Example for airframe file

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

 <module name="ahrs_vectornav">
   <configure name="VN_PORT" value="uart3" />
   <configure name="VN_BAUD" value="B921600" />
 </module>

Module configuration options

Configure Options

name: VN_PORT value: uart3
Description: UART to use
name: VN_BAUD value: B921600
Description: UART baudrate

Auto-loaded modules

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

ahrs_sim module

Module functions

Event Functions

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

ahrs_vectornav_event()

Files

Header Files

The following headers are automatically included in modules.h

ahrs.h

Source Files

Raw ahrs_vectornav.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_vectornav" dir="ahrs">
  <doc>
    <description>
      Vectornav VN200 over uart used as AHRS.
    </description>
    <configure name="VN_PORT" value="uart3" description="UART to use"/>
    <configure name="VN_BAUD" value="B921600" description="UART baudrate"/>
  </doc>
  <autoload name="ahrs_sim"/>
  <header>
    <file name="ahrs.h" dir="subsystems"/>
  </header>
  <event fun="ahrs_vectornav_event()"/>
  <makefile target="ap">
    <configure name="VN_PORT" default="uart3" case="upper|lower"/>
    <configure name="VN_BAUD" default="B921600"/>
    <define name="USE_$(VN_PORT_UPPER)"/>
    <define name="VN_PORT" value="$(VN_PORT_LOWER)"/>
    <define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
    <file name="vn200_serial.c" dir="peripherals"/>
    <file name="ahrs.c" dir="subsystems"/>
    <file name="ahrs_vectornav.c" dir="subsystems/ahrs"/>
    <file name="ahrs_vectornav_wrapper.c" dir="subsystems/ahrs"/>
    <define name="USE_AHRS"/>
    <raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), vectornav))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_vectornav_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_vectornav
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_vectornav_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_vectornav
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_vectornav_wrapper.h\"
endif
    </raw>
  </makefile>
</module>