Example for airframe file

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

 <module name="telemetry_xbee_api">
   <define name="XBEE_CHANNEL" value="0C" />
   <configure name="MODEM_PORT" value="UARTx" />
   <configure name="MODEM_BAUD" value="B57600" />
 </module>

Module configuration options

Configure Options

name: MODEM_PORT value: UARTx
Description: UART where the modem is connected to (UART1, UART2, etc)
name: MODEM_BAUD value: B57600
Description: UART baud rate

Define Options

name: XBEE_CHANNEL value: 0C
Description: set Xbee channel (from 0C to 17).

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

module__telemetrynps
module__telemetrysim

Module functions

Init Functions

These initialization functions are called once on startup.

xbee_dl_init()

Event Functions

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

xbee_dl_event()

Files

Header Files

The following headers are automatically included in modules.h

xbee_dl.h

Source Files

modules/datalink/xbee_dl.c
subsystems/datalink/downlink.c
subsystems/datalink/datalink.c
subsystems/datalink/telemetry.c
pprzlink/src/xbee_transport.c
/fixedwing_datalink.c
/ap_downlink.c
/fbw_downlink.c
/rotorcraft_datalink.c
/rotorcraft_telemetry.c
/rover_datalink.c
/rover_telemetry.c

Raw telemetry_xbee_api.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="telemetry_xbee_api" dir="datalink" task="datalink">
  <doc>
    <description>
      Telemetry using XBEE API protocol over UART
    </description>
    <configure name="MODEM_PORT" value="UARTx" description="UART where the modem is connected to (UART1, UART2, etc)"/>
    <configure name="MODEM_BAUD" value="B57600" description="UART baud rate"/>
    <define name="XBEE_CHANNEL" value="0C" description="set Xbee channel (from 0C to 17)."/>
  </doc>
  <autoload name="telemetry" type="nps"/>
  <autoload name="telemetry" type="sim"/>
  <header>
    <file name="xbee_dl.h"/>
  </header>
  <init fun="xbee_dl_init()"/>
  <event fun="xbee_dl_event()"/>
  <makefile target="!fbw|sim|nps|hitl">
    <configure name="MODEM_PORT" case="upper|lower"/>
    <define name="USE_$(MODEM_PORT_UPPER)"/>
    <define name="$(MODEM_PORT_UPPER)_BAUD" value="$(MODEM_BAUD)"/>
    <define name="DOWNLINK"/>
    <define name="PERIODIC_TELEMETRY"/>
    <define name="DOWNLINK_DEVICE" value="$(MODEM_PORT_LOWER)"/>
    <define name="XBEE_UART" value="$(MODEM_PORT_LOWER)"/>
    <define name="XBEE_BAUD" value="$(MODEM_BAUD)"/>
    <define name="DOWNLINK_TRANSPORT" value="xbee_tp"/>
    <define name="DATALINK" value="XBEE"/>
    <file name="xbee_dl.c"/>
    <file name="downlink.c" dir="subsystems/datalink"/>
    <file name="datalink.c" dir="subsystems/datalink"/>
    <file name="telemetry.c" dir="subsystems/datalink"/>
    <file name="xbee_transport.c" dir="pprzlink/src"/>
  </makefile>
  <makefile target="ap" firmware="fixedwing">
    <file name="fixedwing_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="ap_downlink.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile target="ap|fbw" firmware="fixedwing">
    <file name="fbw_downlink.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile target="ap" firmware="rotorcraft">
    <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
  <makefile target="ap" firmware="rover">
    <file name="rover_datalink.c" dir="$(SRC_FIRMWARE)"/>
    <file name="rover_telemetry.c" dir="$(SRC_FIRMWARE)"/>
  </makefile>
</module>