Remote GPS via datalink.

Parses the REMOTE_GPS and REMOTE_GPS_SMALL datalink messages and publishes it onboard via ABI.

Example for airframe file

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

<module name="gps_datalink">
  b'<define name="GPS_DATALINK_USE_MAG" value="1" />\n  '
</module>

Module configuration options

Define Options

name: GPS_DATALINK_USE_MAG value: 1
Description: Choose to receive also GPS extracted magnetometer messages

Auto-loaded modules

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

Module functions

Init Functions

These initialization functions are called once on startup.

gps_datalink_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

gps_datalink_periodic_check()
- Frequency in Hz: 1.
- Autorun: TRUE
  Periodic function automatically starts after init.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

on message REMOTE_GPS call gps_datalink_parse_REMOTE_GPS(buf)
on message REMOTE_GPS_SMALL call gps_datalink_parse_REMOTE_GPS_SMALL(buf)
on message REMOTE_GPS_LOCAL call gps_datalink_parse_REMOTE_GPS_LOCAL(buf)

Files

Header Files

The following headers are automatically included in modules.h

gps.h

Source Files

modules/gps/gps_datalink.c

Raw gps_datalink.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_datalink" dir="gps" task="sensors">
  <doc>
    <description>
      Remote GPS via datalink.
      Parses the REMOTE_GPS and REMOTE_GPS_SMALL datalink messages and publishes it onboard via ABI.
    </description>
    <define name="GPS_DATALINK_USE_MAG" value="1" description="Choose to receive also GPS extracted magnetometer messages"/>
  </doc>
  <dep>
    <depends>gps,@datalink</depends>
    <provides>gps</provides>
  </dep>
  <autoload name="gps_nps"/>
  <autoload name="gps_sim"/>
  <header>
    <file name="gps.h"/>
  </header>
  <init fun="gps_datalink_init()"/>
  <periodic fun="gps_datalink_periodic_check()" freq="1." autorun="TRUE"/>
  <datalink message="REMOTE_GPS" fun="gps_datalink_parse_REMOTE_GPS(buf)"/>
  <datalink message="REMOTE_GPS_SMALL" fun="gps_datalink_parse_REMOTE_GPS_SMALL(buf)"/>
  <datalink message="REMOTE_GPS_LOCAL" fun="gps_datalink_parse_REMOTE_GPS_LOCAL(buf)"/>
  <makefile target="ap|fbw">
    <file name="gps_datalink.c"/>
    <raw>
      ifdef SECONDARY_GPS
      ifneq (,$(findstring $(SECONDARY_GPS), datalink))
      # this is the secondary GPS
      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_datalink.h\"
      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_DATALINK
      else
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_datalink.h\"
      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_DATALINK
      endif
      else
      # plain old single GPS usage
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_datalink.h\"
      endif
    </raw>
    <test firmware="rotorcraft">
      <define name="PRIMARY_GPS" value="GPS_DATALINK"/>
    </test>
  </makefile>
  <makefile target="fbw">
    <define name="USE_GPS"/>
  </makefile>
</module>
 