[telemetry] make specific flag for periodic telemetry

conf/firmwares/subsystems/fixedwing/autopilot.makefile

@@ -186,7 +186,7 @@ sim.srcs 		+= $(fbw_srcs) $(ap_srcs)
 sim.CFLAGS 		+= -DSITL
 sim.srcs 		+= $(SRC_ARCH)/sim_ap.c
 
-sim.CFLAGS 		+= -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+sim.CFLAGS 		+= -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport
 sim.srcs 		+= subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c
 
 sim.srcs 		+= $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_adc_generic.c
@@ -226,7 +226,7 @@ jsbsim.srcs 		+= $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c $(SIMDIR)/sim_a
 jsbsim.CFLAGS 		+= -I/usr/include $(shell pkg-config glib-2.0 --cflags)
 jsbsim.LDFLAGS		+= $(shell pkg-config glib-2.0 --libs) -lglibivy -lm
 
-jsbsim.CFLAGS 		+= -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+jsbsim.CFLAGS 		+= -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport
 jsbsim.srcs 		+= subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c
 
 jsbsim.srcs 		+= $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ahrs.c $(SRC_ARCH)/jsbsim_transport.c

conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile

@@ -47,6 +47,6 @@ nps.srcs += $(NPSDIR)/nps_main.c                 \
        $(NPSDIR)/nps_flightgear.c                \
 
 
-nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport
 nps.srcs   += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c
 

conf/firmwares/subsystems/fixedwing/fdm_jsbsim.makefile

@@ -63,6 +63,6 @@ nps.srcs += $(NPSDIR)/nps_main.c                 \
        $(NPSDIR)/nps_flightgear.c                \
 
 
-nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport
 nps.srcs   += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c
 

conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile

@@ -5,7 +5,7 @@
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=SuperbitRF -DDOWNLINK_AP_DEVICE=SuperbitRF
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_FBW_DEVICE=SuperbitRF -DDOWNLINK_AP_DEVICE=SuperbitRF
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=SUPERBITRF
 #ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
 

conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile

@@ -2,7 +2,7 @@
 
 telemetry_CFLAGS = -DUSE_$(MODEM_PORT)
 telemetry_CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-telemetry_CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
+telemetry_CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
 telemetry_CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 telemetry_srcs = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 

conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile

@@ -4,7 +4,7 @@
 #serial USB (e.g. /dev/ttyACM0)
 
 ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL -DUSE_USB_HIGH_PCLK
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c

conf/firmwares/subsystems/fixedwing/telemetry_w5100.makefile

@@ -7,7 +7,7 @@ W5100_SUBNET ?= "255,255,255,0"
 W5100_MULTICAST_IP ?= "224,1,1,11"
 W5100_MULTICAST_PORT ?= "1234"
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=W5100
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=W5100
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=W5100Transport -DDATALINK=W5100
 ap.CFLAGS += -DW5100_IP=$(W5100_IP) -DW5100_SUBNET=$(W5100_SUBNET) -DW5100_MULTICAST_IP=$(W5100_MULTICAST_IP) -DW5100_MULTICAST_PORT=$(W5100_MULTICAST_PORT)
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c

conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile

@@ -5,7 +5,7 @@
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c

conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile

@@ -78,7 +78,7 @@ nps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 nps.srcs += subsystems/settings.c
 nps.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
 
-nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DDefaultPeriodic='&telemetry_Main'
+nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport -DDefaultPeriodic='&telemetry_Main'
 nps.srcs += $(SRC_ARCH)/ivy_transport.c
 nps.srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
 nps.srcs += $(SRC_FIRMWARE)/rotorcraft_telemetry.c

conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile

@@ -5,7 +5,7 @@
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=SuperbitRF
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=SuperbitRF
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=SUPERBITRF
 #ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
 

conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile

@@ -8,7 +8,7 @@
 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 -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c

conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile

@@ -2,7 +2,7 @@
 #serial USB (e.g. /dev/ttyACM0)
 
 ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL -DDefaultPeriodic='&telemetry_Main'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c

conf/firmwares/subsystems/rotorcraft/telemetry_udp.makefile

@@ -1,7 +1,7 @@
 
 # Udp telemetry
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=Udp
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=Udp
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=UDP -DDefaultPeriodic='&telemetry_Main'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/udp.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c

conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile

@@ -9,7 +9,7 @@
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE -DDefaultPeriodic='&telemetry_Main'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c

sw/airborne/boards/ardrone/navdata.c

@@ -100,7 +100,7 @@ static void navdata_write(const uint8_t *buf, size_t count)
     perror("navdata_write: Write failed");
 }
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_navdata(void) {
@@ -200,7 +200,7 @@ bool_t navdata_init()
   nav_port.isInitialized = TRUE;
   nav_port.last_packet_number = 0;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "ARDRONE_NAVDATA", send_navdata);
 #endif
 

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -44,7 +44,7 @@
 #include "paparazzi.h"
 #include "mcu_periph/i2c.h"
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 #endif
 
@@ -78,7 +78,7 @@ tid_t fbw_periodic_tid; ///< id for periodic_task_fbw() timer
 tid_t electrical_tid;   ///< id for electrical_periodic() timer
 
 /********** PERIODIC MESSAGES ************************************************/
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_commands(void) {
   DOWNLINK_SEND_COMMANDS(DefaultChannel, DefaultDevice, COMMANDS_NB, commands);
 }
@@ -145,7 +145,7 @@ void init_fbw( void ) {
   mcu_int_enable();
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(&telemetry_Fbw, "FBW_STATUS", send_fbw_status);
   register_periodic_telemetry(&telemetry_Fbw, "COMMANDS", send_commands);
 #ifdef ACTUATORS
@@ -301,7 +301,7 @@ set_failsafe_mode();
   link_mcu_periodic_task();
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   periodic_telemetry_send_Fbw();
 #endif
 

sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c

@@ -143,7 +143,7 @@ inline static void h_ctl_pitch_loop( void );
 #define H_CTL_PITCH_KFFD 0.
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_calibration(void) {
@@ -208,7 +208,7 @@ void h_ctl_init( void ) {
   v_ctl_pitch_dash_trim = 0.;
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "CALIBRATION", send_calibration);
   register_periodic_telemetry(DefaultPeriodic, "TUNE_ROLL", send_tune_roll);
   register_periodic_telemetry(DefaultPeriodic, "H_CTL_A", send_ctl_a);

sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c

@@ -112,7 +112,7 @@ float h_ctl_roll_rate_gain;
 static float nav_ratio;
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_calibration(void) {
@@ -176,7 +176,7 @@ void h_ctl_init( void ) {
   nav_ratio=0;
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "CALIBRATION", send_calibration);
 #endif
 }

sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

@@ -99,7 +99,7 @@ static void guidance_h_nav_enter(void);
 static inline void transition_run(void);
 static void read_rc_setpoint_speed_i(struct Int32Vect2 *speed_sp, bool_t in_flight);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_gh(void) {
@@ -172,7 +172,7 @@ void guidance_h_init(void) {
   transition_percentage = 0;
   transition_theta_offset = 0;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_INT", send_gh);
   register_periodic_telemetry(DefaultPeriodic, "HOVER_LOOP", send_hover_loop);
   register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_REF", send_href);

sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c

@@ -120,7 +120,7 @@ int32_t guidance_v_thrust_coeff;
 static int32_t get_vertical_thrust_coeff(void);
 static void run_hover_loop(bool_t in_flight);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_vert_loop(void) {
@@ -164,7 +164,7 @@ void guidance_v_init(void) {
 
   gv_adapt_init();
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "VERT_LOOP", send_vert_loop);
   register_periodic_telemetry(DefaultPeriodic, "TUNE_VERT", send_tune_vert);
 #endif

sw/airborne/firmwares/rotorcraft/navigation.c

@@ -87,7 +87,7 @@ static inline void nav_set_altitude( void );
 #define ARRIVED_AT_WAYPOINT (3 << 8)
 #define CARROT_DIST (12 << 8)
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_nav_status(void) {
@@ -153,7 +153,7 @@ void nav_init(void) {
   nav_leg_progress = 0;
   nav_leg_length = 1;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_NAV_STATUS", send_nav_status);
   register_periodic_telemetry(DefaultPeriodic, "WP_MOVED", send_wp_moved);
 #endif

