Advanced Robotic Vehicles Programming: An Ardupilot and Pixhawk Approach

© Julio Alberto Mendoza-Mendoza, Victor Gonzalez-Villela 2020

J. A. Mendoza-Mendoza et al.Advanced Robotic Vehicles Programminghttps://doi.org/10.1007/978-1-4842-5531-5_7

7. Real-Time Working Environment

Julio Alberto Mendoza-Mendoza¹ , Victor Gonzalez-Villela¹, Gabriel Sepulveda-Cervantes², Mauricio Mendez-Martinez³ and Humberto Sossa-Azuela⁴

(1)

FI UNAM, Ciudad de Mexico, Mexico

(2)

CIDETEC IPN, Ciudad de Mexico, Mexico

(3)

UPIITA IPN, Ciudad de México, Mexico

(4)

CIC IPN, Ciudad de México, Mexico

 

In this chapter, you will learn key concepts for using the ArduPilot real-time working environment libraries, such as the concept of a linker, the scheduler and its parameters, how to measure the current time of a task, the parts of a scheduler-mode program, ...