Where does ArduPlane begin?

OK, amateur dumb question, but where is the “main” function for ArduPlane (specifically)? Where does the control software universe actually begin? The big bang, you know!?

its in the HAL, so depends on the hw. On STM32 with HAL_ChibiOS it is here:

and here:

OK. Thanks Tridge! I thought it wasn’t going to be so simple but knowledge is power, apparently! :+1:

…so, if one wishes to “understand” the code flow without digging into the OS, the scheduler in ArduPlane.cpp is perhaps the best place to start?