Example for airframe file

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

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

Module configuration options

Define Options

name: NAV_SURVEY_RECTANGLE_DYNAMIC value: FALSE|TRUE
Description: Set to true to allow changing sweep distance mid survey

Module functions

Init Functions

These initialization functions are called once on startup.

nav_init()

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

on message BLOCK call nav_parse_BLOCK(dev,trans,buf)
on message MOVE_WP call nav_parse_MOVE_WP(dev,trans,buf)

Files

Header Files

The following headers are automatically included in modules.h

nav.h

Source Files

Raw nav_basic_fw.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_basic_fw" dir="nav" task="control">
  <doc>
    <description>
      Standard navigation patterns and flight plan handling
    </description>
    <define name="NAV_SURVEY_RECTANGLE_DYNAMIC" value="FALSE|TRUE" description="Set to true to allow changing sweep distance mid survey"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="nav">
        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
        <dl_setting MAX="1.0" MIN="0.0" STEP="0.01" VAR="fp_throttle"/>
        <dl_setting MAX="5.0" MIN="-5.0" STEP="0.1" VAR="fp_climb"/>
        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
        <dl_setting min="10" max="500" step="1" var="nav_survey_sweep" type="float" shortname="Distance" module="modules/nav/nav_survey_rectangle"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <provides>navigation</provides>
  </dep>
  <header>
    <file name="nav.h" dir="firmwares/fixedwing"/>
  </header>
  <init fun="nav_init()"/>
  <datalink message="BLOCK" fun="nav_parse_BLOCK(dev,trans,buf)"/>
  <datalink message="MOVE_WP" fun="nav_parse_MOVE_WP(dev,trans,buf)"/>
  <makefile target="ap|sim|nps" firmware="fixedwing">
    <file name="nav.c" dir="$(SRC_FIRMWARE)"/>
    <file name="common_flight_plan.c"/>
    <file name="nav_survey_rectangle.c"/>
    <define name="NAV"/>
    <test firmware="fixedwing">
      <define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>