Example for airframe file

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

<module name="follow">
  b'<define name="FOLLOW_AC_ID" />\n    '
  b'<define name="FOLLOW_WAYPOINT_ID" />\n    '
  b'<define name="FOLLOW_OFFSET_X" value="0" />\n    '
  b'<define name="FOLLOW_OFFSET_Y" value="0" />\n    '
  b'<define name="FOLLOW_OFFSET_Z" value="0" />\n  '
</module>

Module configuration options

Define Options

name: FOLLOW_AC_ID value: None
Description: the aircraft ID which it has to follow
name: FOLLOW_WAYPOINT_ID value: None
Description: the waypoint ID which it has to change
name: FOLLOW_OFFSET_X value: 0
Description: the x offset in ENU (meters) from the plane
name: FOLLOW_OFFSET_Y value: 0
Description: the y offset in ENU (meters) from the plane
name: FOLLOW_OFFSET_Z value: 0
Description: the z offset in ENU (meters) from the plane

Module functions

Init Functions

These initialization functions are called once on startup.

follow_init()

Periodic Functions

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

follow_wp()
- Frequency in Hz: 5
- Autorun: FALSE
  Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

follow.h

Source Files

modules/multi/follow.c

Raw follow.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="follow" dir="multi">
  <doc>
    <description>
      Follow a certain AC_ID using traffic_info.
      Only for rotorcraft firmware.
    </description>
    <define name="FOLLOW_AC_ID"               description="the aircraft ID which it has to follow"/>
    <define name="FOLLOW_WAYPOINT_ID"         description="the waypoint ID which it has to change"/>
    <define name="FOLLOW_OFFSET_X" value="0"  description="the x offset in ENU (meters) from the plane"/>
    <define name="FOLLOW_OFFSET_Y" value="0"  description="the y offset in ENU (meters) from the plane"/>
    <define name="FOLLOW_OFFSET_Z" value="0"  description="the z offset in ENU (meters) from the plane"/>
  </doc>
  <dep>
    <depends>traffic_info</depends>
  </dep>
  <header>
    <file name="follow.h"/>
  </header>
  <init fun="follow_init()"/>
  <periodic fun="follow_wp()" freq="5" autorun="FALSE"/>
  <makefile>
    <file name="follow.c"/>
  </makefile>
</module>