Ardupilot code

Hi,

I have downloaded the ardupilot repository and have taken a quick look around their cpp files. I do realize understanding someone else’s code is a hard task, so I wanted to know if you guys would have any suggestions on where to start reading/following it. For starters, is there a main?

I’m mostly interested on understanding how the motors receive their throttle input, which is what I wish to change in order to complete my project (I want to receive signals from an external xbee, input them into a controller I’ll program and output the result to the motors).

Thanks!

Sure, there is lots of documentation, just look at http://ardupilot.org/ardupilot/
There are also pages for developers at that site.

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