Example for airframe file

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

<module name="mavlink">
  b'<define name="MAV_AUTOPILOT_ID" value="MAV_AUTOPILOT_PPZ|MAV_AUTOPILOT_ARDUPILOTMEGA" />\n  '
  b'<configure name="MAVLINK_PORT" value="UARTx|UDPx|UsbS" />\n    '
  b'<configure name="MAVLINK_BAUD" value="B57600" />\n    '
</module>

Module configuration options

Configure Options

name: MAVLINK_PORT value: UARTx|UDPx|UsbS
Description: The port device to use for mavlink (default: UART1)
name: MAVLINK_BAUD value: B57600
Description: Baud rate if MAVLINK_PORT is a UART

Define Options

name: MAV_AUTOPILOT_ID value: MAV_AUTOPILOT_PPZ|MAV_AUTOPILOT_ARDUPILOTMEGA
Description: Some MAVLink GCS/Devices require specific ID's to work. Default is to identify as MAV_AUTOPILOT_PPZ.

Module functions

Init Functions

These initialization functions are called once on startup.

mavlink_init()

Event Functions

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

mavlink_event()

Periodic Functions

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

mavlink_periodic()
- Frequency in Hz: 10
- Autorun: TRUE
  Periodic function automatically starts after init.
mavlink_periodic_telemetry()
- Running at maximum module frequency.
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

mavlink.h

Source Files

Raw mavlink.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="mavlink" dir="datalink" task="datalink">
  <doc>
    <description>Basic MAVLink implementation</description>
    <configure name="MAVLINK_PORT" value="UARTx|UDPx|UsbS" description="The port device to use for mavlink (default: UART1)"/>
    <configure name="MAVLINK_BAUD" value="B57600" description="Baud rate if MAVLINK_PORT is a UART"/>
    <define name="MAV_AUTOPILOT_ID" value="MAV_AUTOPILOT_PPZ|MAV_AUTOPILOT_ARDUPILOTMEGA" description="Some MAVLink GCS/Devices require specific ID's to work. Default is to identify as MAV_AUTOPILOT_PPZ."/>
  </doc>
  <header>
    <file name="mavlink.h"/>
  </header>
 
  <init fun="mavlink_init()"/>
  <periodic fun="mavlink_periodic()" freq="10" autorun="TRUE"/>
  <periodic fun="mavlink_periodic_telemetry()" autorun="TRUE"/>
  <event fun="mavlink_event()"/>
 
  <makefile>
    <file name="mavlink.c"/>
    <file name="mission_manager.c" dir="modules/datalink/missionlib"/>
    <file name="waypoints.c" dir="modules/datalink/missionlib"/>
    <file name="blocks.c" dir="modules/datalink/missionlib"/>
    <configure name="MAVLINK_PORT" default="uart1" case="upper|lower"/>
    <configure name="TELEMETRY_FREQUENCY" default="$(PERIODIC_FREQUENCY)"/>
    <define name="TELEMETRY_FREQUENCY" value="$(TELEMETRY_FREQUENCY)"/>
    <raw>
      ifneq (,$(findstring usb,$(MAVLINK_PORT_LOWER)))
      ap.CFLAGS += -DUSE_USB_SERIAL
      ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
      ap.CFLAGS += -DMAVLINK_DEV=usb_serial
      else
      ifneq (,$(findstring udp,$(MAVLINK_PORT_LOWER)))
      include $(CFG_SHARED)/udp.makefile
      $(TARGET).CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_LOWER)
      $(TARGET).CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
      else
      MAVLINK_BAUD ?= B57600
      ap.CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_LOWER)
      ap.CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
      ap.CFLAGS += -D$(MAVLINK_PORT_UPPER)_BAUD=$(MAVLINK_BAUD)
      endif
      endif
    </raw>
  </makefile>
</module>