *timer, uint32_t period_ms, timer_callback_t callback);
void hal_timer_start(timer_t *timer);
void hal_timer_stop(timer_t *timer);

#endif
// hal_adc.h
#ifndef HAL_ADC_H
#define HAL_ADC_H

#include <stdint.h>

typedef struct {
  // Hardware specific ADC channel configuration
} adc_t;

void hal_adc_init(adc_t *adc);
uint16_t hal_adc_read(adc_t *adc);

#endif

// hal_gpio.c
#include "hal_gpio.h"
// Example implementation
void hal_gpio_init(gpio_t *gpio, gpio_mode_t mode) {
  // Hardware specific GPIO initialization code
  // Example on STM32:
  // RCC->AHB1ENR |= (1 << (gpio->pin / 16));
  // GPIO_TypeDef *port = (GPIO_TypeDef*)(GPIOA_BASE + (gpio->pin / 16) * 0x400);
  // port->MODER |= (mode << ((gpio->pin % 16) * 2));

  // Simplified for demonstration purposes
  // ... (your actual implementation here) ...
}

void hal_gpio_write(gpio_t *gpio, gpio_pin_state_t state) {
  // Hardware specific GPIO write code
  // Simplified for demonstration purposes
   // ... (your actual implementation here) ...
}

gpio_pin_state_t hal_gpio_read(gpio_t *gpio) {
   // Hardware specific GPIO read code
    // Simplified for demonstration purposes
   // ... (your actual implementation here) ...
    return GPIO_PIN_RESET;
}

// hal_spi.c
#include "hal_spi.h"
// Example implementation
void hal_spi_init(spi_t *spi) {
 // Hardware specific SPI initialization code
    // Simplified for demonstration purposes
   // ... (your actual implementation here) ...
}

uint8_t hal_spi_transfer(spi_t *spi, uint8_t data) {
 // Hardware specific SPI transfer code
    // Simplified for demonstration purposes
     // ... (your actual implementation here) ...
     return 0;
}
void hal_spi_select(spi_t *spi) {
 // Hardware specific SPI chip select code
    // Simplified for demonstration purposes
   // ... (your actual implementation here) ...
}
void hal_spi_deselect(spi_t *spi) {
    // Hardware specific SPI chip deselect code
    // Simplified for demonstration purposes
   // ... (your actual implementation here) ...
}

//hal_i2c.c
#include "hal_i2c.h"

void hal_i2c_init(i2c_t *i2c){
 // Hardware specific I2C initialization code
    // Simplified for demonstration purposes
   // ... (your actual implementation here) ...
}
uint8_t hal_i2c_write(i2c_t *i2c, uint8_t address, uint8_t reg, uint8_t data){
// Hardware specific I2C write code
    // Simplified for demonstration purposes
    // ... (your actual implementation here) ...
    return 0;
}
uint8_t hal_i2c_read(i2c_t *i2c, uint8_t address, uint8_t reg){
// Hardware specific I2C read code
    // Simplified for demonstration purposes
    // ... (your actual implementation here) ...
    return 0;
}

// hal_uart.c
#include "hal_uart.h"
// Example implementation
void hal_uart_init(uart_t *uart) {
    // Hardware specific UART initialization code
   // Simplified for demonstration purposes
   // ... (your actual implementation here) ...
}
void hal_uart_send_byte(uart_t *uart, uint8_t data) {
    // Hardware specific UART send code
    // Simplified for demonstration purposes
   // ... (your actual implementation here) ...
}

uint8_t hal_uart_receive_byte(uart_t *uart) {
    // Hardware specific UART receive code
   // Simplified for demonstration purposes
    // ... (your actual implementation here) ...
    return 0;
}

// hal_timer.c
#include "hal_timer.h"
// Example implementation
void hal_timer_init(timer_t *timer, uint32_t period_ms, timer_callback_t callback) {
    // Hardware specific timer initialization code
     // Simplified for demonstration purposes
    // ... (your actual implementation here) ...
}

void hal_timer_start(timer_t *timer) {
    // Hardware specific timer start code
     // Simplified for demonstration purposes
    // ... (your actual implementation here) ...
}

void hal_timer_stop(timer_t *timer) {
    // Hardware specific timer stop code
    // Simplified for demonstration purposes
    // ... (your actual implementation here) ...
}

