mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
4ae40567ed
- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
38 lines
1.5 KiB
XML
38 lines
1.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="extra_dl" dir="datalink" task="datalink">
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<doc>
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<description>Extra datalink (PPRZ transport)</description>
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<configure name="EXTRA_DL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
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<configure name="EXTRA_DL_BAUD" value="B57600" description="Baudrate for extra datalink if link device is UART"/>
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</doc>
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<dep>
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<depends>uart|udp</depends>
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</dep>
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<header>
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<file name="extra_pprz_dl.h"/>
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</header>
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<init fun="extra_pprz_dl_init()"/>
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<periodic fun="extra_pprz_dl_periodic()" autorun="TRUE"/>
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<!--
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The event function listens on the extra telemetry port (from the payload computer for example)
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and parses the received "datalink" messages, such as MOVE_WP.
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We need this function to be able to listen to the extra telemetry port
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As a result all messages normally handled by the autopilot (such as MOVE_WP) are processed.
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-->
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<event fun="extra_pprz_dl_event()"/>
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<makefile>
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<configure name="EXTRA_DL_PORT" default="uart1" case="upper|lower"/>
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<define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT_LOWER)"/>
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<define name="USE_$(EXTRA_DL_PORT_UPPER)"/>
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<define name="$(EXTRA_DL_PORT_UPPER)_BAUD" value="$(EXTRA_DL_BAUD)"/>
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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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<file name="extra_pprz_dl.c"/>
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<file name="pprz_transport.c" dir="pprzlink/src"/>
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</makefile>
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</module>
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