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https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 04:45:37 +08:00
Christophe De Wagter
0b8cc6b5f2
Allow to configure the MAVLINK autopilot type to drive e.g. DJI camera's but do not change the default behaviour
47 lines
1.9 KiB
XML
47 lines
1.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="mavlink" dir="datalink" task="datalink">
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<doc>
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<description>Basic MAVLink implementation</description>
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<configure name="MAVLINK_PORT" value="UARTx|UDPx|UsbS" description="The port device to use for mavlink (default: UART1)"/>
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<configure name="MAVLINK_BAUD" value="B57600" description="Baud rate if MAVLINK_PORT is a UART"/>
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<define name="MAV_AUTOPILOT_ID" value="MAV_AUTOPILOT_PPZ|MAV_AUTOPILOT_ARDUPILOTMEGA" description="Some MAVLink GCS/Devices require specific ID's to work. Default is to identify as MAV_AUTOPILOT_PPZ."/>
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</doc>
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<header>
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<file name="mavlink.h"/>
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</header>
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<init fun="mavlink_init()"/>
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<periodic fun="mavlink_periodic()" freq="10" autorun="TRUE"/>
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<periodic fun="mavlink_periodic_telemetry()" autorun="TRUE"/>
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<event fun="mavlink_event()"/>
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<makefile>
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<file name="mavlink.c"/>
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<file name="mission_manager.c" dir="modules/datalink/missionlib"/>
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<file name="waypoints.c" dir="modules/datalink/missionlib"/>
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<file name="blocks.c" dir="modules/datalink/missionlib"/>
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<configure name="MAVLINK_PORT" default="uart1" case="upper|lower"/>
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<configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
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<define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
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<raw>
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ifneq (,$(findstring usb,$(MAVLINK_PORT_LOWER)))
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ap.CFLAGS += -DUSE_USB_SERIAL
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ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
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ap.CFLAGS += -DMAVLINK_DEV=usb_serial
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else
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ifneq (,$(findstring udp,$(MAVLINK_PORT_LOWER)))
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include $(CFG_SHARED)/udp.makefile
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$(TARGET).CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_LOWER)
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$(TARGET).CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
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else
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MAVLINK_BAUD ?= B57600
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ap.CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_LOWER)
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ap.CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
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ap.CFLAGS += -D$(MAVLINK_PORT_UPPER)_BAUD=$(MAVLINK_BAUD)
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endif
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endif
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</raw>
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</makefile>
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</module>
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