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_transparent">
   <configure name="MODEM_PORT" value="UARTx" />
   <configure name="MODEM_BAUD" value="B57600" />
 </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

Auto-loaded modules

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

module__telemetrynps
module__telemetrysim

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_transparent.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="telemetry_transparent" dir="datalink" task="datalink">
  <doc>
    <description>
      Telemetry using PPRZ protocol over UART
      Currently used as a makefile wrapper over the telemetry_transparent subsystem
    </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"/>
  </doc>
  <autoload name="telemetry" type="nps"/>
  <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|nps|hitl">
    <configure name="MODEM_PORT" case="upper|lower"/>
    <define name="USE_$(MODEM_PORT_UPPER)"/>
    <define name="$(MODEM_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
    <define name="DOWNLINK"/>
    <define name="PERIODIC_TELEMETRY"/>
    <define name="DOWNLINK_DEVICE" value="$(MODEM_PORT_LOWER)"/>
    <define name="PPRZ_UART" value="$(MODEM_PORT_LOWER)"/>
    <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
    <define name="DATALINK" value="PPRZ"/>
    <file name="pprz_dl.c"/>
    <file name="downlink.c" dir="subsystems/datalink"/>
    <file name="datalink.c" dir="subsystems/datalink"/>
    <file name="telemetry.c" dir="subsystems/datalink"/>
    <file name="pprz_transport.c" dir="pprzlink/src"/>
  </makefile>
  <makefile target="ap" firmware="fixedwing">
    <file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile target="ap|fbw" firmware="fixedwing">
    <file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile target="ap" firmware="rotorcraft">
    <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
</module>