Example for airframe file

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

<module name="glide_wing_lock">
  b'<configure name="ADC_MOTOR_SENSOR" value="ADC_*" />\n    '
  b'<configure name="WING_POS_DOWN_THRESH" value="0-5000" />\n    '
  b'<configure name="WING_POS_LOCK_MIN_THRESH" value="0-5000" />\n    '
  b'<configure name="WING_POS_LOCK_MAX_THRESH" value="0-5000" />\n    '
  b'<configure name="WING_POS_LOCK_SWITCH" value="0-5000" />\n    '
  b'<configure name="WING_POS_NOMINAL_THRUST" value="0-9600" />\n  '
</module>

Module configuration options

Configure Options

name: ADC_MOTOR_SENSOR value: ADC_*
Description: ADC to use
name: WING_POS_DOWN_THRESH value: 0-5000
Description: Threshold below of wich wing is considered down
name: WING_POS_LOCK_MIN_THRESH value: 0-5000
Description: Prefered lock position of the wing
name: WING_POS_LOCK_MAX_THRESH value: 0-5000
Description: Prefered lock position of the wing
name: WING_POS_LOCK_SWITCH value: 0-5000
Description: RC switch to activate lock of the wing
name: WING_POS_NOMINAL_THRUST value: 0-9600
Description: Nominal thrust to use just before locking

Module functions

Init Functions

These initialization functions are called once on startup.

glide_wing_lock_init()

Event Functions

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

glide_wing_lock_event()

Periodic Functions

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

glide_wing_lock_periodic()
- Frequency in Hz: 10
- 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

glide_wing_lock.h

Source Files

modules/glide_wing_lock/glide_wing_lock.c

Raw glide_wing_lock.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="glide_wing_lock">
  <doc>
    <description>Locks the wing of an ornicopter so it can glide.</description>
    <configure name="ADC_MOTOR_SENSOR" value="ADC_*" description="ADC to use"/>
    <configure name="WING_POS_DOWN_THRESH" value="0-5000" description="Threshold below of wich wing is considered down"/>
    <configure name="WING_POS_LOCK_MIN_THRESH" value="0-5000" description="Prefered lock position of the wing"/>
    <configure name="WING_POS_LOCK_MAX_THRESH" value="0-5000" description="Prefered lock position of the wing"/>
    <configure name="WING_POS_LOCK_SWITCH" value="0-5000" description="RC switch to activate lock of the wing"/>
    <configure name="WING_POS_NOMINAL_THRUST" value="0-9600" description="Nominal thrust to use just before locking"/>
  </doc>
  <header>
    <file name="glide_wing_lock.h"/>
  </header>
  <init fun="glide_wing_lock_init()"/>
  <periodic fun="glide_wing_lock_periodic()" freq="10"/>
  <event fun="glide_wing_lock_event()"/>
  <makefile target="ap">
    <file name="glide_wing_lock.c"/>
    <define name="ADC_CHANNEL_MOTORSENSOR" value="$(ADC_MOTOR_SENSOR)"/>
    <define name="USE_$(ADC_MOTOR_SENSOR)"/>
  </makefile>
</module>
 