Example for airframe file

Add to your firmware section:

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_intermcu_init()

Periodic Functions

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

gps_intermcu_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 IMCU_REMOTE_GPS call gps_intermcu_parse_IMCU_REMOTE_GPS(buf)

Files

Header Files

The following headers are automatically included in modules.h

gps.h

Source Files

modules/gps/gps_intermcu.c

Raw gps_intermcu.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_intermcu" dir="gps" task="sensors">
  <doc>
    <description>
      Remote GPS via intermcu.
      Parses the IMCU_REMOTE_GPS message and publishes it onboard via ABI.
    </description>
  </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_intermcu_init()"/>
  <periodic fun="gps_intermcu_periodic_check()" freq="1." autorun="TRUE"/>
  <datalink message="IMCU_REMOTE_GPS" fun="gps_intermcu_parse_IMCU_REMOTE_GPS(buf)"/>
  <makefile target="ap|fbw">
    <file name="gps_intermcu.c"/>
    <raw>
      ifdef SECONDARY_GPS
      ifneq (,$(findstring $(SECONDARY_GPS), intermcu))
      # this is the secondary GPS
      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_intermcu.h\"
      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_IMCU
      else
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_intermcu.h\"
      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_IMCU
      endif
      else
      # plain old single GPS usage
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_intermcu.h\"
      endif
    </raw>
    <test firmware="rotorcraft">
      <define name="PRIMARY_GPS" value="GPS_IMCU"/>
    </test>
  </makefile>
  <makefile target="fbw">
    <define name="USE_GPS"/>
  </makefile>
</module>
 