Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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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!

1 <module name="actuators_spektrum">
2  <configure name="ACTUATORS_SPEKTRUM_DEV" value="UARTX" />
3  <configure name="ACTUATORS_SPEKTRUM_DEV2" value="UARTX" />
4 </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

Source Files

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>
<header>
<file name="actuators_spektrum.h" dir="subsystems/actuators"/>
</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"/>
<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" dir="subsystems/actuators"/>
</makefile>
</module>