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c

@@ -35,7 +35,7 @@ struct FloatEulers stabilization_att_sum_err;
 float stabilization_att_fb_cmd[COMMANDS_NB];
 float stabilization_att_ff_cmd[COMMANDS_NB];
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_att(void) {
@@ -106,7 +106,7 @@ void stabilization_attitude_init(void) {
 
   FLOAT_EULERS_ZERO( stabilization_att_sum_err );
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
 #endif

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c

@@ -55,7 +55,7 @@ static inline void reset_psi_ref_from_body(void) {
   stab_att_ref_accel.r = 0;
 }
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_att(void) {
@@ -126,7 +126,7 @@ void stabilization_attitude_init(void) {
 
   INT_EULERS_ZERO( stabilization_att_sum_err );
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
 #endif

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c

@@ -91,7 +91,7 @@ static const float psi_ddgain_surface[] = STABILIZATION_ATTITUDE_PSI_DDGAIN_SURF
 
 #define IERROR_SCALE 1024
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_att(void) {
@@ -158,7 +158,7 @@ void stabilization_attitude_init(void) {
   FLOAT_RATES_ZERO( last_body_rate );
   FLOAT_RATES_ZERO( body_rate_d );
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
 #endif

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c

@@ -65,7 +65,7 @@ int32_t stabilization_att_ff_cmd[COMMANDS_NB];
 #define GAIN_PRESCALER_D 48
 #define GAIN_PRESCALER_I 48
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_att(void) { //FIXME really use this message here ?
@@ -128,7 +128,7 @@ void stabilization_attitude_init(void) {
   INT32_QUAT_ZERO( stabilization_att_sum_err_quat );
   INT_EULERS_ZERO( stabilization_att_sum_err );
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_REF_QUAT", send_ahrs_ref_quat);

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c

@@ -119,7 +119,7 @@ struct Int32Rates stabilization_rate_ff_cmd;
   (radio_control.values[RADIO_YAW] >  STABILIZATION_RATE_DEADBAND_R || \
    radio_control.values[RADIO_YAW] < -STABILIZATION_RATE_DEADBAND_R)
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_rate(void) {
@@ -167,7 +167,7 @@ void stabilization_rate_init(void) {
   INT_RATES_ZERO(stabilization_rate_refdot);
   INT_RATES_ZERO(stabilization_rate_sum_err);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "RATE_LOOP", send_rate);
 #endif
 }

sw/airborne/link_mcu_spi.c

@@ -103,7 +103,7 @@ void link_mcu_event_task( void ) {
 uint8_t link_mcu_nb_err;
 uint8_t link_mcu_fbw_nb_err;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_debug_link(void) {
@@ -126,7 +126,7 @@ void link_mcu_init(void) {
   link_mcu_trans.input_length = LINK_MCU_FRAME_LENGTH;
   link_mcu_trans.output_length = LINK_MCU_FRAME_LENGTH;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "DEBUG_MCU_LINK", send_debug_link);
 #endif
 }

sw/airborne/mcu_periph/i2c.c

@@ -27,7 +27,7 @@
 
 #include "mcu_periph/i2c.h"
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 #endif
 
@@ -35,7 +35,7 @@
 
 struct i2c_periph i2c0;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_i2c0_err(void) {
   uint16_t i2c0_queue_full_cnt        = i2c0.errors->queue_full_cnt;
   uint16_t i2c0_ack_fail_cnt          = i2c0.errors->ack_fail_cnt;
@@ -75,7 +75,7 @@ void i2c0_init(void) {
 
 struct i2c_periph i2c1;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_i2c1_err(void) {
   uint16_t i2c1_queue_full_cnt        = i2c1.errors->queue_full_cnt;
   uint16_t i2c1_ack_fail_cnt          = i2c1.errors->ack_fail_cnt;
@@ -115,7 +115,7 @@ void i2c1_init(void) {
 
 struct i2c_periph i2c2;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_i2c2_err(void) {
   uint16_t i2c2_queue_full_cnt        = i2c2.errors->queue_full_cnt;
   uint16_t i2c2_ack_fail_cnt          = i2c2.errors->ack_fail_cnt;
@@ -159,7 +159,7 @@ void i2c3_init(void) {
   i2c3_hw_init();
 }
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_i2c3_err(void) {
   uint16_t i2c3_queue_full_cnt        = i2c3.errors->queue_full_cnt;
   uint16_t i2c3_ack_fail_cnt          = i2c3.errors->ack_fail_cnt;
@@ -189,7 +189,7 @@ static void send_i2c3_err(void) {
 
