可以用VS编译的pde版本

配合博客文章http://blog.csdn.net/gyh_420/article/details/76652023

#include 

#include “downstream.h“
#include “state.h“

extern const AP_HAL::HAL& hal;
extern mavlink_channel_t downstream_channel;

extern FMStateMachine sm;

static void downstream_handle_heartbeat（mavlink_message_t* msg） __attribute__（（noinline））;
static void downstream_handle_heartbeat（mavlink_message_t* msg） {
    mavlink_heartbeat_t pkt;
    mavlink_msg_heartbeat_decode（msg &pkt）;
    sm.on_downstream_heartbeat（&pkt）;
}

static void downstream_handle_gps（mavlink_message_t* msg） __attribute__（（noinline））;
static void downstream_handle_gps（mavlink_message_t* msg） {
    mavlink_gps_raw_int_t pkt;
    mavlink_msg_gps_raw_int_decode（msg &pkt）;
    sm.on_downstream_gps_raw_int（&pkt）;
}

void downstream_handler（mavlink_channel_t from mavlink_message_t* msg） {
    switch （msg->msgid） {
      case MAVlink_MSG_ID_HEARTBEAT:
        downstream_handle_heartbeat（msg）; 
        _mavlink_resend_uart（downstream_channel msg）;
        break;
      case MAVlink_MSG_ID_GPS_RAW_INT:
        downstream_handle_gps（msg）;
        _mavlink_resend_uart（downstream_channel msg）;
        break;
      default:
        _mavlink_resend_uart（downstream_channel msg）;
    }
}

 属性            大小     日期    时间   名称
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     目录           0  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\
     文件         681  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\.editorconfig
     文件        1503  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\.gitignore
     文件         307  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\.pydevproject
     文件         464  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\.travis.yml
     目录           0  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\
     文件         272  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\APM_Config.h
     文件       29689  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\APMrover2.pde
     文件       37689  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\GCS_Mavlink.pde
     文件       17545  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\Log.pde
     文件          21  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\Makefile
     文件        8909  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\Parameters.h
     文件       27360  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\Parameters.pde
     文件        9787  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\Steering.pde
     文件        3683  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\command_description.txt
     文件        2191  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\commands.pde
     文件       11114  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\commands_logic.pde
     文件         321  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\commands_process.pde
     文件         223  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\compat.h
     文件         274  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\compat.pde
     文件        9791  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\config.h
     文件        3423  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\control_modes.pde
     文件        2334  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\createTags
     文件        3447  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\defines.h
     文件         153  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\events.pde
     文件        1556  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\failsafe.pde
     文件         879  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\navigation.pde
     文件           0  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\nocore.inoflag
     文件        3682  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\radio.pde
     文件        3439  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\sensors.pde
     文件       16831  2015-04-18 03:41  ardupilot-ArduCopter-3.2.1\APMrover2\setup.pde
............此处省略2117个文件信息