gps_uavcan module

UAVCAN gps module

Handle uavcan.equipment.gnss.Fix2 message (1063).

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_uavcan">
  b'<define name="GPS_UAVCAN_USE_NODE_ID" value="TRUE|FALSE" />\n  '
</module>

Module configuration options

Define Options

• name: GPS_UAVCAN_USE_NODE_ID value: TRUE|FALSE
  Description: Use source node ID as ABI ID (default:FALSE)

Module functions

Init Functions

These initialization functions are called once on startup.

• gps_uavcan_init()

Files

Header Files

The following headers are automatically included in modules.h

• gps_uavcan.h

Source Files

• modules/gps/gps_uavcan.c
• /var/include/DSDLcode/src/uavcan.equipment.gnss.Fix2.c

Raw gps_uavcan.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_uavcan" dir="gps" task="sensors">
  <doc>
    <description>UAVCAN gps module. Handle uavcan.equipment.gnss.Fix2 message (1063).</description>
    <define name="GPS_UAVCAN_USE_NODE_ID" value="TRUE|FALSE" description="Use source node ID as ABI ID (default:FALSE)"/>
  </doc>
  <dep>
    <depends>uavcan,gps</depends>
    <provides>gps</provides>
  </dep>
  <header>
    <file name="gps_uavcan.h"/>
  </header>
  <init fun="gps_uavcan_init()"/>
  <makefile>
    <file name="gps_uavcan.c"/>
    <!-- Load DSDL generated files-->
    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
    <file name="uavcan.equipment.gnss.Fix2.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
    <define name="PRIMARY_GPS" value="GPS_UAVCAN"/>
    <raw>
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_uavcan.h\"
    </raw>
        <raw>
          ifdef SECONDARY_GPS
          ifneq (,$(findstring $(SECONDARY_GPS), uavcan))
          # this is the secondary GPS
          $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_uavcan.h\"
          $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UAVCAN
          else
          $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_uavcan.h\"
          $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UAVCAN
          endif
          else
          # plain old single GPS usage
          $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_uavcan.h\"
          endif
    </raw>
    <test>
      <include name="$(PAPARAZZI_HOME)/sw/ext/dronecan/libcanard"/>
    </test>
  </makefile>
</module>