// hal_adc.c
#include "hal_adc.h"
// Example implementation
void hal_adc_init(adc_t *adc) {
    // Hardware specific ADC initialization code
    // Simplified for demonstration purposes
    // ... (your actual implementation here) ...
}

uint16_t hal_adc_read(adc_t *adc) {
    // Hardware specific ADC read code
     // Simplified for demonstration purposes
    // ... (your actual implementation here) ...
    return 0;
}

以上HAL层代码提供了GPIO、SPI、I2C、UART、TIMER、ADC等硬件资源的抽象接口，实际应用中需要根据具体的硬件平台进行相应的实现。

2. 传感器处理层

// sensor.h
#ifndef SENSOR_H
#define SENSOR_H

#include <stdint.h>

typedef struct {
    float gyro_x;
    float gyro_y;
    float gyro_z;
    float accel_x;
    float accel_y;
    float accel_z;
} imu_data_t;

typedef struct {
    float latitude;
    float longitude;
    float altitude;
} gps_data_t;

typedef struct {
    float pressure;
    float temperature;
} barometer_data_t;

typedef struct {
    float mag_x;
    float mag_y;
    float mag_z;
} magnetometer_data_t;

void sensor_imu_read(imu_data_t *imu_data);
void sensor_gps_read(gps_data_t *gps_data);
void sensor_baro_read(barometer_data_t *baro_data);
void sensor_mag_read(magnetometer_data_t *mag_data);

#endif

// sensor.c
#include "sensor.h"
#include "hal_spi.h"
#include "hal_i2c.h"
#include "hal_uart.h"
#include <math.h>

// Example implementation for MPU6050 (IMU)
#define MPU6050_ADDRESS 0x68
#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_GYRO_XOUT_H  0x43
#define MPU6050_CONFIG  0x1A
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_PWR_MGMT_1 0x6B

spi_t spi_imu;
i2c_t i2c_baro;
uart_t uart_gps;

void sensor_imu_init() {
    hal_spi_init(&spi_imu);
    // Configure MPU6050
    hal_i2c_write(&i2c_baro, MPU6050_ADDRESS, MPU6050_PWR_MGMT_1, 0x00); // Wake up
    hal_i2c_write(&i2c_baro, MPU6050_ADDRESS, MPU6050_SMPLRT_DIV, 0x07);
    hal_i2c_write(&i2c_baro, MPU6050_ADDRESS, MPU6050_CONFIG, 0x06);
    // Add more init settings for gyroscope and accelerometer if needed
}


void sensor_imu_read(imu_data_t *imu_data) {
    // Read raw data from MPU6050 via SPI
    hal_spi_select(&spi_imu);

    uint8_t reg_addr = MPU6050_ACCEL_XOUT_H;
    uint8_t raw_data[14];
    hal_spi_transfer(&spi_imu,reg_addr);
    for(int i=0;i<14;i++){
     raw_data[i]= hal_spi_transfer(&spi_imu,0x00);
    }

    hal_spi_deselect(&spi_imu);

    // Convert raw data to float
    imu_data->accel_x = (int16_t)((raw_data[0] << 8) | raw_data[1]) / 16384.0f * 9.8f ;
    imu_data->accel_y = (int16_t)((raw_data[2] << 8) | raw_data[3]) / 16384.0f * 9.8f;
    imu_data->accel_z = (int16_t)((raw_data[4] << 8) | raw_data[5]) / 16384.0f * 9.8f;
    imu_data->gyro_x  = (int16_t)((raw_data[8] << 8) | raw_data[9]) / 131.0f * (M_PI/180.0f);
    imu_data->gyro_y  = (int16_t)((raw_data[10] << 8) | raw_data[11]) / 131.0f* (M_PI/180.0f);
    imu_data->gyro_z  = (int16_t)((raw_data[12] << 8) | raw_data[13]) / 131.0f* (M_PI/180.0f);
}

// Example implementation for GPS (assuming NMEA parsing)
void sensor_gps_init() {
    hal_uart_init(&uart_gps);
}

void sensor_gps_read(gps_data_t *gps_data) {
  // Example NMEA parsing (Simplified - need more robust parsing)
   // Read data from UART
   uint8_t nmea_buffer[256];
   uint8_t received_char;
   int i = 0;

    while(1){
       received_char = hal_uart_receive_byte(&uart_gps);
       if(received_char == '$')
       {
           nmea_buffer[i++] = received_char;
           while(received_char != '\n'){
               received_char = hal_uart_receive_byte(&uart_gps);
               nmea_buffer[i++] = received_char;
           }
           nmea_buffer[i] = '\0';
           break;
       }

