Example for airframe file

Add to your firmware section:

Module functions

Init Functions

These initialization functions are called once on startup.

autopilot_init()

Event Functions

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

autopilot_event()

Periodic Functions

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

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

Datalink Functions

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

on message GUIDED_SETPOINT_NED call autopilot_guided_parse_GUIDED(buf)

Files

Header Files

The following headers are automatically included in modules.h

autopilot.h

Source Files

./autopilot.c
/autopilot_firmware.c
/autopilot_utils.c
/autopilot_static.c
/autopilot_generated.c

Raw autopilot_gnc.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="autopilot_gnc" task="control">
  <doc>
    <description>
      Autopilot Guidance Navigation anc Control
    </description>
  </doc>
  <dep>
    <depends>system_core,@guidance,@navigation,@commands,autopilot_guided</depends>
    <provides>autopilot</provides>
  </dep>
  <header>
    <file name="autopilot.h" dir="."/>
  </header>
  <init fun="autopilot_init()"/>
  <periodic fun="autopilot_periodic()"/>
  <event fun="autopilot_event()"/>
  <datalink message="GUIDED_SETPOINT_NED" fun="autopilot_guided_parse_GUIDED(buf)" cond="AP_MODE_GUIDED"/>
  <makefile target="!fbw">
    <file name="autopilot.c" dir="."/>
    <file name="autopilot_firmware.c" dir="$(SRC_FIRMWARE)"/>
    <file name="autopilot_utils.c" dir="$(SRC_FIRMWARE)"/>
    <file name="autopilot_static.c" dir="$(SRC_FIRMWARE)" cond="ifneq ($(USE_GENERATED_AUTOPILOT), TRUE)"/>
    <file name="autopilot_generated.c" dir="$(SRC_FIRMWARE)" cond="ifeq ($(USE_GENERATED_AUTOPILOT), TRUE)"/>
    <define name="USE_GENERATED_AUTOPILOT" value="1" cond="ifeq ($(USE_GENERATED_AUTOPILOT), TRUE)"/>
  </makefile>
</module>
 