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[refactor] add shared datalink for all firmware #1522

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merged 1 commit into from Jan 30, 2016
Merged

[refactor] add shared datalink for all firmware #1522

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2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/autopilot.makefile
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Expand Up @@ -196,7 +196,7 @@ sim.CFLAGS += -DSITL
sim.srcs += $(SRC_ARCH)/sim_ap.c

sim.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
sim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/ivy_transport.c subsystems/datalink/telemetry.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
sim.srcs += subsystems/datalink/downlink.c subsystems/datalink/datalink.c $(SRC_FIRMWARE)/fixedwing_datalink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/ivy_transport.c subsystems/datalink/telemetry.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c

sim.srcs += $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_adc_generic.c

Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
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Expand Up @@ -51,5 +51,5 @@ nps.srcs += $(NPSDIR)/nps_main.c \


include $(CFG_SHARED)/telemetry_transparent_udp.makefile
nps.srcs += $(SRC_FIRMWARE)/datalink.c
nps.srcs += subsystems/datalink/datalink.c $(SRC_FIRMWARE)/fixedwing_datalink.c
nps.srcs += $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/fdm_jsbsim.makefile
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Expand Up @@ -67,5 +67,5 @@ nps.srcs += $(NPSDIR)/nps_main.c \
nps.srcs += math/pprz_geodetic_wmm2015.c

include $(CFG_SHARED)/telemetry_transparent_udp.makefile
nps.srcs += $(SRC_FIRMWARE)/datalink.c
nps.srcs += subsystems/datalink/datalink.c $(SRC_FIRMWARE)/fixedwing_datalink.c
nps.srcs += $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/telemetry_bluegiga.makefile
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Expand Up @@ -5,7 +5,7 @@ ifeq ($(TARGET),ap)
include $(CFG_SHARED)/telemetry_bluegiga.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
ap.srcs += $(SRC_FIRMWARE)/fixedwing_datalink.c $(SRC_FIRMWARE)/ap_downlink.c

# avoid fbw_telemetry_mode error
ap.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile
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Expand Up @@ -8,7 +8,7 @@ ifeq ($(TARGET),ap)
include $(CFG_SHARED)/telemetry_superbitrf.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
ap.srcs += $(SRC_FIRMWARE)/fixedwing_datalink.c $(SRC_FIRMWARE)/ap_downlink.c

# avoid fbw_telemetry_mode error
ap.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
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Expand Up @@ -5,7 +5,7 @@ ifeq ($(TARGET),ap)
include $(CFG_SHARED)/telemetry_transparent.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
ap.srcs += $(SRC_FIRMWARE)/fixedwing_datalink.c $(SRC_FIRMWARE)/ap_downlink.c

# avoid fbw_telemetry_mode error
ap.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
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Expand Up @@ -6,7 +6,7 @@ ifeq ($(TARGET), ap)
include $(CFG_SHARED)/telemetry_transparent_usb.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
ap.srcs += $(SRC_FIRMWARE)/fixedwing_datalink.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
# avoid fbw_telemetry_mode error
ap.srcs += $(SRC_FIRMWARE)/fbw_downlink.c

Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/telemetry_w5100.makefile
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Expand Up @@ -6,7 +6,7 @@ ifeq ($(TARGET), ap)
include $(CFG_SHARED)/telemetry_w5100.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
ap.srcs += $(SRC_FIRMWARE)/fixedwing_datalink.c $(SRC_FIRMWARE)/ap_downlink.c

# avoid fbw_telemetry_mode error
ap.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
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Expand Up @@ -7,7 +7,7 @@ ifeq ($(TARGET),ap)
include $(CFG_SHARED)/telemetry_xbee_api.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
ap.srcs += $(SRC_FIRMWARE)/fixedwing_datalink.c $(SRC_FIRMWARE)/ap_downlink.c

# avoid fbw_telemetry_mode error
ap.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
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Expand Up @@ -65,4 +65,4 @@ nps.srcs += math/pprz_geodetic_wmm2015.c

include $(CFG_SHARED)/telemetry_transparent_udp.makefile
nps.srcs += $(SRC_FIRMWARE)/rotorcraft_telemetry.c
nps.srcs += $(SRC_FIRMWARE)/datalink.c
nps.srcs += subsystems/datalink/datalink.c $(SRC_FIRMWARE)/rotorcraft_datalink.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/rotorcraft/telemetry_bluegiga.makefile
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Expand Up @@ -6,4 +6,4 @@ ifeq ($(TARGET), ap)
include $(CFG_SHARED)/telemetry_bluegiga.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
ap.srcs += $(SRC_FIRMWARE)/rotorcraft_datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile
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Expand Up @@ -8,4 +8,4 @@ include $(CFG_SHARED)/telemetry_superbitrf.makefile
endif