   }

    // Parse NMEA data (e.g., $GPGGA)
   if (strstr((const char*)nmea_buffer, "$GPGGA") != NULL) {

    float lat, lon, alt;
     sscanf((const char*)nmea_buffer, "$GPGGA,%*[^,],%f,%c,%f,%c,%*[^,],%*[^,],%*[^,],%f,%*[^,],%*[^,],%*[^,],%*[^,]",
              &lat, &nmea_buffer[16], &lon, &nmea_buffer[26], &alt);

        gps_data->latitude  = lat;
        gps_data->longitude = lon;
        gps_data->altitude = alt;
        if (nmea_buffer[16] == 'S') gps_data->latitude = -gps_data->latitude;
        if (nmea_buffer[26] == 'W') gps_data->longitude = -gps_data->longitude;
    }
}
// Example implementation for BMP280 (Barometer)
#define BMP280_ADDRESS 0x76
#define BMP280_REG_PRESS_MSB 0xF7
#define BMP280_REG_TEMP_MSB 0xFA
#define BMP280_REG_CTRL_MEAS 0xF4
#define BMP280_REG_CONFIG 0xF5
#define BMP280_REG_RESET 0xE0
#define BMP280_CHIP_ID 0xD0
#define BMP280_ID 0x58


void sensor_baro_init(){
    hal_i2c_init(&i2c_baro);
    hal_i2c_write(&i2c_baro, BMP280_ADDRESS, BMP280_REG_RESET, 0xB6);
    uint8_t id;
    while(id!=BMP280_ID){
        id = hal_i2c_read(&i2c_baro,BMP280_ADDRESS,BMP280_CHIP_ID);
    }
    hal_i2c_write(&i2c_baro, BMP280_ADDRESS, BMP280_REG_CONFIG, 0x00);
    hal_i2c_write(&i2c_baro, BMP280_ADDRESS, BMP280_REG_CTRL_MEAS, 0x2B);

}

void sensor_baro_read(barometer_data_t *baro_data){

    uint8_t raw_data[6];

    raw_data[0] = hal_i2c_read(&i2c_baro, BMP280_ADDRESS, BMP280_REG_PRESS_MSB);
    raw_data[1] = hal_i2c_read(&i2c_baro, BMP280_ADDRESS, BMP280_REG_PRESS_MSB+1);
    raw_data[2] = hal_i2c_read(&i2c_baro, BMP280_ADDRESS, BMP280_REG_PRESS_MSB+2);
    raw_data[3] = hal_i2c_read(&i2c_baro, BMP280_ADDRESS, BMP280_REG_TEMP_MSB);
    raw_data[4] = hal_i2c_read(&i2c_baro, BMP280_ADDRESS, BMP280_REG_TEMP_MSB+1);
    raw_data[5] = hal_i2c_read(&i2c_baro, BMP280_ADDRESS, BMP280_REG_TEMP_MSB+2);

    int32_t raw_pressure = (raw_data[0] << 12) | (raw_data[1] << 4) | (raw_data[2] >> 4);
    int32_t raw_temp = (raw_data[3] << 12) | (raw_data[4] << 4) | (raw_data[5] >> 4);

    float pressure = (float)raw_pressure/4096.0f; //Convert to hpa
    float temperature = (float)raw_temp/4096.0f; //Convert to degree celcius

    baro_data->pressure = pressure;
    baro_data->temperature = temperature;


}

// Example implementation for Magnetometer (Placeholder)
void sensor_mag_init(){

}

void sensor_mag_read(magnetometer_data_t *mag_data){
  // Placeholder: read magnetic data
}

以上代码演示了如何读取和处理 IMU、GPS、气压计的数据。实际应用中，需要根据具体的传感器型号进行相应的配置和校准。

3. 控制算法层

// control.h
#ifndef CONTROL_H
#define CONTROL_H

#include "sensor.h"
#include <stdint.h>

typedef struct {
    float roll;
    float pitch;
    float yaw;
} attitude_t;

typedef struct {
   float desired_roll;
    float desired_pitch;
    float desired_yaw;
} setpoint_t;

typedef struct {
  float throttle;
    float roll_rate;
    float pitch_rate;
    float yaw_rate;
} control_output_t;


void control_init();
void control_update(imu_data_t *imu_data, gps_data_t *gps_data, attitude_t *attitude,  control_output_t *control_output,setpoint_t *setpoint);
void get_attitude(imu_data_t *imu_data, attitude_t *attitude);
void set_setpoint(setpoint_t *setpoint,float roll,float pitch,float yaw);

