Example for airframe file

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

<module name="servo_lidar">
  b'<configure name="USE_SERVO_LIDAR" value="true|false" />\n  '
</module>

Module configuration options

Configure Options

name: USE_SERVO_LIDAR value: true|false
Description: To enable the servo module

Module functions

Init Functions

These initialization functions are called once on startup.

servoLidar_init()

Periodic Functions

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

servoLidar_periodic()
- Frequency in Hz: 100
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

servo_lidar.h

Source Files

modules/lidar/slam/servo_lidar.c

Raw servo_lidar.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="servo_lidar" dir="lidar/slam">
  <doc>
    <description>
      Servo-mounted LIDAR scanning system
      (Uses tfmini driver and provides scanning functionality)
    </description>
    <configure name="USE_SERVO_LIDAR" value="true|false" description="To enable the servo module"/>
  </doc>
 
  <settings>
    <dl_settings NAME="Servo LIDAR">
        <dl_settings NAME="Servo LIDAR">
            <dl_setting var="servoLidar.enabled" min="0" step="1" max="1" shortname="Enable" values="Disabled|Enabled"/>
            <dl_setting var="servoLidar.speed" min="1" step="1" max="20" shortname="Speed"/>
        </dl_settings>
    </dl_settings>
  </settings>
 
  <header>
    <file name="servo_lidar.h"/>
  </header>
  
  <init fun="servoLidar_init()"/>
  <periodic fun="servoLidar_periodic()" freq="100" autorun="TRUE"/>
 
  <makefile target="ap|nps">
    <configure name="USE_SERVO_LIDAR" default="TRUE"/>   
    <define name="USE_SERVO_LIDAR" value="$(USE_SERVO_LIDAR)"/> 
    <file name="servo_lidar.c"/>
  </makefile>
</module>