# add rotorcraft specific files
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
ap.srcs += $(SRC_FIRMWARE)/rotorcraft_datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile
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Expand Up @@ -9,4 +9,4 @@ ifeq ($(TARGET), ap)
include $(CFG_SHARED)/telemetry_transparent.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
ap.srcs += $(SRC_FIRMWARE)/rotorcraft_datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile
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Expand Up @@ -5,4 +5,4 @@ ifeq ($(TARGET), ap)
include $(CFG_SHARED)/telemetry_transparent_udp.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
ap.srcs += subsystems/datalink/datalink.c $(SRC_FIRMWARE)/rotorcraft_datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
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Expand Up @@ -5,4 +5,4 @@ ifeq ($(TARGET), ap)
include $(CFG_SHARED)/telemetry_transparent_usb.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
ap.srcs += $(SRC_FIRMWARE)/rotorcraft_datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
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Expand Up @@ -10,4 +10,4 @@ ifeq ($(TARGET), ap)
include $(CFG_SHARED)/telemetry_xbee_api.makefile
endif

ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
ap.srcs += $(SRC_FIRMWARE)/rotorcraft_datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/shared/telemetry_bluegiga.makefile
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Expand Up @@ -31,5 +31,5 @@ ifneq ($(MODEM_LED),none)
ap.CFLAGS += -DMODEM_LED=$(MODEM_LED)
endif

ap.srcs += $(SRC_SUBSYSTEMS)/datalink/downlink.c $(SRC_SUBSYSTEMS)/datalink/bluegiga.c
ap.srcs += $(SRC_SUBSYSTEMS)/datalink/downlink.c subsystems/datalink/datalink.c $(SRC_SUBSYSTEMS)/datalink/bluegiga.c
ap.srcs += $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c $(SRC_SUBSYSTEMS)/datalink/telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/shared/telemetry_ivy.makefile
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@@ -1,3 +1,3 @@
$(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
$(TARGET).srcs += $(PAPARAZZI_HOME)/var/share/pprzlink/src/ivy_transport.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/datalink.c subsystems/datalink/telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/shared/telemetry_superbitrf.makefile
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Expand Up @@ -7,4 +7,4 @@ $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=superbitrf
$(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF

$(TARGET).srcs += peripherals/cyrf6936.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/superbitrf.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/datalink.c subsystems/datalink/superbitrf.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/shared/telemetry_transparent.makefile
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Expand Up @@ -13,5 +13,5 @@ $(TARGET).CFLAGS += -D$(PPRZ_MODEM_PORT_UPPER)_BAUD=$(MODEM_BAUD)

$(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(PPRZ_MODEM_PORT_LOWER)
$(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/datalink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c

2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/shared/telemetry_transparent_udp.makefile
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Expand Up @@ -19,5 +19,5 @@ TELEM_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ


$(TARGET).CFLAGS += $(MODEM_CFLAGS) $(TELEM_CFLAGS)
$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/datalink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c

2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/shared/telemetry_transparent_usb.makefile
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Expand Up @@ -4,7 +4,7 @@
$(TARGET).CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial
$(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL
$(TARGET).CFLAGS += -DPERIODIC_TELEMETRY
$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/datalink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c

ifeq ($(ARCH), lpc21)
$(TARGET).srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/shared/telemetry_w5100.makefile
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Expand Up @@ -10,7 +10,7 @@ W5100_MULTICAST_PORT ?= "1234"
$(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=chip0
$(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=W5100
$(TARGET).CFLAGS += -DW5100_IP=$(W5100_IP) -DW5100_SUBNET=$(W5100_SUBNET) -DW5100_MULTICAST_IP=$(W5100_MULTICAST_IP) -DW5100_MULTICAST_PORT=$(W5100_MULTICAST_PORT)
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/datalink.c subsystems/datalink/w5100.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/pprz_transport.c subsystems/datalink/telemetry.c

ifeq ($(ARCH), lpc21)
# only an issue of setting the DRDY pin in w5100.c, which is stm32 specific
Expand Down
2 changes: 1 addition & 1 deletion conf/firmwares/subsystems/shared/telemetry_xbee_api.makefile
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Expand Up @@ -14,4 +14,4 @@ $(TARGET).CFLAGS += -D$(XBEE_MODEM_PORT_UPPER)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(

$(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(XBEE_MODEM_PORT_LOWER)
$(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE
$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/xbee_transport.c subsystems/datalink/telemetry.c
$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/datalink.c $(PAPARAZZI_HOME)/var/share/pprzlink/src/xbee_transport.c subsystems/datalink/telemetry.c
149 changes: 17 additions & 132 deletions sw/airborne/firmwares/fixedwing/datalink.c → .../firmwares/fixedwing/fixedwing_datalink.c
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Expand Up @@ -25,37 +25,27 @@
*
*/

