Paparazzi UAS  v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
telemetry_xbee_api module

Telemetry using XBEE API protocol over UART

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_xbee_api">
2  <configure name="MODEM_PORT" value="UARTx" />
3  <configure name="MODEM_BAUD" value="B57600" />
4 </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.

Event Functions

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


Header Files

The following headers are automatically included in modules.h

Source Files

Raw telemetry_xbee_api.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="telemetry_xbee_api" dir="datalink" task="datalink">
Telemetry using XBEE API protocol over UART
<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"/>
<autoload name="telemetry" type="nps"/>
<autoload name="telemetry" type="sim"/>
<file name="xbee_dl.h"/>
<init fun="xbee_dl_init()"/>
<event fun="xbee_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="XBEE_UART" value="$(MODEM_PORT_LOWER)"/>
<define name="XBEE_BAUD" value="$(MODEM_BAUD)"/>
<define name="DOWNLINK_TRANSPORT" value="xbee_tp"/>
<define name="DATALINK" value="XBEE"/>
<file name="xbee_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="xbee_transport.c" dir="pprzlink/src"/>
<makefile target="ap" firmware="fixedwing">
<file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
<file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
<makefile target="ap|fbw" firmware="fixedwing">
<file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
<makefile target="ap" firmware="rotorcraft">
<file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
<file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>