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_udp">
   <define name="GPS_UDP_HOST" value="192.168.1.2" />
 </module>

Module configuration options

Define Options

name: GPS_UDP_HOST value: 192.168.1.2
Description: host sending GPS messages

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_udp_init()

Periodic Functions

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

gps_udp_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_udp.c

Raw gps_udp.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_udp" dir="gps">
  <doc>
    <description>
      GPS via UDP.
      Read GPS messages from UDP port 7000.
    </description>
    <define name="GPS_UDP_HOST" value="192.168.1.2" description="host sending GPS messages"/>
  </doc>
  <autoload name="gps"/>
  <autoload name="gps_nps"/>
  <autoload name="gps_sim"/>
  <header>
    <file name="gps.h" dir="subsystems"/>
  </header>
  <init fun="gps_udp_init()"/>
  <periodic fun="gps_udp_periodic_check()" freq="1." autorun="TRUE"/>
  <makefile target="ap">
    <file name="gps_udp.c" dir="subsystems/gps"/>
    <raw>
      ifdef SECONDARY_GPS
      ifneq (,$(findstring $(SECONDARY_GPS), udp))
      # this is the secondary GPS
      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_udp.h\"
      ap.CFLAGS += -DSECONDARY_GPS=GPS_UDP
      else
      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
      ap.CFLAGS += -DPRIMARY_GPS=GPS_UDP
      endif
      else
      # plain old single GPS usage
      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
      endif
    </raw>
  </makefile>
</module>