Example for airframe file

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

 <module name="telemetry_nps">
   <configure name="MODEM_DEV" value="UDPx" />
   <configure name="MODEM_HOST" value="192.168.1.255" />
   <configure name="MODEM_PORT_OUT" value="4242" />
   <configure name="MODEM_PORT_IN" value="4243" />
   <configure name="MODEM_BROADCAST" value="TRUE|FALSE" />
 </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

Module functions

Init Functions

These initialization functions are called once on startup.

pprz_dl_init()

Event Functions

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

pprz_dl_event()

Files

Header Files

The following headers are automatically included in modules.h

pprz_dl.h

Source Files

modules/datalink/pprz_dl.c
subsystems/datalink/downlink.c
subsystems/datalink/datalink.c
subsystems/datalink/telemetry.c
pprzlink/src/pprz_transport.c
/fixedwing_datalink.c
/ap_downlink.c
/fbw_downlink.c
/rotorcraft_datalink.c
/rotorcraft_telemetry.c

Raw telemetry_nps.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="telemetry_nps" dir="datalink" task="datalink">
  <doc>
    <description>
      Telemetry module for NPS simalation
      Currently a simple copy of telemetry UDP but only for target nps
    </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>
  <header>
    <file name="pprz_dl.h"/>
  </header>
  <init fun="pprz_dl_init()"/>
  <event fun="pprz_dl_event()"/>
  <makefile target="nps|hitl">
    <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 $(CFG_SHARED)/udp.makefile
    </raw>
  </makefile>
  <makefile target="nps|hitl" firmware="fixedwing">
    <file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile target="nps|hitl" firmware="rotorcraft">
    <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
</module>