Code Overview (Copter)ΒΆ

The code is made up of the main Copter code which resides in it’s own directory, and the libraries which are shared with Plane and Rover.

Below is a highlevel view of the ardupilot architecture.


Below is a more zoomed in view (as compared to the above diagram) of the architecture.


Click on the images below to see a high level view of flight-mode to motor output code:

../_images/AC_CodeOverview_ManualFlightMode.png ../_images/AC_CodeOverview_AutoFlightModes.png