make telemetry a seperate subsystem for rotorcraft as well. This means you have to add the telemetry subsystem to your airframe file, you can choose xbee_api as well

conf/airframes/booz2_flixr.xml

@@ -16,6 +16,7 @@
     <define name="GUIDANCE_H_USE_REF"/>
 
     <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="actuators"     type="mkk">
       <configure name="MKK_I2C_SCL_TIME" value="150"/><!-- this is optional, 150 is default, e.g. use 50 for 8 motors-->
     </subsystem>

conf/autopilot/rotorcraft.makefile

@@ -23,13 +23,6 @@
 #
 #
 
-#
-# Expected from board file or overriden as xml param :
-#
-# MODEM_PORT
-# MODEM_BAUD
-#
-
 CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
 CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft
 
@@ -92,20 +85,11 @@ endif
 #
 # Telemetry/Datalink
 #
+# include subsystems/rotorcraft/telemetry_transparent.makefile
+# or
+# include subsystems/rotorcraft/telemetry_xbee_api.makefile
+#
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-ap.CFLAGS += -DDOWNLINK_DEVICE=$(MODEM_PORT)
-ap.srcs   += $(SRC_FIRMWARE)/telemetry.c
-ap.srcs   += downlink.c
-ap.srcs   += pprz_transport.c
-ap.CFLAGS += -DDATALINK=PPRZ
-ap.CFLAGS += -DPPRZ_UART=$(MODEM_PORT)
-ap.srcs   += $(SRC_FIRMWARE)/datalink.c
-ap.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-
-ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
-endif
 
 
 ap.srcs += $(SRC_BOOZ)/booz2_commands.c

conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile

@@ -0,0 +1,18 @@
+#
+# Expected from board file or overriden as xml param :
+#
+# MODEM_PORT
+# MODEM_BAUD
+#
+
+ap.CFLAGS += -DUSE_$(MODEM_PORT)
+ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
+ap.srcs += downlink.c pprz_transport.c
+ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
+
+ifeq ($(ARCH), lpc21)
+ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
+endif

conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile

@@ -0,0 +1,19 @@
+# XBee modems in API mode
+#
+# Expected from board file or overriden as xml param :
+#
+# MODEM_PORT
+# MODEM_BAUD
+#
+
+ap.CFLAGS += -DUSE_$(MODEM_PORT)
+ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
+ap.srcs += downlink.c xbee.c
+ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
+
+ifeq ($(ARCH), lpc21)
+ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
+endif

sw/airborne/datalink.h

@@ -78,8 +78,8 @@ EXTERN void dl_parse_msg(void);
 #elif DATALINK == XBEE
 
 #define DatalinkEvent() {			\
-  if (XbeeBuffer()) {				\
-    ReadXbeeBuffer();				\
+  if (XBeeBuffer()) {				\
+    ReadXBeeBuffer();				\
     if (xbee_msg_received) {			\
       xbee_parse_payload();			\
       xbee_msg_received = FALSE;		\

sw/airborne/firmwares/rotorcraft/main.c

@@ -32,6 +32,7 @@
 #include "downlink.h"
 #include "firmwares/rotorcraft/telemetry.h"
 #include "datalink.h"
+#include "xbee.h"
 
 #include "booz2_commands.h"
 #include "firmwares/rotorcraft/actuators.h"
@@ -100,6 +101,10 @@ STATIC_INLINE void main_init( void ) {
   actuators_init();
   radio_control_init();
 
+#if DATALINK == XBEE
+  xbee_init();
+#endif
+
   booz2_analog_init();
   baro_init();