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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
90e6dc5c2c
position and velocity is received in local frame transformation to global frame is handled on airborne side
44 lines
1.5 KiB
XML
44 lines
1.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="gps_datalink" dir="gps">
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<doc>
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<description>
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Remote GPS via datalink.
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Parses the REMOTE_GPS and REMOTE_GPS_SMALL datalink messages and publishes it onboard via ABI.
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</description>
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</doc>
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<autoload name="gps"/>
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<autoload name="gps_nps"/>
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<autoload name="gps_sim"/>
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<header>
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<file name="gps.h" dir="subsystems"/>
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</header>
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<init fun="gps_datalink_init()"/>
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<periodic fun="gps_datalink_periodic_check()" freq="1." autorun="TRUE"/>
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<datalink message="REMOTE_GPS" fun="gps_datalink_parse_REMOTE_GPS()"/>
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<datalink message="REMOTE_GPS_SMALL" fun="gps_datalink_parse_REMOTE_GPS_SMALL()"/>
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<datalink message="REMOTE_GPS_LOCAL" fun="gps_datalink_parse_REMOTE_GPS_LOCAL()"/>
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<makefile target="ap|fbw">
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<file name="gps_datalink.c" dir="subsystems/gps"/>
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<raw>
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ifdef SECONDARY_GPS
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ifneq (,$(findstring $(SECONDARY_GPS), datalink))
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# this is the secondary GPS
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$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_datalink.h\"
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$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_DATALINK
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else
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
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$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_DATALINK
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endif
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else
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# plain old single GPS usage
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$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
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endif
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</raw>
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</makefile>
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<makefile target="fbw">
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<define name="USE_GPS"/>
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</makefile>
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</module>
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