Hi Everyone
I am trying to make customize octacopter.I am using pixhawk and ardupilot.I installed eclipse px4 toolchain And clone lastest ardupilot code from git repository.
My plan is customize ardupilot code using px4 toolchain and make arducopter.px4 firmware and upload my pixhawk.
But I dont know how can I customize ardupilot code.I have a document about customize code from 2013. And This document is not acquainted with lastest ardupilot code.
I am looking for document about customizing ardupilot code
Can you help me ?
Thank you
I don’t wan to be rude, so don’t take it personally.
The ArduCopter code is one of the most well commented and well structured code that i came across in open source projects. If you cannot find the place in the code where you want to put your customization by browsing through the code, then I think you should not touch the code, but ask somebody who can do it.
@Eosbandi If ArduPilot is well commented I don’t even want to see other code you read 
. We are far from having good comments …But whatever.
@Emre_tuncay, Andras got a very good point … If you don’t know how to customize the code … then it will be hard to do it.
We kind of having more strutural documentation on the wiki (that you should have found…) see here http://ardupilot.org/dev/docs/learning-the-ardupilot-codebase.html
@Eosbandi @khancyr
Thank you for your answers
I am working with ardupilot for the first time. And I am trying to understand ardupilot structure.You are right Ardupilot is well commented and well structured.
And I can customize this code maybe not this week but I will.
There are many experience this forum.My purpose for asking is I wanted to benefit from this experince and save time.
And I dont get personally
If you be a little more precise about your customization, then perhaps we can point you to the specific part of the code.
Thank you
And I am Sorry for my english:
Hi
I working on arducopter code for 1 week for custom octaframe. I changed motormixing value using add_motor_raw based my octocopter frame in library files.
And I use MOTOR_FRAME_OCTA as frame_class and I use MOTOR_FRAME_TYPE_V as frame_type.
But I have to declare frame type and frame class.And I dont know where should I put this declaration in arducopter header files.
Can you help me.
I am using this page http://ardupilot.org/dev/docs/apmcopter-code-overview.html
Use this information http://ardupilot.org/dev/docs/submitting-patches-back-to-master.html to create a pull request with your changes on it. we will be able to guide you further then.