ArduPilot Programming Libraries

The the libraries are shared with Copter, Plane and Rover. Below is a high level list of libraries and their function.

Core libraries:

• AP_AHRS - attitude estimation using DCM or EKF
• AP_Common - core includes required by all sketches and libraries
• AP_Math - various math functions especially useful for vector manipulation
• AC_PID - PID controller library
• AP_InertialNav - inertial navigation library for blending accelerometer inputs with gps and baro data
• AC_AttitudeControl -
• AP_WPNav - waypoint navigation library
• AP_Motors - multicopter and traditional helicopter motor mixing
• RC_Channel - a library to more convert pwm input/output from APM_RC into internal units such as angles
• AP_HAL, AP_HAL_AVR, AP_HAL_PX4 - libraries to implement the “Hardware abstraction layer” which presents an identical interface to the high level code so that it can more easily be ported to different boards.

Sensor libraries:

• AP_InertialSensor - reads gyro and accelerometer data, perform calibration and provides data in standard units (deg/s, m/s) to main code and other libraries
• AP_RangeFinder - sonar and ir distance sensor interfaced library
• AP_Baro - barometer interface library
• AP_GPS - gps interface library
• AP_Compass - 3-axis compass interface library
• AP_OpticalFlow - optical flow sensor interface library

Other libraries:

• AP_Mount, AP_Camera, AP_Relay - camera mount control library, camera shutter control libraries
• AP_Mission - stores/retrieves mission commands from eeprom
• AP_Buffer - a simple FIFO buffer for use with inertial navigation