Example for airframe file

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

<module name="mag_pitot_uart">
  b'<define name="IMU_TO_MAG_PHI" value="0" />\n    '
  b'<define name="IMU_TO_MAG_THETA" value="0" />\n    '
  b'<define name="IMU_TO_MAG_PSI" value="0" />\n  '
  b'<configure name="MAG_PITOT_PORT" value="UART5" />\n    '
  b'<configure name="MAG_PITOT_BAUD" value="125000" />\n    '
</module>

Module configuration options

Configure Options

name: MAG_PITOT_PORT value: UART5
Description: select which uart it is connected to
name: MAG_PITOT_BAUD value: 125000
Description: set the baudrate of the uart

Define Options

name: IMU_TO_MAG_PHI value: 0
Description: rotation of magneto compared to the magneto in roll axis
name: IMU_TO_MAG_THETA value: 0
Description: rotation of magneto compared to the magneto in pitch axis
name: IMU_TO_MAG_PSI value: 0
Description: rotation of magneto compared to the magneto in yaw axis

Module functions

Init Functions

These initialization functions are called once on startup.

mag_pitot_init()

Event Functions

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

mag_pitot_event()

Files

Header Files

The following headers are automatically included in modules.h

mag_pitot_uart.h

Source Files

modules/sensors/mag_pitot_uart.c
pprzlink/src/pprz_transport.c

Raw mag_pitot_uart.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="mag_pitot_uart" dir="sensors" task="sensors">
  <doc>
    <description>Remotely located magnetometer and pitot tube over uart (RS232) communication</description>
    <configure name="MAG_PITOT_PORT" value="UART5" description="select which uart it is connected to"/>
    <configure name="MAG_PITOT_BAUD" value="125000" description="set the baudrate of the uart"/>
    <define name="IMU_TO_MAG_PHI" value="0" description="rotation of magneto compared to the magneto in roll axis"/>
    <define name="IMU_TO_MAG_THETA" value="0" description="rotation of magneto compared to the magneto in pitch axis"/>
    <define name="IMU_TO_MAG_PSI" value="0" description="rotation of magneto compared to the magneto in yaw axis"/>
  </doc>
  <dep>
    <depends>uart,@imu</depends>
    <provides>mag</provides>
  </dep>
  <header>
    <file name="mag_pitot_uart.h"/>
  </header>
  <init fun="mag_pitot_init()"/>
  <event fun="mag_pitot_event()"/>
  <makefile>
    <!-- Configure default UART port and baudrate -->
    <configure name="MAG_PITOT_PORT" default="UART5" case="upper|lower"/>
    <configure name="MAG_PITOT_BAUD" default="250000"/>
 
    <!-- Enable UART and set baudrate -->
    <define name="USE_$(MAG_PITOT_PORT_UPPER)"/>
    <define name="USE_$(MAG_PITOT_PORT_UPPER)_TX" value="FALSE"/>
    <define name="$(MAG_PITOT_PORT_UPPER)_BAUD" value="$(MAG_PITOT_BAUD)"/>
    <define name="MAG_PITOT_PORT" value="$(MAG_PITOT_PORT_LOWER)"/>
 
    <!-- Sources and PPRZLink for transport -->
    <file name="mag_pitot_uart.c"/>
    <file name="pprz_transport.c" dir="pprzlink/src"/>
    <test>
      <define name="MAG_PITOT_PORT" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>
 