gps_nmea_send module

module used to send GPS data over for external instrument using NMEA input.

Example: MAPIR camera stores GPS data in metadata on each frame.

Example for airframe file

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

<module name="gps_nmea_send">
  b'<define name="NMEA_SEND_USE_STATE_DATA" value="FALSE|TRUE" />\n  '
  b'<configure name="NMEA_SEND_UART" value="UART3" />\n    '
  b'<configure name="NMEA_SEND_BAUD" value="B115200" />\n    '
</module>

Module configuration options

Configure Options

• name: NMEA_SEND_UART value: UART3
  Description: UART on which NMEA frames are sent
• name: NMEA_SEND_BAUD value: B115200
  Description: UART Baudrate, default to 115200

Define Options

• name: NMEA_SEND_USE_STATE_DATA value: FALSE|TRUE
  Description: Use filtered state data rather than raw GPS data (default: FALSE)

Module functions

Init Functions

These initialization functions are called once on startup.

• gps_nmea_send_init()

Periodic Functions

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

• gps_nmea_send_periodic()
  • Frequency in Hz: 5
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• gps_nmea_send.h

Source Files

• modules/gps/gps_nmea_send.c

Raw gps_nmea_send.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_nmea_send" dir="gps">
  <doc>
    <description>
      module used to send GPS data over for external instrument using NMEA input.
      Example: MAPIR camera stores GPS data in metadata on each frame.
    </description>
    <configure name="NMEA_SEND_UART" value="UART3" description="UART on which NMEA frames are sent"/>
    <configure name="NMEA_SEND_BAUD" value="B115200" description="UART Baudrate, default to 115200"/>
    <define name="NMEA_SEND_USE_STATE_DATA" value="FALSE|TRUE" description="Use filtered state data rather than raw GPS data (default: FALSE)"/>
  </doc>
  <dep>
    <depends>uart</depends>
  </dep>
  <header>
    <file name="gps_nmea_send.h"/>
  </header>
  <init fun="gps_nmea_send_init()"/>
  <periodic fun="gps_nmea_send_periodic()" freq="5" autorun="TRUE"/>
  <makefile target="ap">
    <configure name="NMEA_SEND_UART" default="uart3" case="upper|lower"/>
    <configure name="NMEA_SEND_BAUD" default="B115200"/>
    <file name="gps_nmea_send.c"/>
    <define name="USE_$(NMEA_SEND_UART_UPPER)"/>
    <define name="NMEA_SEND_UART" value="$(NMEA_SEND_UART_LOWER)"/>
    <define name="$(NMEA_SEND_UART_UPPER)_BAUD" value="$(NMEA_SEND_BAUD)"/>
    <test>
      <define name="USE_UART1"/>
      <define name="UART1_BAUD" value="B115200"/>
      <define name="NMEA_SEND_UART" value="uart1"/>
    </test>
  </makefile>
</module>