| name | find-code |
| description | Find where features, modes, commands, or messages are implemented in the ArduPilot codebase. Use when the user asks where something is defined, implemented, or handled. |
Find ArduPilot Code
Find the implementation of $ARGUMENTS in the ArduPilot codebase.
IMPORTANT: Use the built-in Grep and Glob tools, NOT shell grep or find commands.
Search strategies by type
Flight modes
Flight modes are classes in vehicle directories:
Glob: ArduCopter/mode_*.cpp
Glob: ArduPlane/mode_*.cpp
Glob: Rover/mode_*.cpp
Mode classes inherit from Mode and are defined in mode.h:
Grep for: class Mode.*$ARGUMENTS
Mode enum values:
Grep for: $ARGUMENTS in ArduCopter/mode.h or ArduPlane/mode.h
MAVLink message handlers
Incoming messages dispatched in GCS_MAVLINK:
Grep for: case MAVLINK_MSG_ID_$ARGUMENTS
Grep for: handle_message_$ARGUMENTS
Features / subsystems
Library implementations in libraries/:
Grep for: class.*$ARGUMENTS in libraries/**/*.h
Singleton access:
Grep for: AP::$ARGUMENTS
Grep for: $ARGUMENTS::get_singleton
Vehicle-specific features
Check the vehicle's main header and cpp files:
Grep for: $ARGUMENTS in ArduCopter/Copter.h
Grep for: $ARGUMENTS in ArduCopter/*.cpp
Parameters
Parameter definitions (use /find-param for detailed search):
Grep for: @Param:.*$ARGUMENTS
Grep for: AP_GROUPINFO.*"$ARGUMENTS"
Scheduler tasks
Tasks registered in vehicle scheduler:
Grep for: SCHED_TASK.*$ARGUMENTS
Grep for: $ARGUMENTS in ArduCopter/Copter.cpp (scheduler_tasks array)
RC auxiliary functions
Auxiliary switch functions:
Grep for: $ARGUMENTS in libraries/RC_Channel/RC_Channel.h
Grep for: case.*$ARGUMENTS in libraries/RC_Channel/RC_Channel.cpp
Log messages
Log message definitions:
Grep for: $ARGUMENTS in libraries/AP_Logger/LogStructure.h
Grep for: Write_$ARGUMENTS in libraries/**/*.cpp
Build options / feature flags
Compile-time enables:
Grep for: $ARGUMENTS in Tools/scripts/build_options.py
Grep for: #if.*$ARGUMENTS in libraries/**/*.h
Search tips
- Start broad with Grep across the whole repo, then narrow down
- Use Glob to find files by naming convention first, then Read specific files
- Check
.h files for declarations, .cpp for implementations
- ArduPilot uses
_enabled suffix for feature guards: AP_FEATURE_ENABLED
- Singleton classes: look for
_singleton member and get_singleton() method
- Frontend/backend split: frontend in
AP_Foo.h, backends in AP_Foo_Backend*.h