#endif

// control.c
#include "control.h"
#include <math.h>
#include <stdio.h>

#define Kp_roll 0.1f
#define Ki_roll 0.0001f
#define Kd_roll 0.01f
#define Kp_pitch 0.1f
#define Ki_pitch 0.0001f
#define Kd_pitch 0.01f
#define Kp_yaw 0.1f
#define Ki_yaw 0.0001f
#define Kd_yaw 0.01f
#define dt 0.005f
#define LOW_PASS_FILTER_FACTOR 0.2f

static float integrated_error_roll;
static float previous_error_roll;
static float integrated_error_pitch;
static float previous_error_pitch;
static float integrated_error_yaw;
static float previous_error_yaw;
// Add global variables for roll, pitch and yaw

static float current_roll;
static float current_pitch;
static float current_yaw;

static float filtered_gyro_x;
static float filtered_gyro_y;
static float filtered_gyro_z;


void control_init(){
    integrated_error_roll = 0.0f;
    previous_error_roll = 0.0f;
    integrated_error_pitch = 0.0f;
    previous_error_pitch = 0.0f;
    integrated_error_yaw = 0.0f;
    previous_error_yaw = 0.0f;
    current_roll = 0.0f;
    current_pitch = 0.0f;
    current_yaw = 0.0f;
    filtered_gyro_x = 0.0f;
    filtered_gyro_y = 0.0f;
    filtered_gyro_z = 0.0f;
}


void low_pass_filter(float new_value, float* previous_value){
 *previous_value = LOW_PASS_FILTER_FACTOR * new_value + (1 - LOW_PASS_FILTER_FACTOR) * (*previous_value);
}

void get_attitude(imu_data_t *imu_data, attitude_t *attitude) {
    // Low pass filter for smoothing
    low_pass_filter(imu_data->gyro_x,&filtered_gyro_x);
    low_pass_filter(imu_data->gyro_y,&filtered_gyro_y);
    low_pass_filter(imu_data->gyro_z,&filtered_gyro_z);

     // Using complementary filter for attitude estimation
    current_roll  += (filtered_gyro_x * dt);
    current_pitch += (filtered_gyro_y * dt);
    current_yaw += (filtered_gyro_z * dt);

    // Convert the accelerometer data to an angle, and then use a complementary filter with gyro data
  float acc_roll  = atan2(imu_data->accel_y, sqrt(imu_data->accel_x * imu_data->accel_x + imu_data->accel_z * imu_data->accel_z));
  float acc_pitch = atan2(-imu_data->accel_x, sqrt(imu_data->accel_y * imu_data->accel_y + imu_data->accel_z * imu_data->accel_z));

    current_roll  = 0.95f * current_roll  + 0.05f * acc_roll;
    current_pitch = 0.95f * current_pitch + 0.05f * acc_pitch;

    attitude->roll = current_roll;
    attitude->pitch = current_pitch;
    attitude->yaw = current_yaw;

}

void set_setpoint(setpoint_t *setpoint,float roll,float pitch,float yaw){
    setpoint->desired_roll = roll;
    setpoint->desired_pitch = pitch;
    setpoint->desired_yaw = yaw;
}

void control_update(imu_data_t *imu_data, gps_data_t *gps_data,attitude_t *attitude, control_output_t *control_output, setpoint_t *setpoint) {
    get_attitude(imu_data,attitude);

     //Roll PID controller
    float error_roll = setpoint->desired_roll - attitude->roll;
    integrated_error_roll = integrated_error_roll + error_roll * dt;
    float derivative_error_roll = (error_roll - previous_error_roll) / dt;

    float roll_rate = Kp_roll * error_roll + Ki_roll * integrated_error_roll + Kd_roll * derivative_error_roll;

    previous_error_roll = error_roll;

    //Pitch PID controller
    float error_pitch = setpoint->desired_pitch - attitude->pitch;
    integrated_error_pitch = integrated_error_pitch + error_pitch * dt;
    float derivative_error_pitch = (error_pitch - previous_error_pitch) / dt;

    float pitch_rate = Kp_pitch * error_pitch + Ki_pitch * integrated_error_pitch + Kd_pitch * derivative_error_pitch;

    previous_error_pitch = error_pitch;