 #endif /* USE_I2C3 */
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_i2c_err(void) {
   static uint8_t _i2c_nb_cnt = 0;
   switch (_i2c_nb_cnt) {
@@ -228,7 +228,7 @@ void i2c_init(struct i2c_periph* p) {
   p->trans_extract_idx = 0;
   p->status = I2CIdle;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   // the first to register do it for the others
   register_periodic_telemetry(DefaultPeriodic, "I2C_ERRORS", send_i2c_err);
 #endif

sw/airborne/mcu_periph/uart.c

@@ -22,14 +22,14 @@
 
 #include "mcu_periph/uart.h"
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 #endif
 
 #if USE_UART0
 struct uart_periph uart0;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_uart0_err(void) {
   uint16_t ore    = uart0.ore;
   uint16_t ne_err = uart0.ne_err;
@@ -45,7 +45,7 @@ static void send_uart0_err(void) {
 #if USE_UART1
 struct uart_periph uart1;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_uart1_err(void) {
   uint16_t ore    = uart1.ore;
   uint16_t ne_err = uart1.ne_err;
@@ -61,7 +61,7 @@ static void send_uart1_err(void) {
 #if USE_UART2
 struct uart_periph uart2;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_uart2_err(void) {
   uint16_t ore    = uart2.ore;
   uint16_t ne_err = uart2.ne_err;
@@ -77,7 +77,7 @@ static void send_uart2_err(void) {
 #if USE_UART3
 struct uart_periph uart3;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_uart3_err(void) {
   uint16_t ore    = uart3.ore;
   uint16_t ne_err = uart3.ne_err;
@@ -93,7 +93,7 @@ static void send_uart3_err(void) {
 #if USE_UART4
 struct uart_periph uart4;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_uart4_err(void) {
   uint16_t ore    = uart4.ore;
   uint16_t ne_err = uart4.ne_err;
@@ -109,7 +109,7 @@ static void send_uart4_err(void) {
 #if USE_UART5
 struct uart_periph uart5;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_uart5_err(void) {
   uint16_t ore    = uart5.ore;
   uint16_t ne_err = uart5.ne_err;
@@ -125,7 +125,7 @@ static void send_uart5_err(void) {
 #if USE_UART6
 struct uart_periph uart6;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_uart6_err(void) {
   const uint8_t _bus6 = 6;
   uint16_t ore    = uart6.ore;
@@ -138,7 +138,7 @@ static void send_uart6_err(void) {
 
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 static void send_uart_err(void) {
   static uint8_t uart_nb_cnt = 0;
   switch (uart_nb_cnt) {
@@ -188,7 +188,7 @@ void uart_periph_init(struct uart_periph* p) {
   p->ne_err = 0;
   p->fe_err = 0;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   // the first to register do it for the others
   register_periodic_telemetry(DefaultPeriodic, "UART_ERRORS", send_uart_err);
 #endif

sw/airborne/subsystems/ahrs/ahrs_aligner.c

@@ -42,7 +42,7 @@ static struct Int32Vect3 mag_sum;
 static int32_t ref_sensor_samples[SAMPLES_NB];
 static uint32_t samples_idx;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_aligner(void) {
@@ -69,7 +69,7 @@ void ahrs_aligner_init(void) {
   ahrs_aligner.noise = 0;
   ahrs_aligner.low_noise_cnt = 0;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "FILTER_ALIGNER", send_aligner);
 #endif
 }

sw/airborne/subsystems/ahrs/ahrs_ardrone2.c

@@ -46,7 +46,7 @@ struct AhrsARDrone ahrs_impl;
 struct AhrsAligner ahrs_aligner;
 unsigned char buffer[4096]; //Packet buffer
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_ahrs_ad2(void) {
@@ -76,7 +76,7 @@ void ahrs_init(void) {
 
   ahrs.status = AHRS_RUNNING;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "AHRS_ARDRONE2", send_ahrs_ad2);
 #endif
 }

sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c

@@ -116,7 +116,7 @@ static inline void compute_body_orientation_and_rates(void);
 
 struct AhrsFloatCmpl ahrs_impl;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_att(void) {
@@ -194,7 +194,7 @@ void ahrs_init(void) {
 
