Example for airframe file

Add to your firmware section:

Module functions

Init Functions

These initialization functions are called once on startup.

scout_detector_init()

Periodic Functions

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

scout_detector_report()
- Frequency in Hz: 2.0
- Autorun: TRUE
  Periodic function automatically starts after init.
scout_detector_sim()
- Frequency in Hz: 3.0
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

scout_detector.h

Source Files

Raw scout_detector.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="scout_detector" dir="search_and_rescue">
  <doc>
    <description>
      Scout detector driver.
 
      Receive data from the home-made scoutector module, specially made for IMAV 2026.
      It detects sound and light emitted by a rescue device hold by people in danger
      (https://www.espaceprotech.com/product/Detecteur-dimmobilite-MOTION-SCOUT-KTR-MSA).
 
      Based on UAVcan protocol.
    </description>
  </doc>
  <dep>
    <depends>uavcan,search_map</depends>
  </dep>
  <header>
    <file name="scout_detector.h"/>
  </header>
  <init fun="scout_detector_init()"/>
  <periodic fun="scout_detector_report()" freq="2.0" autorun="TRUE"/>
  <periodic fun="scout_detector_sim()" freq="3.0" autorun="TRUE"/>
  <makefile>
    <file name="scout_detector.c"/>
 
    <!-- Load DSDL generated files-->
    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
    <file name="uavcan.protocol.debug.KeyValue.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
    <test firmware="rotorcraft">
      <include name="$(PAPARAZZI_HOME)/sw/ext/dronecan/libcanard"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>