生成一段在实时操作系统中的飞控代码

好的，以下是一段示例代码：

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <sys/mman.h>
#include <native/task.h>
#include <native/timer.h>
#include <native/sem.h>

#define TASK_PRIO 50
#define STACK_SIZE 100000
#define PERIOD_NS 1000000 // 1ms
#define MAX_THROTTLE 100
#define MIN_THROTTLE 0

RT_TASK task;
RT_SEM sem;

volatile int throttle = 0;
volatile int roll = 0;
volatile int pitch = 0;
volatile int yaw = 0;

void control_loop(void *arg)
{
    RTIME now, next_period;
    int flight_mode = 0; // 0 = stabilize, 1 = acro, 2 = loiter

    rt_task_set_periodic(NULL, TM_NOW, PERIOD_NS);

    while (1) {
        rt_task_wait_period(NULL);

        // Read sensor data and update flight commands
        // ...

        // Apply flight commands based on flight mode
        switch (flight_mode) {
            case 0: // Stabilize mode
                // Apply proportional control to throttle, roll, pitch and yaw
                throttle = (int)(kp_throttle * (desired_altitude - current_altitude));
                roll = (int)(kp_roll * (desired_roll - current_roll));
                pitch = (int)(kp_pitch * (desired_pitch - current_pitch));
                yaw = (int)(kp_yaw * (desired_yaw - current_yaw));
                break;
            case 1: // Acro mode
                // Apply direct control to roll, pitch and yaw
                throttle = (int)(kp_throttle * (desired_altitude - current_altitude));
                roll = desired_roll;
                pitch = desired_pitch;
                yaw = desired_yaw;
                break;
            case 2: // Loiter mode
                // Apply proportional control to altitude and direct control to roll, pitch and yaw
                throttle = (int)(kp_throttle * (desired_altitude - current_altitude));
                roll = desired_roll;
                pitch = desired_pitch;
                yaw = desired_yaw;
                break;
        }

        // Limit throttle to prevent overspeed and stalling
        if (throttle > MAX_THROTTLE) {
            throttle = MAX_THROTTLE;
        } else if (throttle < MIN_THROTTLE) {
            throttle = MIN_THROTTLE;
        }

        // Send flight commands to motor drivers
        // ...

        // Wait for semaphore to release before starting next iteration
        rt_sem_p(&sem, TM_INFINITE);
    }
}

int main(int argc, char *argv[])
{
    char name[10];

    // Lock memory to prevent swapping
    mlockall(MCL_CURRENT|MCL_FUTURE);

    // Initialize RTAI
    rt_print_auto_init(1);
    rt_sem_create(&sem, "sem", 0, S_FIFO);

    // Create control loop task
    sprintf(name, "task%d", 1);
    rt_task_create(&task, name, STACK_SIZE, TASK_PRIO, 0);
    rt_task_start(&task, &control_loop, NULL);

    // Wait for control loop task to start
    rt_sem_p(&sem, TM_INFINITE);

    // Start user interface task
    // ...

    // Wait for Ctrl-C or termination signal
    signal(SIGTERM, exit_handler);
    signal(SIGINT, exit_handler);
    pause();

    // Cleanup
    rt_task_delete(&task);
    rt_sem_delete(&sem);
    munlockall();

    return 0;
}

这段代码是一个基本的飞控控制循环，它通过周期性调用控制循环函数来读取传感器数据并计算出飞行指令，然后将指令发送给电机驱动器。在控制循环中，可以根据飞行模式对飞行指令进行不同的处理，例如在稳定模式下使用比例控制，而在空战模式下直接控制滚转、俯仰和偏航。通过信号量来同步控制循环和用户界面任务。在主函数中，使用RTAI API来创建任务和信号量，并等待Ctrl-C或终止信号。