Example for airframe file

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

<module name="pose_history">
  b'<define name="POSE_HISTORY_SIZE" value="1024" />\n  '
</module>

Module configuration options

Define Options

name: POSE_HISTORY_SIZE value: 1024
Description: Length of the pose buffer

Module functions

Init Functions

These initialization functions are called once on startup.

pose_init()

Periodic Functions

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

pose_periodic()
- 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

pose_history.h

Source Files

modules/pose_history/pose_history.c

Raw pose_history.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="pose_history">
  <doc>
    <description>Ask this module for the pose the drone had closest to a given timestamp</description>
    <define name="POSE_HISTORY_SIZE" value="1024" description="Length of the pose buffer"/>
  </doc>
  <header>
    <file name="pose_history.h"/>
  </header>
  <init fun="pose_init()"/>
  <periodic fun="pose_periodic()" autorun="TRUE"/>
  <makefile>
    <file name="pose_history.c"/>
  </makefile>
</module>
 