gps_intermcu module

Remote GPS via intermcu.

Parses the IMCU_REMOTE_GPS message and publishes it onboard via ABI.

Example for airframe file

Add to your firmware section:

<module name="gps_intermcu"/>

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>
  <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>