actuators_spektrum module

Actuators Driver with Spektrum output

required xml configuration:

• servo section with driver="Spektrum"
• command_laws section to map motor_mixing commands to servos

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="actuators_spektrum">
  b'<configure name="ACTUATORS_SPEKTRUM_DEV" value="UARTX" />\n    '
  b'<configure name="ACTUATORS_SPEKTRUM_DEV2" value="UARTX" />\n  '
</module>

Module configuration options

Configure Options

• name: ACTUATORS_SPEKTRUM_DEV value: UARTX
  Description: UART port (default uart4)
• name: ACTUATORS_SPEKTRUM_DEV2 value: UARTX
  Description: UART port for optional secondary output

Files

Header Files

The following headers are automatically included in modules.h

• actuators_spektrum.h

Source Files

• modules/actuators/actuators_spektrum.c

Raw actuators_spektrum.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="actuators_spektrum" dir="actuators" task="actuators">
  <doc>
    <description>
      Actuators Driver with Spektrum output
 
      required xml configuration:
      - servo section with driver="Spektrum"
      - command_laws section to map motor_mixing commands to servos
    </description>
    <configure name="ACTUATORS_SPEKTRUM_DEV" value="UARTX" description="UART port (default uart4)"/>
    <configure name="ACTUATORS_SPEKTRUM_DEV2" value="UARTX" description="UART port for optional secondary output"/>
  </doc>
  <dep>
    <depends>uart,actuators</depends>
    <provides>actuators</provides>
  </dep>
  <header>
    <file name="actuators_spektrum.h"/>
  </header>
  <makefile target="!sim">
    <configure name="ACTUATORS_SPEKTRUM_DEV" default="uart4" case="upper|lower"/>
    <configure name="ACTUATORS_SPEKTRUM_DEV2" case="upper|lower"/>
    <define name="ACTUATORS_SPEKTRUM_DEV" value="$(ACTUATORS_SPEKTRUM_DEV_LOWER)"/>
    <define name="USE_$(ACTUATORS_SPEKTRUM_DEV_UPPER)"/>
    <define name="$(ACTUATORS_SPEKTRUM_DEV_UPPER)_BAUD" value="115200"/>
    <define name="USE_$(ACTUATORS_SPEKTRUM_DEV_UPPER)_RC" value="FALSE"/>
    <define name="ACTUATORS_SPEKTRUM_DEV2" value="$(ACTUATORS_SPEKTRUM_DEV2_LOWER)" cond="ifdef ACTUATORS_SPEKTRUM_DEV2"/>
    <define name="USE_$(ACTUATORS_SPEKTRUM_DEV2_UPPER)"/>
    <define name="$(ACTUATORS_SPEKTRUM_DEV2_UPPER)_BAUD" value="115200" cond="ifdef ACTUATORS_SPEKTRUM_DEV2"/>
    <define name="USE_$(ACTUATORS_SPEKTRUM_DEV2_UPPER)_RC" value="FALSE" cond="ifdef ACTUATORS_SPEKTRUM_DEV2"/>
    <file name="actuators_spektrum.c"/>
    <test>
        <define name="PERIODIC_FREQUENCY" value="500"/>
        <define name="USE_UART4"/>
        <define name="ACTUATORS_SPEKTRUM_DEV" value="uart4"/>
    </test>
  </makefile>
</module>