fbw_datalink module

Forward datalink over inter-mcu link between FBW and AP

Flight termination commands can still be decoded by FBW even when AP is down

Example for airframe file

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

<module name="fbw_datalink">
  <configure name="MODEM_PORT" value="UARTx" />
  <configure name="MODEM_BAUD" value="B57600" />
  <configure name="AUTOPILOT_PORT" value="UARTx" />
</module>

Module configuration options

Configure Options

• name: MODEM_PORT value: UARTx
  Description: UART where the modem is connected to (UART1, UART2, etc)
• name: MODEM_BAUD value: B57600
  Description: UART baud rate
• name: AUTOPILOT_PORT value: UARTx
  Description: UART where the autopilot is connected to (UART1, UART2, etc)

Files

Header Files

The following headers are automatically included in modules.h

• fbw_datalink.h

Source Files

• firmwares/fixedwing/fbw_datalink.c

Raw fbw_datalink.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="fbw_datalink" dir="datalink" task="fbw">
  <doc>
    <description>
      Forward datalink over inter-mcu link between FBW and AP
      Flight termination commands can still be decoded by FBW even when AP is down
    </description>
    <configure name="MODEM_PORT" value="UARTx" description="UART where the modem is connected to (UART1, UART2, etc)"/>
    <configure name="MODEM_BAUD" value="B57600" description="UART baud rate"/>
    <configure name="AUTOPILOT_PORT" value="UARTx" description="UART where the autopilot is connected to (UART1, UART2, etc)"/>
  </doc>
  <header>
    <file name="fbw_datalink.h" dir="firmwares/fixedwing"/>
  </header>
  <makefile target="fbw" firmware="fixedwing">
    <configure name="MODEM_PORT" case="upper|lower"/>
    <configure name="AUTOPILOT_PORT" case="upper|lower"/>
    <define name="USE_$(MODEM_PORT_UPPER)"/>
    <define name="$(MODEM_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
    <define name="MODEM_LINK" value="$(MODEM_PORT_LOWER)"/>
    <define name="USE_$(AUTOPILOT_PORT_UPPER)"/>
    <define name="$(AUTOPILOT_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
    <define name="AUTOPILOT_LINK" value="$(AUTOPILOT_PORT_LOWER)"/>
    <define name="FBW_DATALINK"/>
    <file name="fbw_datalink.c" dir="firmwares/fixedwing"/>
  </makefile>
</module>