   VECT3_ASSIGN(ahrs_impl.mag_h, AHRS_H_X, AHRS_H_Y, AHRS_H_Z);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_att);
 #endif
 }

sw/airborne/subsystems/ahrs/ahrs_gx3.c

@@ -91,7 +91,7 @@ void ahrs_align(void) {
   ahrs_impl.gx3_status = GX3Running;
 }
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static send_gx3(void) {
@@ -213,7 +213,7 @@ void imu_impl_init(void) {
 #endif
   ahrs.status = AHRS_RUNNING;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "GX3_INFO", send_gx3);
 #endif
 }

sw/airborne/subsystems/ahrs/ahrs_infrared.c

@@ -39,7 +39,7 @@
 
 float heading;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_infrared(void) {
@@ -60,7 +60,7 @@ void ahrs_init(void) {
 
   heading = 0.;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "IR_SENSORS", send_infrared);
   register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_status);
 #endif

sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c

@@ -74,7 +74,7 @@ static inline void set_body_state_from_euler(void);
     while (_a < -PI_INTEG_EULER)  _a += TWO_PI_INTEG_EULER; \
   }
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_filter(void) {
@@ -125,7 +125,7 @@ void ahrs_init(void) {
 
   ahrs_impl.mag_offset = AHRS_MAG_OFFSET;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "FILTER", send_filter);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_euler);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_GYRO_BIAS_INT", send_bias);

sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

@@ -130,7 +130,7 @@ static inline void set_body_state_from_quat(void);
 static inline void ahrs_update_mag_full(void);
 static inline void ahrs_update_mag_2d(void);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_quat(void) {
@@ -200,7 +200,7 @@ void ahrs_init(void) {
   VECT3_ASSIGN(ahrs_impl.mag_h, MAG_BFP_OF_REAL(AHRS_H_X),
                MAG_BFP_OF_REAL(AHRS_H_Y), MAG_BFP_OF_REAL(AHRS_H_Z));
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "AHRS_QUAT_INT", send_quat);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_euler);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_GYRO_BIAS_INT", send_bias);

sw/airborne/subsystems/air_data.c

@@ -46,7 +46,7 @@ static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const flo
   air_data.pressure = *pressure;
 }
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_baro_raw(void) {
@@ -61,7 +61,7 @@ static void send_baro_raw(void) {
 void air_data_init( void ) {
   AbiBindMsgBARO_ABS(AIR_DATA_BARO_ABS_ID, &pressure_abs_ev, pressure_abs_cb);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "BARO_RAW", send_baro_raw);
 #endif
 }

sw/airborne/subsystems/datalink/superbitrf.c

@@ -173,7 +173,7 @@ static const uint8_t pn_codes[5][9][8] = {
 };
 static const uint8_t pn_bind[] = { 0x98, 0x88, 0x1B, 0xE4, 0x30, 0x79, 0x03, 0x84 };
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_superbit(void) {
@@ -219,7 +219,7 @@ void superbitrf_init(void) {
   // Initialize the cyrf6936 chip
   cyrf6936_init(&superbitrf.cyrf6936, &(SUPERBITRF_SPI_DEV), 2, SUPERBITRF_RST_PORT, SUPERBITRF_RST_PIN);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "SUPERBIT", send_superbit);
 #endif
 }

sw/airborne/subsystems/gps.c

@@ -34,7 +34,7 @@ struct GpsState gps;
 
 struct GpsTimeSync gps_time_sync;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_gps(void) {
@@ -106,7 +106,7 @@ void gps_init(void) {
   gps_impl_init();
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "GPS", send_gps);
   register_periodic_telemetry(DefaultPeriodic, "GPS_INT", send_gps_int);
   register_periodic_telemetry(DefaultPeriodic, "GPS_LLA", send_gps_lla);

sw/airborne/subsystems/imu.c

@@ -26,7 +26,7 @@
 
 #include "subsystems/imu.h"
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 #if USE_IMU_FLOAT
@@ -128,7 +128,7 @@ INFO("Magnetometer neutrals are set to zero, you should calibrate!")
   INT32_QUAT_NORMALIZE(imu.body_to_imu_quat);
   INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
   register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
 #if USE_IMU_FLOAT

