[mavlink] Basic implementation (needs cleanup)

conf/firmwares/rotorcraft.makefile

@@ -28,10 +28,11 @@ SRC_BOARD=boards/$(BOARD)
 SRC_FIRMWARE=firmwares/rotorcraft
 SRC_SUBSYSTEMS=subsystems
 SRC_MODULES=modules
+SRC_EXT=$(PAPARAZZI_SRC)/sw/ext
 
 SRC_ARCH=arch/$(ARCH)
 
-ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD)
+ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I$(SRC_EXT)
 
 
 ap.ARCHDIR = $(ARCH)

conf/modules/mavlink.xml

@@ -0,0 +1,18 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="datalink">
+  <doc>
+    <description>Basic MAVLink implementation</description>
+  </doc>
+  <header>
+    <file name="mavlink.h"/>
+  </header>
+
+  <init fun="mavlink_init()"/>
+  <periodic fun="mavlink_periodic()" autorun="TRUE"/>
+  <event fun="mavlink_event()"/>
+
+  <makefile>
+    <file name="mavlink.c"/>
+  </makefile>
+</module>

sw/airborne/firmwares/fixedwing/autopilot.c

@@ -152,6 +152,7 @@ void autopilot_init(void) {
   gpio_clear(POWER_SWITCH_GPIO);
 #endif
 
+#if PERIODIC_TELEMETRY
   /* register some periodic message */
   register_periodic_telemetry(DefaultPeriodic, "ALIVE", send_alive);
   register_periodic_telemetry(DefaultPeriodic, "PPRZ_MODE", send_mode);
@@ -165,5 +166,6 @@ void autopilot_init(void) {
 #if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS
   register_periodic_telemetry(DefaultPeriodic, "RC_SETTINGS", send_rc_settings);
 #endif
+#endif
 }
 

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -199,7 +199,7 @@ void init_ap( void ) {
   ahrs_init();
 #endif
 
-#if USE_AHRS && USE_IMU
+#if USE_AHRS && USE_IMU && PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_filter_status);
 #endif
 
@@ -449,7 +449,9 @@ void reporting_task( void ) {
   /** then report periodicly */
   else {
     //PeriodicSendAp(DefaultChannel, DefaultDevice);
+#if PERIODIC_TELEMETRY
     periodic_telemetry_send_Ap(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
+#endif
   }
 }
 

sw/airborne/firmwares/rotorcraft/autopilot.c

@@ -138,6 +138,7 @@ PRINT_CONFIG_MSG("Enabled UNLOCKED_HOME_MODE since MODE_AUTO2 is AP_MODE_HOME")
 #endif
 #endif
 
+#if PERIODIC_TELEMETRY
 static void send_alive(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ALIVE(trans, dev, AC_ID, 16, MD5SUM);
 }
@@ -235,7 +236,7 @@ static void send_rotorcraft_cmd(struct transport_tx *trans, struct link_device *
       &stabilization_cmd[COMMAND_YAW],
       &stabilization_cmd[COMMAND_THRUST]);
 }
-
+#endif // PERIODIC_TELEMTRY
 
 void autopilot_init(void) {
   /* mode is finally set at end of init if MODE_STARTUP is not KILL */
@@ -269,6 +270,7 @@ void autopilot_init(void) {
   /* set startup mode, propagates through to guidance h/v */
   autopilot_set_mode(MODE_STARTUP);
 
+#if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "ALIVE", send_alive);
   register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_STATUS", send_status);
   register_periodic_telemetry(DefaultPeriodic, "ENERGY", send_energy);
@@ -282,6 +284,7 @@ void autopilot_init(void) {
   register_periodic_telemetry(DefaultPeriodic, "RC", send_rc);
   register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_RADIO_CONTROL", send_rotorcraft_rc);
 #endif
+#endif
 }
 
 

sw/airborne/firmwares/rotorcraft/main.c

@@ -124,7 +124,9 @@ tid_t modules_tid;       ///< id for modules_periodic_task() timer
 tid_t failsafe_tid;      ///< id for failsafe_check() timer
 tid_t radio_control_tid; ///< id for radio_control_periodic_task() timer
 tid_t electrical_tid;    ///< id for electrical_periodic() timer
+#if PERIODIC_TELEMETRY
 tid_t telemetry_tid;     ///< id for telemetry_periodic() timer
+#endif
 #if USE_BARO_BOARD
 tid_t baro_tid;          ///< id for baro_periodic() timer
 #endif
@@ -184,7 +186,9 @@ STATIC_INLINE void main_init( void ) {
   radio_control_tid = sys_time_register_timer((1./60.), NULL);
   failsafe_tid = sys_time_register_timer(0.05, NULL);
   electrical_tid = sys_time_register_timer(0.1, NULL);
+#if PERIODIC_TELEMETRY
   telemetry_tid = sys_time_register_timer((1./TELEMETRY_FREQUENCY), NULL);
+#endif
 #if USE_BARO_BOARD
   baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
 #endif
@@ -201,8 +205,10 @@ STATIC_INLINE void handle_periodic_tasks( void ) {
     failsafe_check();
   if (sys_time_check_and_ack_timer(electrical_tid))
     electrical_periodic();
+#if PERIODIC_TELEMETRY
   if (sys_time_check_and_ack_timer(telemetry_tid))
     telemetry_periodic();
+#endif
 #if USE_BARO_BOARD
   if (sys_time_check_and_ack_timer(baro_tid))
     baro_periodic();
@@ -220,15 +226,22 @@ STATIC_INLINE void main_periodic( void ) {
   SetActuatorsFromCommands(commands, autopilot_mode);
 
   if (autopilot_in_flight) {
-    RunOnceEvery(PERIODIC_FREQUENCY, { autopilot_flight_time++; datalink_time++; });
+    RunOnceEvery(PERIODIC_FREQUENCY, {
+      autopilot_flight_time++;
+#if PERIODIC_TELEMETRY
+      datalink_time++;
+#endif
+    });
   }
 
   RunOnceEvery(10, LED_PERIODIC());
 }
 
+#if PERIODIC_TELEMETRY
 STATIC_INLINE void telemetry_periodic(void) {
   periodic_telemetry_send_Main(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
 }
+#endif
 
 /** mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV) */
 #ifndef RC_LOST_MODE

sw/airborne/firmwares/rotorcraft/main.h

@@ -39,7 +39,9 @@ STATIC_INLINE void main_event( void );
 STATIC_INLINE void handle_periodic_tasks( void );
 
 STATIC_INLINE void main_periodic( void );
+#if PERIODIC_TELEMETRY
 STATIC_INLINE void telemetry_periodic(void);
+#endif
 STATIC_INLINE void failsafe_check( void );