APM（Arduipilot）——任务列表

    （Copter.cpp）
    const AP_Scheduler::Task Copter::scheduler_tasks[] = {
    SCHED_TASK(rc_loop,              100,    130),
    SCHED_TASK(throttle_loop,         50,     75),
    SCHED_TASK(update_GPS,            50,    200),
    #if OPTFLOW == ENABLED
    SCHED_TASK_CLASS(OpticalFlow,          &copter.optflow,             update,         200, 160),
    #endif
    SCHED_TASK(update_batt_compass,   10,    120),
    SCHED_TASK_CLASS(RC_Channels,          (RC_Channels*)&copter.g2.rc_channels,      read_aux_all,    10,     50),
    SCHED_TASK(arm_motors_check,      10,     50),
    #if TOY_MODE_ENABLED == ENABLED
    SCHED_TASK_CLASS(ToyMode,              &copter.g2.toy_mode,         update,          10,  50),
    #endif
    SCHED_TASK(auto_disarm_check,     10,     50),
    SCHED_TASK(auto_trim,             10,     75),
    #if RANGEFINDER_ENABLED == ENABLED
    SCHED_TASK(read_rangefinder,      20,    100),
    #endif
    #if PROXIMITY_ENABLED == ENABLED
    SCHED_TASK_CLASS(AP_Proximity,         &copter.g2.proximity,        update,         100,  50),
    #endif
    #if BEACON_ENABLED == ENABLED
    SCHED_TASK_CLASS(AP_Beacon,            &copter.g2.beacon,           update,         400,  50),
    #endif
    #if VISUAL_ODOMETRY_ENABLED == ENABLED
    SCHED_TASK_CLASS(AP_VisualOdom,       &copter.g2.visual_odom,        update,         400,  50),
    #endif
    SCHED_TASK(update_altitude,       10,    100),
    SCHED_TASK(run_nav_updates,       50,    100),
    SCHED_TASK(update_throttle_hover,100,     90),
    #if MODE_SMARTRTL_ENABLED == ENABLED
    SCHED_TASK_CLASS(ModeSmartRTL, &copter.mode_smartrtl,       save_position,    3, 100),
    #endif
    #if SPRAYER_ENABLED == ENABLED
    SCHED_TASK_CLASS(AC_Sprayer,           &copter.sprayer,             update,           3,  90),
    #endif
    SCHED_TASK(three_hz_loop,          3,     75),
    SCHED_TASK_CLASS(AP_ServoRelayEvents,  &copter.ServoRelayEvents,      update_events, 50,     75),
    SCHED_TASK_CLASS(AP_Baro,              &copter.barometer,           accumulate,      50,  90),
    #if PRECISION_LANDING == ENABLED
    SCHED_TASK(update_precland,      400,     50),
    #endif
    #if FRAME_CONFIG == HELI_FRAME
    SCHED_TASK(check_dynamic_flight,  50,     75),
    #endif
    #if LOGGING_ENABLED == ENABLED
    SCHED_TASK(fourhundred_hz_logging,400,    50),
    #endif
    SCHED_TASK_CLASS(AP_Notify,            &copter.notify,              update,          50,  90),
    SCHED_TASK(one_hz_loop,            1,    100),
    SCHED_TASK(ekf_check,             10,     75),
    SCHED_TASK(gpsglitch_check,       10,     50),
    SCHED_TASK(landinggear_update,    10,     75),
    SCHED_TASK(lost_vehicle_check,    10,     50),
    SCHED_TASK_CLASS(GCS,                  (GCS*)&copter._gcs,          update_receive, 400, 180),
    SCHED_TASK_CLASS(GCS,                  (GCS*)&copter._gcs,          update_send,    400, 550),
    #if MOUNT == ENABLED
    SCHED_TASK_CLASS(AP_Mount,             &copter.camera_mount,        update,          50,  75),
    #endif
    #if CAMERA == ENABLED
    SCHED_TASK_CLASS(AP_Camera,            &copter.camera,              update_trigger,  50,  75),
    #endif
    #if LOGGING_ENABLED == ENABLED
    SCHED_TASK(ten_hz_logging_loop,   10,    350),
    SCHED_TASK(twentyfive_hz_logging, 25,    110),
    SCHED_TASK_CLASS(AP_Logger,      &copter.logger,           periodic_tasks, 400, 300),
    #endif
    SCHED_TASK_CLASS(AP_InertialSensor,    &copter.ins,                 periodic,       400,  50),
    SCHED_TASK_CLASS(AP_Scheduler,         &copter.scheduler,           update_logging, 0.1,  75),
    #if RPM_ENABLED == ENABLED
    SCHED_TASK(rpm_update,            40,    200),
    #endif
    SCHED_TASK(compass_cal_update,   100,    100),
    SCHED_TASK(accel_cal_update,      10,    100),
    SCHED_TASK_CLASS(AP_TempCalibration,   &copter.g2.temp_calibration, update,          10, 100),
    #if ADSB_ENABLED == ENABLED
    SCHED_TASK(avoidance_adsb_update, 10,    100),
    #endif
    #if ADVANCED_FAILSAFE == ENABLED
    SCHED_TASK(afs_fs_check,          10,    100),
    #endif
    #if AC_TERRAIN == ENABLED
    SCHED_TASK(terrain_update,        10,    100),
    #endif
    #if GRIPPER_ENABLED == ENABLED
    SCHED_TASK_CLASS(AP_Gripper,           &copter.g2.gripper,          update,          10,  75),
    #endif
    #if WINCH_ENABLED == ENABLED
    SCHED_TASK(winch_update,          10,     50),
    #endif
    #ifdef USERHOOK_FASTLOOP
    SCHED_TASK(userhook_FastLoop,    100,     75),
    #endif
    #ifdef USERHOOK_50HZLOOP
    SCHED_TASK(userhook_50Hz,         50,     75),
    #endif
    #ifdef USERHOOK_MEDIUMLOOP
    SCHED_TASK(userhook_MediumLoop,   10,     75),
    #endif
    #ifdef USERHOOK_SLOWLOOP
    SCHED_TASK(userhook_SlowLoop,     3.3,    75),
    #endif
    #ifdef USERHOOK_SUPERSLOWLOOP
    SCHED_TASK(userhook_SuperSlowLoop, 1,   75),
    #endif
    SCHED_TASK_CLASS(AP_Button,            &copter.g2.button,           update,           5, 100),
    #if STATS_ENABLED == ENABLED
    SCHED_TASK_CLASS(AP_Stats,             &copter.g2.stats,            update,           1, 100),
    #endif
    #if OSD_ENABLED == ENABLED
    SCHED_TASK(publish_osd_info, 1, 10),
    #endif
    };