Paparazzi UAS  v5.15_devel-61-g9c6bcf9
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telemetry_transparent_udp module

Telemetry using PPRZ protocol over UDP

No detailed description...

Example for airframe file

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

1 <module name="telemetry_transparent_udp">
2  <configure name="MODEM_DEV" value="UDPx" />
3  <configure name="MODEM_HOST" value="192.168.1.255" />
4  <configure name="MODEM_PORT_OUT" value="4242" />
5  <configure name="MODEM_PORT_IN" value="4243" />
6  <configure name="MODEM_BROADCAST" value="TRUE|FALSE" />
7 </module>

Module configuration options

Configure Options

  • name: MODEM_DEV value: UDPx
    Description: UDP port used for communication
  • name: MODEM_HOST value: 192.168.1.255
    Description: IP address of the ground station (can be a broadcast address)
  • name: MODEM_PORT_OUT value: 4242
    Description: output UDP port
  • name: MODEM_PORT_IN value: 4243
    Description: input UDP port
  • name: MODEM_BROADCAST value: TRUE|FALSE
    Description: UDP socket in broadcast mode

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

  • module__telemetrysim

Module functions

Init Functions

These initialization functions are called once on startup.

Event Functions

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

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw telemetry_transparent_udp.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="telemetry_udp" dir="datalink" task="datalink">
<doc>
<description>
Telemetry using PPRZ protocol over UDP
</description>
<configure name="MODEM_DEV" value="UDPx" description="UDP port used for communication"/>
<configure name="MODEM_HOST" value="192.168.1.255" description="IP address of the ground station (can be a broadcast address)"/>
<configure name="MODEM_PORT_OUT" value="4242" description="output UDP port"/>
<configure name="MODEM_PORT_IN" value="4243" description="input UDP port"/>
<configure name="MODEM_BROADCAST" value="TRUE|FALSE" description="UDP socket in broadcast mode"/>
</doc>
<autoload name="telemetry" type="sim"/>
<header>
<file name="pprz_dl.h"/>
</header>
<init fun="pprz_dl_init()"/>
<event fun="pprz_dl_event()"/>
<makefile target="!fbw|sim">
<configure name="MODEM_DEV" default="UDP0" case="upper|lower"/>
<configure name="MODEM_PORT_OUT" default="4242"/>
<configure name="MODEM_PORT_IN" default="4243"/>
<configure name="MODEM_BROADCAST" default="TRUE"/>
<define name="USE_$(MODEM_DEV_UPPER)"/>
<define name="$(MODEM_DEV_UPPER)_HOST" value="$(MODEM_HOST)"/>
<define name="$(MODEM_DEV_UPPER)_PORT_OUT" value="$(MODEM_PORT_OUT)"/>
<define name="$(MODEM_DEV_UPPER)_PORT_IN" value="$(MODEM_PORT_IN)"/>
<define name="$(MODEM_DEV_UPPER)_BROADCAST" value="$(MODEM_BROADCAST)"/>
<define name="DOWNLINK"/>
<define name="PERIODIC_TELEMETRY"/>
<define name="DOWNLINK_DEVICE" value="$(MODEM_DEV_LOWER)"/>
<define name="PPRZ_UART" value="$(MODEM_DEV_LOWER)"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DATALINK" value="PPRZ"/>
<file name="pprz_dl.c"/>
<file name="downlink.c" dir="subsystems/datalink"/>
<file name="datalink.c" dir="subsystems/datalink"/>
<file name="telemetry.c" dir="subsystems/datalink"/>
<file name="pprz_transport.c" dir="pprzlink/src"/>
<raw>
include $(CFG_SHARED)/udp.makefile
</raw>
</makefile>
<makefile target="ap|nps" firmware="fixedwing">
<file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
<file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
</makefile>
<makefile target="ap|fbw|nps" firmware="fixedwing">
<file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
</makefile>
<makefile target="ap|nps" firmware="rotorcraft">
<file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
<file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
</makefile>
</module>