gps_datalink module

Remote GPS via datalink.

Parses the EXTERNAL_POSE, EXTERNAL_POSE_SMALL and REMOTE_GPS_LOCAL datalink messages and publishes it as GPS onboard via ABI.

Example for airframe file

Add to your firmware section:

<module name="gps_datalink"/>

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 EXTERNAL_POSE call gps_datalink_parse_EXTERNAL_POSE(buf)
• on message EXTERNAL_POSE_SMALL call gps_datalink_parse_EXTERNAL_POSE_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 EXTERNAL_POSE, EXTERNAL_POSE_SMALL and REMOTE_GPS_LOCAL datalink messages and publishes it as GPS onboard via ABI.
    </description>
  </doc>
  <dep>
    <depends>gps,@datalink</depends>
    <provides>gps</provides>
  </dep>
  <header>
    <file name="gps.h"/>
  </header>
  <init fun="gps_datalink_init()"/>
  <periodic fun="gps_datalink_periodic_check()" freq="1." autorun="TRUE"/>
  <datalink message="EXTERNAL_POSE" fun="gps_datalink_parse_EXTERNAL_POSE(buf)"/>
  <datalink message="EXTERNAL_POSE_SMALL" fun="gps_datalink_parse_EXTERNAL_POSE_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>