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Hello,

I study the arducopter code in oder to understand the differents loop inside the autopilot.
I notice that there are user files to allow the user to add some code.

In the APM_COnfig.h there are 3 macros:

#define USERHOOK_50HZLOOP userhook_50Hz();
#define USERHOOK_INIT userhook_init();
#define USERHOOK_VARIABLES “UserVariables.h”

I try to find where these macros are use in the other files but I don’t find it.
Which files contain theses variables ?

Can someone give me a hand?

Best regard.

2

Have a look at UserCode.pde where those functions are define.
There is also some information on the developer wiki: dev.ardupilot.com/