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isaac.xml
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isaac.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="isaac" dir="cartography">
<doc>
<description>
ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module
Based on paper "A Payload Verification and Management Framework
for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans
and Chris Coffin. Link: http://ieeexplore.ieee.org/abstract/document/6309316/
ISaAC is intented mainly for mapping applications.
This module processes messages from ISaAC, and either forwards them to the GCS
(such as CAMERA_SNAPSHOT or CAMERA_PAYLOAD messages), or responds to them necessary
(such as MOVE_WP).
The module assumes the source of the messages is trusted (i.e. not authentication besides
AC_ID check is performed).
</description>
</doc>
<settings>
<dl_settings NAME="ISaAC">
<dl_settings NAME="Isaac">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="send_cam_snapshot" shortname="snapshot"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="send_cam_payload" shortname="payload"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="send_copilot_status" shortname="copilot"/>
<dl_setting MAX="254" MIN="0" STEP="1" VAR="snapshot_cnt" shortname="snapshot_cnt"/>
<dl_setting MAX="254" MIN="0" STEP="1" VAR="status_cnt" shortname="status_cnt"/>
<dl_setting MAX="254" MIN="0" STEP="1" VAR="isaac_cnt" shortname="isaac_cnt"/>
<dl_setting MAX="254" MIN="0" STEP="1" VAR="move_wp_cnt" shortname="move_wp_cnt"/>
</dl_settings>
</dl_settings>
</settings>
<depends>extra_dl</depends>
<header>
<file name="isaac.h"/>
</header>
<init fun="isaac_init()"/>
<periodic fun="isaac_periodic()" freq="1." autorun="TRUE"/>
<datalink message="CAMERA_SHOT" fun="isaac_parse_cam_snapshot_dl(buf)"/>
<datalink message="CAMERA_PAYL" fun="isaac_parse_cam_payload_dl(buf)"/>
<datalink message="COPILOT_STAT" fun="isaac_parse_copilot_status_dl(buf)"/>
<datalink message="MOVE_WP" fun="isaac_parse_move_wp_dl(buf)"/>
<makefile target="ap">
<file name="isaac.c"/>
</makefile>
</module>