ardupilot-skill

ArduPilot Skill Suite

中文 | English

English

Agent-oriented skills and references for learning, modifying, validating, and porting standard ArduPilot.

This repository packages a distilled ArduPilot knowledge base for Cursor, Claude Code, Codex, OpenClaw, Hermes, and other file-reading coding agents.

What This Is

ardupilot-skill is a structured Markdown skill suite. It helps agents route standard ArduPilot questions to the right layer:

• STM32 / ChibiOS boot chain
• AP_Bootloader, APJ, firmware validation
• hwdef.dat, generated hwdef.h, linker scripts, DMA, ROMFS
• AP_HAL contracts and AP_HAL_ChibiOS reference behavior
• AP library driver frontend/backend patterns
• AP_Vehicle, AP_Scheduler, AP_Param, prearm, failsafe, watchdog
• EKF, control, vehicle modes, GCS/MAVLink, Mission/Fence/Rally/Terrain
• waf, SITL, examples, gtest, autotest, validation strategy
• Extended ecosystem references for power, notify, filesystem, Lua, SerialManager, peripherals, OSD, DDS, AP_Periph OTA, secure boot, replay, calibration, tools, and metadata

What This Is Not

• It is not a copy of the ArduPilot source tree.
• It is not a replacement for the official ArduPilot documentation.
• It does not guarantee a feature is supported on every HAL.
• It treats upstream ArduPilot ChibiOS / waf / SITL as canonical.

Repository Layout

skills/                         Cursor-style skill directories
  ap-session-hub/                Start here
  _shared/                       Glossary, scope boundaries, call flows
  ap-validation-bank/            50 routing and regression scenarios
adapters/                       Usage notes for different agents
docs/                           Install, scope, validation, attribution
examples/                       Example prompts and validation runbook

Quick Start For Cursor

Copy the packaged skills into an ArduPilot checkout:

cp -r skills/* /path/to/ardupilot/.cursor/skills/

Start with:

.cursor/skills/ap-session-hub/SKILL.md

Quick Start For Other Agents

Agents that do not natively understand Cursor skill frontmatter can still use this repository as a Markdown knowledge base.

Tell the agent:

Read skills/ap-session-hub/SKILL.md first.
If the question crosses layers, also read:
- skills/_shared/topic-map.md
- skills/_shared/scope-boundaries.md
- skills/_shared/call-flows/
Then follow the referenced layer-specific skill.

See adapters/ for agent-specific guidance.

Canonical Scope

Canonical path:

• Build: ./waf
• HAL: libraries/AP_HAL_ChibiOS/
• Board description: libraries/AP_HAL_ChibiOS/hwdef/
• Simulation: Tools/autotest/, libraries/AP_HAL_SITL/, libraries/SITL/
• Firmware: Tools/AP_Bootloader/, APJ, app_descriptor

Validation

Use skills/ap-validation-bank/scenarios-50.md to test whether an agent routes questions correctly.

The validation bank is structural. It does not replace waf, SITL, hardware, or board-specific tests.

License

MIT. See LICENSE.

Attribution

This repository is a skill and reference index derived from studying ArduPilot source structure and public code paths. ArduPilot itself is licensed separately by the ArduPilot project. See docs/source-attribution.md.

中文

面向 Agent 的 ArduPilot 技能与参考知识库，用于学习、修改、验证和移植 标准 ArduPilot。

本仓库把 ArduPilot 的架构、调用链、开发流程和验证方式蒸馏成 Markdown skill，供 Cursor、Claude Code、Codex、OpenClaw、Hermes 以及其他可读取文件的代码 Agent 使用。

这是什么

ardupilot-skill 是结构化的 ArduPilot 技能知识库，帮助 Agent 把问题路由到正确层级：

• STM32 / ChibiOS 启动链
• AP_Bootloader、APJ、固件校验
• hwdef.dat、生成的 hwdef.h、链接脚本、DMA、ROMFS
• AP_HAL 契约与 AP_HAL_ChibiOS 参考实现
• AP 库 frontend/backend 驱动范式
• AP_Vehicle、AP_Scheduler、AP_Param、PreArm、Failsafe、Watchdog
• EKF、控制、载具模式、GCS/MAVLink、Mission/Fence/Rally/Terrain
• waf、SITL、examples、gtest、autotest、验证策略
• 扩展生态：电源、Notify、文件系统、Lua、SerialManager、外设、OSD、DDS、AP_Periph OTA、安全启动、Replay、校准、工具和元数据

这不是什么

• 不是 ArduPilot 源码副本。
• 不是 ArduPilot 官方文档的替代品。
• 不保证某个功能在所有 HAL 上都可用。
• 默认以 ArduPilot 上游 ChibiOS / waf / SITL 为标准主线。

快速安装到 Cursor

把 skills/ 内容复制到 ArduPilot 工程：

cp -r skills/* /path/to/ardupilot/.cursor/skills/

入口：

.cursor/skills/ap-session-hub/SKILL.md

其他 Agent 使用方式

不原生识别 Cursor skill frontmatter 的 Agent，也可以把本仓库当作 Markdown 知识库。

建议给 Agent 的指令：

先读取 skills/ap-session-hub/SKILL.md。
如果问题跨层，再读取：
- skills/_shared/topic-map.md
- skills/_shared/scope-boundaries.md
- skills/_shared/call-flows/
然后按照对应层级 skill 回答。

标准范围

默认主线：

• 构建：./waf
• HAL：libraries/AP_HAL_ChibiOS/
• 板级描述：libraries/AP_HAL_ChibiOS/hwdef/
• 仿真：Tools/autotest/、libraries/AP_HAL_SITL/、libraries/SITL/
• 固件：Tools/AP_Bootloader/、APJ、app_descriptor

许可

MIT。见 LICENSE。