Example for airframe file

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

<module name="actuators_hitl">
  b'<configure name="HITL_PORT" value="UARTX|UDPX|usb_serial" />\n    '
  b'<configure name="HITL_BAUD" value="B230400" />\n  '
</module>

Module configuration options

Configure Options

name: HITL_PORT value: UARTX|UDPX|usb_serial
Description: Select port for extra datalink
name: HITL_BAUD value: B230400
Description: Baudrate for extra datalink if link device is UART

Module functions

Init Functions

These initialization functions are called once on startup.

actuators_hitl_init()

Periodic Functions

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

actuators_hitl_periodic()
- Running at maximum module frequency.
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

actuators_hitl.h

Source Files

modules/actuators/actuators_hitl.c

Raw actuators_hitl.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="actuators_hitl" dir="actuators" task="actuators">
  <doc>
    <description>
        Sends commands or actuators for Hardware In The Loop simulation
    </description>
    <configure name="HITL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
    <configure name="HITL_BAUD" value="B230400" description="Baudrate for extra datalink if link device is UART"/>
  </doc>
  <dep>
    <provides>actuators</provides>
  </dep>
  <header>
    <file name="actuators_hitl.h"/>
  </header>
  <init fun="actuators_hitl_init()"/>
  <periodic fun="actuators_hitl_periodic()"/>
  <makefile target="ap">
    <configure name="HITL_PORT" case="upper|lower"/>
    <configure name="HITL_BAUD" default="B230400"/>
    <define name="HITL_DEVICE" value="$(HITL_PORT_LOWER)"/>
    <define name="USE_$(HITL_PORT_UPPER)"/>
    <define name="$(HITL_PORT_UPPER)_BAUD" value="$(HITL_BAUD)"/>
    <file name="actuators_hitl.c"/>
    <test>
      <define name="HITL_DEVICE" value="usb_serial"/>
      <define name="USE_USB_SERIAL"/>
    </test>
  </makefile>
</module>