Example for airframe file

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

<module name="airspeed_sdp3x">
  b'<define name="SDP3X_I2C_DEV" value="i2cX" />\n    '
  b'<define name="SDP3X_I2C_ADDR" value="0x50" />\n    '
  b'<define name="SDP3X_SYNC_SEND" value="TRUE|FALSE" />\n    '
  b'<define name="SDP3X_PRESSURE_SCALE" value="1.0" />\n    '
  b'<define name="SDP3X_PRESSURE_OFFSET" value="0.0" />\n    '
  b'<define name="SDP3X_AIRSPEED_SCALE" value="1.6327" />\n    '
  b'<define name="SDP3X_LOWPASS_TAU" value="0.15" />\n    '
  b'<define name="USE_AIRSPEED_SDP3X" value="TRUE|FALSE" />\n  '
</module>

Module configuration options

Define Options

name: SDP3X_I2C_DEV value: i2cX
Description: set i2c peripheral (default: i2c2)
name: SDP3X_I2C_ADDR value: 0x50
Description: i2c slave address (default: 0x50)
name: SDP3X_SYNC_SEND value: TRUE|FALSE
Description: flag to enable sending every new measurement via telemetry (default:FALSE)
name: SDP3X_PRESSURE_SCALE value: 1.0
Description: pressure scaling factor to convert raw output to Pa (default: set according to pressure range and output type according to datasheet)
name: SDP3X_PRESSURE_OFFSET value: 0.0
Description: pressure offset in Pa (default: set according to pressure range and output type according to datasheet)
name: SDP3X_AIRSPEED_SCALE value: 1.6327
Description: quadratic scale factor to convert differential pressure to airspeed
name: SDP3X_LOWPASS_TAU value: 0.15
Description: Time constant for second order Butterworth low pass filter, cut-off freq of 1/(2*pi*tau) ~= 1Hz
name: USE_AIRSPEED_SDP3X value: TRUE|FALSE
Description: Set airspeed in state interface for this sensor

Module functions

Init Functions

These initialization functions are called once on startup.

sdp3x_init()

Event Functions

These event functions are called in each cycle of the module event loop.

sdp3x_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

sdp3x_periodic()
- Frequency in Hz: 100.
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

airspeed_sdp3x.h

Source Files

modules/sensors/airspeed_sdp3x.c

Raw airspeed_sdp3x.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="airspeed_sdp3x" dir="sensors" task="sensors">
  <doc>
    <description>
      SDP3X differential pressure sensor for e.g measuring airspeed.
    </description>
    <define name="SDP3X_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c2)"/>
    <define name="SDP3X_I2C_ADDR" value="0x50" description="i2c slave address (default: 0x50)"/>
    <define name="SDP3X_SYNC_SEND" value="TRUE|FALSE" description="flag to enable sending every new measurement via telemetry (default:FALSE)"/>
    <define name="SDP3X_PRESSURE_SCALE" value="1.0" description="pressure scaling factor to convert raw output to Pa (default: set according to pressure range and output type according to datasheet)"/>
    <define name="SDP3X_PRESSURE_OFFSET" value="0.0" description="pressure offset in Pa (default: set according to pressure range and output type according to datasheet)"/>
    <define name="SDP3X_AIRSPEED_SCALE" value="1.6327" description="quadratic scale factor to convert differential pressure to airspeed"/>
    <define name="SDP3X_LOWPASS_TAU" value="0.15" description="Time constant for second order Butterworth low pass filter, cut-off freq of 1/(2*pi*tau) ~= 1Hz"/>
    <define name="USE_AIRSPEED_SDP3X" value="TRUE|FALSE" description="Set airspeed in state interface for this sensor"/>
  </doc>
 
  <settings>
    <dl_settings>
      <dl_settings NAME="SDP3X">
        <dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="sdp3x.sync_send" type="bool" shortname="sync_send" module="modules/sensors/airspeed_sdp3x" param="SDP3X_SYNC_SEND" persistent="true"/>
        <dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="sdp3x.autoset_offset" type="bool" shortname="autoset offset"/>
        <dl_setting min="1.0" max="300." step="1." var="sdp3x.pressure_scale" type="float" shortname="PressScale" module="modules/sensors/airspeed_sdp3x" param="SDP3X_PRESSURE_SCALE" persistent="true"/>
        <dl_setting min="-100." max="100.0" step="0.1" var="sdp3x.pressure_offset" type="float" shortname="PressOffset" module="modules/sensors/airspeed_sdp3x" param="SDP3X_PRESSURE_OFFSET" persistent="true"/>
        <dl_setting min="1.0" max="2.0" step="0.01" var="sdp3x.airspeed_scale" type="float" shortname="AirScale" module="modules/sensors/airspeed_sdp3x" param="SDP3X_AIRSPEED_SCALE" persistent="true"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>i2c</depends>
    <provides>airspeed</provides>
  </dep>
 
  <header>
    <file name="airspeed_sdp3x.h"/>
  </header>
 
  <init fun="sdp3x_init()"/>
  <periodic fun="sdp3x_periodic()" freq="100."/>
  <event fun="sdp3x_event()"/>
 
  <makefile target="ap">
    <configure name="SDP3X_I2C_DEV" default="i2c2" case="upper|lower"/>
    <define name="USE_$(SDP3X_I2C_DEV_UPPER)"/>
    <define name="SDP3X_I2C_DEV" value="$(SDP3X_I2C_DEV_LOWER)"/>
    <file name="airspeed_sdp3x.c"/>
    <test>
      <define name="SDP3X_PERIODIC_PERIOD" value="0.001"/>
      <define name="SDP3X_I2C_DEV" value="i2c2"/>
      <define name="USE_I2C2"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>