PIXHAWK IMU / AUTOPILOT ONBOARD SOFTWARE ======================================== See http://pixhawk.ethz.ch/software/imu/ for details. The main function is in the file main.c. It contains startup code for all airframes. The mainloop for the individual airframes is in: The mainloops for fixed-wing and quadrotors are in: main/mainloop-quadrotor.c main/mainloop-fixed-wing.c