    //Yaw PID controller
    float error_yaw = setpoint->desired_yaw - attitude->yaw;
    integrated_error_yaw = integrated_error_yaw + error_yaw * dt;
    float derivative_error_yaw = (error_yaw - previous_error_yaw) / dt;

    float yaw_rate = Kp_yaw * error_yaw + Ki_yaw * integrated_error_yaw + Kd_yaw * derivative_error_yaw;

    previous_error_yaw = error_yaw;

    // Set control outputs
    control_output->roll_rate = roll_rate;
    control_output->pitch_rate = pitch_rate;
    control_output->yaw_rate = yaw_rate;
    control_output->throttle = 0.5f; //For testing purposes
}

以上代码实现了姿态估计和PID控制算法。其中get_attitude函数通过互补滤波器融合陀螺仪和加速度计数据估计姿态，control_update函数则根据期望姿态和当前姿态计算控制输出。

4. 任务管理层

// task.h
#ifndef TASK_H
#define TASK_H

#include "control.h"

typedef enum {
  TASK_IDLE,
  TASK_ARMED,
  TASK_MANUAL,
  TASK_AUTO,
    TASK_HOLD
} task_state_t;

typedef struct {
    task_state_t current_state;
    setpoint_t setpoint;
} task_t;

void task_init(task_t *task);
void task_update(task_t *task, control_output_t *control_output, imu_data_t *imu_data,gps_data_t *gps_data,attitude_t *attitude);
void set_mode(task_t *task, task_state_t state);
task_state_t get_current_state(task_t *task);
#endif

// task.c
#include "task.h"
#include "hal_gpio.h"
#include <stdio.h>
// Define a global task struct

#define ARM_PIN 0
gpio_t arm_gpio;

void task_init(task_t *task){
    task->current_state = TASK_IDLE;
    hal_gpio_init(&arm_gpio, GPIO_MODE_INPUT); //Initialize Arming input pin
}
void set_mode(task_t *task, task_state_t state){
    task->current_state = state;
}
task_state_t get_current_state(task_t *task){
    return task->current_state;
}

void task_update(task_t *task, control_output_t *control_output, imu_data_t *imu_data,gps_data_t *gps_data, attitude_t *attitude){
    gpio_pin_state_t arm_state = hal_gpio_read(&arm_gpio);

    switch(task->current_state){
        case TASK_IDLE:
            // Wait for arming
            if (arm_state == GPIO_PIN_SET) {
                task->current_state = TASK_ARMED;
                printf("System Armed\n");
            }
            break;
         case TASK_ARMED:
             // Wait for either manual or auto flight
            if (arm_state == GPIO_PIN_RESET) {
              task->current_state = TASK_IDLE;
              printf("System Disarmed\n");
            }

            // Set throttle to idle
            control_output->throttle = 0.0f;
             //For Testing , set it to manual for now
           set_mode(task,TASK_MANUAL);
            break;
          case TASK_MANUAL:
                // In manual mode, get desired rate from rc, or use default setpoint
               set_setpoint(&task->setpoint,0.0f,0.0f,0.0f);
            break;
         case TASK_AUTO:
             // Perform automatic flight missions
             set_setpoint(&task->setpoint,0.0f,0.0f,0.0f);
           break;
        case TASK_HOLD:
            set_setpoint(&task->setpoint,0.0f,0.0f,0.0f);
             break;
      default:
          break;
    }

}

task.c实现了系统的任务管理功能，负责管理当前飞行模式，控制期望姿态和油门。

5. 通信层

通信层需要实现与遥控器和地面站的通信。

• 遥控器通信: 需要解析遥控器的数据，转换为控制指令，如油门、姿态等。通常使用 PPM 或 SBUS 协议。
• 地面站通信: 需要实现数据传输、参数配置、任务设置等。通常使用 UART 或 WiFi 连接。
  这里给出遥控器解析的简单示例：

// rc.h
#ifndef RC_H
#define RC_H

#include <stdint.h>

typedef struct {
  float throttle;
    float roll;
    float pitch;
    float yaw;
    uint16_t aux[8];
} rc_data_t;

void rc_init();
void rc_update(rc_data_t *rc_data);
#endif

// rc.c
#include "rc.h"
#include "hal_uart.h"
#include <string.h>
#include <stdio.h>

uart_t uart_rc;
void rc_init(){
    hal_uart_init