Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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fbw_datalink module

Forward datalink over inter-mcu link between FBW and AP

Flight termination commands can still be decoded by FBW even when AP is down

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="fbw_datalink">
2  <configure name="MODEM_PORT" value="UARTx" />
3  <configure name="MODEM_BAUD" value="B57600" />
4  <configure name="AUTOPILOT_PORT" value="UARTx" />
5 </module>

Module configuration options

Configure Options

  • name: MODEM_PORT value: UARTx
    Description: UART where the modem is connected to (UART1, UART2, etc)
  • name: MODEM_BAUD value: B57600
    Description: UART baud rate
  • name: AUTOPILOT_PORT value: UARTx
    Description: UART where the autopilot is connected to (UART1, UART2, etc)

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw fbw_datalink.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="fbw_datalink" dir="datalink" task="fbw">
<doc>
<description>
Forward datalink over inter-mcu link between FBW and AP
Flight termination commands can still be decoded by FBW even when AP is down
</description>
<configure name="MODEM_PORT" value="UARTx" description="UART where the modem is connected to (UART1, UART2, etc)"/>
<configure name="MODEM_BAUD" value="B57600" description="UART baud rate"/>
<configure name="AUTOPILOT_PORT" value="UARTx" description="UART where the autopilot is connected to (UART1, UART2, etc)"/>
</doc>
<header>
<file name="fbw_datalink.h" dir="firmwares/fixedwing"/>
</header>
<makefile target="fbw" firmware="fixedwing">
<configure name="MODEM_PORT" case="upper|lower"/>
<configure name="AUTOPILOT_PORT" case="upper|lower"/>
<define name="USE_$(MODEM_PORT_UPPER)"/>
<define name="$(MODEM_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
<define name="MODEM_LINK" value="$(MODEM_PORT_LOWER)"/>
<define name="USE_$(AUTOPILOT_PORT_UPPER)"/>
<define name="$(AUTOPILOT_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
<define name="AUTOPILOT_LINK" value="$(AUTOPILOT_PORT_LOWER)"/>
<define name="FBW_DATALINK"/>
<file name="fbw_datalink.c" dir="firmwares/fixedwing"/>
</makefile>
</module>