sw/airborne/subsystems/ins/hf_float.c

@@ -236,7 +236,7 @@ static inline void b2_hff_update_y(struct HfilterFloat* hff_work, float y_meas,
 static inline void b2_hff_update_xdot(struct HfilterFloat* hff_work, float vel, float Rvel);
 static inline void b2_hff_update_ydot(struct HfilterFloat* hff_work, float vel, float Rvel);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_hff(void) {
@@ -312,7 +312,7 @@ void b2_hff_init(float init_x, float init_xdot, float init_y, float init_ydot) {
   b2_hff_lost_counter = 0;
   b2_hff_lost_limit = HFF_LOST_LIMIT;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "HFF", send_hff);
   register_periodic_telemetry(DefaultPeriodic, "HFF_DBG", send_hff_debug);
 #ifdef GPS_LAG

sw/airborne/subsystems/ins/ins_int.c

@@ -90,7 +90,7 @@ static void baro_cb(uint8_t sender_id, const float *pressure);
 
 struct InsInt ins_impl;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_ins(void) {
@@ -158,7 +158,7 @@ void ins_init(void) {
   INT32_VECT3_ZERO(ins_impl.ltp_speed);
   INT32_VECT3_ZERO(ins_impl.ltp_accel);
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "INS", send_ins);
   register_periodic_telemetry(DefaultPeriodic, "INS_Z", send_ins_z);
   register_periodic_telemetry(DefaultPeriodic, "INS_REF", send_ins_ref);

sw/airborne/subsystems/ins/vf_extended_float.c

@@ -81,7 +81,7 @@ float vff_P[VFF_STATE_SIZE][VFF_STATE_SIZE];
 float vff_z_meas;
 float vff_z_meas_baro;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_vffe(void) {
@@ -104,7 +104,7 @@ void vff_init(float init_z, float init_zdot, float init_accel_bias, float init_b
     vff_P[i][i] = INIT_PXX;
   }
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "VFF_EXTENDED", send_vffe);
 #endif
 }

sw/airborne/subsystems/ins/vf_float.c

@@ -75,7 +75,7 @@ float vff_P[VFF_STATE_SIZE][VFF_STATE_SIZE];
 
 float vff_z_meas;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_vff(void) {
@@ -96,7 +96,7 @@ void vff_init(float init_z, float init_zdot, float init_bias) {
     vff_P[i][i] = VF_FLOAT_INIT_PXX;
   }
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "VFF", send_vff);
 #endif
 }

sw/airborne/subsystems/nav.c

@@ -434,7 +434,7 @@ void nav_periodic_task(void) {
 /**
  * \brief Periodic telemetry
  */
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
 static void send_nav_ref(void) {
@@ -491,7 +491,7 @@ void nav_init(void) {
   nav_ground_speed_setpoint = NOMINAL_AIRSPEED;
 #endif
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "NAVIGATION_REF", send_nav_ref);
   register_periodic_telemetry(DefaultPeriodic, "NAVIGATION", send_nav);
   register_periodic_telemetry(DefaultPeriodic, "WP_MOVED", send_wp_moved);

sw/airborne/subsystems/radio_control/ppm.c

@@ -25,7 +25,7 @@
 uint16_t ppm_pulses[ PPM_NB_CHANNEL ];
 volatile bool_t ppm_frame_available;
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #ifdef FBW
 #define DOWNLINK_TELEMETRY &telemetry_Fbw
 #else
@@ -47,7 +47,7 @@ void radio_control_impl_init(void) {
   ppm_frame_available = FALSE;
   ppm_arch_init();
 
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DOWNLINK_TELEMETRY, "PPM", send_ppm);
 #endif
 }

sw/airborne/subsystems/radio_control/sbus.c

@@ -60,7 +60,7 @@
 struct _sbus sbus;
 
 // Telemetry function
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
 #ifdef FBW
 #define DOWNLINK_TELEMETRY &telemetry_Fbw
 #else
@@ -92,7 +92,7 @@ void radio_control_impl_init(void) {
 #endif
 
   // Register telemetry message
-#if DOWNLINK
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DOWNLINK_TELEMETRY, "PPM", send_sbus);
 #endif
 }