Main initializer.cpp

#include <AP_Math.h>             // ArduPilot math library
#include <AP_Common.h>           // ArduPilot common library
#include <AP_Param.h>            // ArduPilot parameter library
#include <AP_HAL.h>              // ArduPilot hardware abstraction layer library
#include <AP_HAL_ChibiOS.h>      // ArduPilot ChibiOS HAL library
#include <AP_HAL_Empty.h>        // ArduPilot Empty HAL library
#include <AP_HAL_Linux.h>        // ArduPilot Linux HAL library
#include <AP_HAL_PX4.h>          // ArduPilot PX4 HAL library

#include <AP_HAL_AVR.h>          // ArduPilot AVR HAL library
#include <AP_HAL_AVR_SITL.h>     // ArduPilot AVR SITL HAL library

#include <AP_HAL_Boards.h>       // ArduPilot board definition library
#include <AP_HAL_Empty.h>        // ArduPilot Empty HAL library

#include <AP_InertialSensor.h>   // ArduPilot inertial sensor library
#include <AP_AHRS.h>             // ArduPilot attitude and heading reference system library
#include <AP_BoardConfig.h>      // ArduPilot board configuration library
#include <AP_HAL_Empty.h>        // ArduPilot Empty HAL library

#include <AP_Motors.h>           // ArduPilot motor control library
#include <AP_MotorsMatrix.h>     // ArduPilot matrix motor control library
#include <AP_MotorsQuad.h>       // ArduPilot quadcopter motor control library
#include <AP_MotorsTri.h>        // ArduPilot tricopter motor control library

#include <AP_GPS.h>              // ArduPilot GPS library
#include <AP_Compass.h>          // ArduPilot compass library
#include <AP_Airspeed.h>         // ArduPilot airspeed library
#include <AP_RangeFinder.h>      // ArduPilot rangefinder library
#include <AP_Terrain.h>          // ArduPilot terrain library

#include <AP_Buffer.h>           // ArduPilot buffer library
#include <AP_Audio.h>            // ArduPilot audio library
#include <AP_LED.h>              // ArduPilot LED library
#include <AP_Mission.h>          // ArduPilot mission library
#include <AP_NavEKF3.h>          // ArduPilot navigation EKF3 library
#include <AP_NavEKF3_Core.h>     // ArduPilot navigation EKF3 core library
#include <AP_Logger.h>           // ArduPilot logger library
#include <AP_Perfmon.h>          // ArduPilot performance monitoring library
#include <AP_WebServer.h>        // ArduPilot web server library

#include <opencv2/opencv.hpp>    // OpenCV library

using namespace cv;

int main(int argc, char *argv[])
{
    // initialize the flight controller
    AP_HAL_Empty hal_empty;                               // create an instance of the ArduPilot Empty HAL
    AP_HAL::set_hardware(&hal_empty);                      // set the ArduPilot hardware
    AP_HAL::set_scheduler(&hal_empty.scheduler);           // set the ArduPilot scheduler
    AP_HAL::set_fast_loop_timer(&hal_empty.scheduler_timer);// set the ArduPilot fast loop timer
    AP_HAL::set_semaphore(&hal_empty.semaphore);            // set the ArduPilot semaphore
// initialize the sensors
AP_InertialSensor ins;                                // create an instance of the ArduPilot inertial sensor
AP_AHRS ahrs(&ins);                                   // create an instance of the ArduPilot AHRS using the inertial sensor
AP_GPS gps;                                           // create an instance of the ArduPilot GPS
AP_Compass compass;                                   // create an instance of the ArduPilot compass
AP_Airspeed airspeed;                                 // create an instance of the ArduPilot airspeed sensor
AP_RangeFinder rangefinder;                           // create an instance of the ArduPilot rangefinder
AP_Terrain terrain;                                   // create an instance of the ArduPilot terrain library

// initialize the motors
AP_MotorsQuad motors;                                 // create an instance of the ArduPilot quadcopter motor control library
AP_MotorsMatrix motor_matrix;                         // create an instance of the ArduPilot matrix motor control library
AP_MotorsTri motor_tri;                               // create an instance of the ArduPilot tricopter motor control library

// initialize the audio, LED, and mission systems
AP_Buffer buffer;                                     // create an instance of the ArduPilot buffer library
AP_Audio audio;                                       // create an instance of the ArduPilot audio library
AP_LED led;                                           // create an instance of the ArduPilot LED library
AP_Mission mission;                                   // create an instance of the ArduPilot mission library

// initialize the navigation and logging systems
AP_NavEKF3_Core nav_ekf3_core(&ins, &gps, &compass, &airspeed, &rangefinder, &terrain); // create an instance of the ArduPilot navigation EKF3 core library using the sensors
AP_NavEKF3 nav_ekf3(&nav_ekf3_core);                   // create an instance of the ArduPilot navigation EKF3 library
AP_Logger logger;                                     // create an instance of the ArduPilot logger library
AP_Perfmon perfmon;                                   // create an instance of the ArduPilot performance monitoring library
AP_WebServer webserver;                               // create an instance of the ArduPilot web server library

// initialize the camera and image processing variables
VideoCapture cap(0);                                   // create an instance of the OpenCV camera object
Mat frame, edges;                                      // create instances of the OpenCV frame and edge matrices
int low_threshold = 100;                               // set the low threshold for the Canny edge detection algorithm
int high_threshold = 200;                              // set the high threshold for the Canny edge detection algorithm

// run the flight controller loop
while (true) {
    // read sensor data
    ins.update();                                      // update the inertial sensor data
    gps.update();                                      // update the GPS data
    compass.update();                                  // update the compass data
    airspeed.update();                                 // update the airspeed data
    rangefinder.update();                              // update the rangefinder data
    terrain.update();                                  // update the terrain data

    // run navigation algorithm
    nav_ekf3.update();                                 // update the navigation EKF3 algorithm

    // process camera data
    cap >> frame;                                       // read a frame from the camera
    cvtColor(frame, edges, COLOR_BGR2GRAY);             //
    convert the color of the frame to grayscale
    Canny(edges, edges, low_threshold, high_threshold); // apply the Canny edge detection algorithm to the grayscale image

    // run motor control algorithm
    motors.output();                                   // update the motor outputs for the quadcopter
    motor_matrix.output();                             // update the motor outputs for the matrix motor configuration
    motor_tri.output();                                // update the motor outputs for the tricopter

    // run audio, LED, and mission systems
    buffer.update();                                   // update the buffer
    audio.update();                                    // update the audio system
    led.update();                                      // update the LED system
    mission.update();                                  // update the mission system

    // log data
    logger.update();                                   // update the logger
    perfmon.update();                                  // update the performance monitoring system

    // handle web server requests
    webserver.handle_requests();                       // handle any incoming web server requests
}

return 0;
}