Example for airframe file

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

 <module name="gps_ublox">
   <configure name="UBX_GPS_PORT" value="UARTx" />
   <configure name="UBX_GPS_BAUD" value="B38400" />
 </module>

Module configuration options

Configure Options

name: UBX_GPS_PORT value: UARTx
Description: UART where the GPS is connected to (UART1, UART2, etc
name: UBX_GPS_BAUD value: B38400
Description: UART baud rate

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_ubx_init()

Event Functions

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

gps_ubx_event()

Periodic Functions

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

gps_ubx_periodic_check()
- Frequency in Hz: 1.
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

gps.h

Source Files

subsystems/gps/gps_ubx.c

Raw gps_ublox.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_ublox" dir="gps">
  <doc>
    <description>
      U-blox GPS (UART)
      Driver for u-blox GPS modules parsing the binary UBX protocol.
    </description>
    <configure name="UBX_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
    <configure name="UBX_GPS_BAUD" value="B38400" description="UART baud rate"/>
  </doc>
  <autoload name="gps"/>
  <autoload name="gps_nps"/>
  <autoload name="gps_sim"/>
  <header>
    <file name="gps.h" dir="subsystems"/>
  </header>
  <init fun="gps_ubx_init()"/>
  <periodic fun="gps_ubx_periodic_check()" freq="1." autorun="TRUE"/>
  <event fun="gps_ubx_event()"/>
  <makefile target="ap">
    <configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
    <configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
    <file name="gps_ubx.c" dir="subsystems/gps"/>
    <define name="USE_$(UBX_GPS_PORT_UPPER)"/>
    <define name="UBX_GPS_LINK" value="$(UBX_GPS_PORT_LOWER)"/>
    <define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>
    <raw>
      ifdef SECONDARY_GPS
      ifneq (,$(findstring $(SECONDARY_GPS), ublox))
      # this is the secondary GPS
      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_ubx.h\"
      ap.CFLAGS += -DSECONDARY_GPS=GPS_UBX
      else
      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
      ap.CFLAGS += -DPRIMARY_GPS=GPS_UBX
      endif
      else
      # plain old single GPS usage
      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
      endif
    </raw>
  </makefile>
</module>