#define DATALINK_C

#define MODULES_DATALINK_C

#include <inttypes.h>
#include <string.h>
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"

#include "generated/modules.h"

#ifdef TRAFFIC_INFO
#include "subsystems/navigation/traffic_info.h"
#endif // TRAFFIC_INFO
#include "pprzlink/messages.h"
#include "pprzlink/dl_protocol.h"

#if defined NAV || defined WIND_INFO
#include "state.h"
#endif

#ifdef NAV
#include "firmwares/fixedwing/nav.h"
#include "subsystems/navigation/common_nav.h"
#include "math/pprz_geodetic_float.h"
#endif

#ifdef HITL
#include "subsystems/gps.h"
#endif


#include "subsystems/navigation/common_nav.h"
#include "generated/settings.h"
#include "math/pprz_geodetic_float.h"

#include "mcu_periph/uart.h"
#include "subsystems/datalink/telemetry.h"

#define MOfMM(_x) (((float)(_x))/1000.)

#if USE_JOYSTICK
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
Expand All @@ -70,68 +60,21 @@ uint8_t joystick_block;
}
#endif

#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
#include "subsystems/radio_control/rc_datalink.h"
#endif

#define MOfCm(_x) (((float)(_x))/100.)
#define MOfMM(_x) (((float)(_x))/1000.)

#define SenderIdOfMsg(x) (x[0])
#define IdOfMsg(x) (x[1])

#if USE_NPS
bool_t datalink_enabled = TRUE;
#endif


void dl_parse_msg(void)
void firmware_parse_msg(void)
{
uint8_t msg_id = IdOfMsg(dl_buffer);

#if 0 // not ready yet
uint8_t sender_id = SenderIdOfMsg(dl_buffer);

/* parse telemetry messages coming from other AC */
if (sender_id != 0) {
switch (msg_id) {
#ifdef TCAS
case DL_TCAS_RA: {
if (DL_TCAS_RESOLVE_ac_id(dl_buffer) == AC_ID && SenderIdOfMsg(dl_buffer) != AC_ID) {
uint8_t ac_id_conflict = SenderIdOfMsg(dl_buffer);
tcas_acs_status[the_acs_id[ac_id_conflict]].resolve = DL_TCAS_RA_resolve(dl_buffer);
}
}
#endif
}
return;
}
#endif
uint8_t msg_id = IdOfPprzMsg(dl_buffer);

/* parse telemetry messages coming from ground station */
switch (msg_id) {

case DL_PING: {
DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
}
break;

#ifdef TRAFFIC_INFO
case DL_ACINFO: {
if (DL_ACINFO_ac_id(dl_buffer) == AC_ID) { break; }
uint8_t id = DL_ACINFO_ac_id(dl_buffer);
float ux = MOfCm(DL_ACINFO_utm_east(dl_buffer));
float uy = MOfCm(DL_ACINFO_utm_north(dl_buffer));
float a = MOfCm(DL_ACINFO_alt(dl_buffer));
float c = RadOfDeg(((float)DL_ACINFO_course(dl_buffer)) / 10.);
float s = MOfCm(DL_ACINFO_speed(dl_buffer));
float cl = MOfCm(DL_ACINFO_climb(dl_buffer));
uint32_t t = DL_ACINFO_itow(dl_buffer);
SetAcInfo(id, ux, uy, c, a, s, cl, t);
#ifdef NAV
case DL_BLOCK: {
if (DL_BLOCK_ac_id(dl_buffer) != AC_ID) { break; }
nav_goto_block(DL_BLOCK_block_id(dl_buffer));
SEND_NAVIGATION(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
}
break;
#endif

#ifdef NAV
case DL_MOVE_WP: {
if (DL_MOVE_WP_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t wp_id = DL_MOVE_WP_wp_id(dl_buffer);
Expand All @@ -153,16 +96,8 @@ void dl_parse_msg(void)
DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0);
}
break;

case DL_BLOCK: {
if (DL_BLOCK_ac_id(dl_buffer) != AC_ID) { break; }
nav_goto_block(DL_BLOCK_block_id(dl_buffer));
SEND_NAVIGATION(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
}
break;
#endif /** NAV */


#ifdef WIND_INFO
case DL_WIND_INFO: {
if (DL_WIND_INFO_ac_id(dl_buffer) != AC_ID) { break; }
Expand Down Expand Up @@ -207,25 +142,6 @@ void dl_parse_msg(void)
break;
#endif /* HITL */

#ifdef DlSetting
case DL_SETTING: {
if (DL_SETTING_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t i = DL_SETTING_index(dl_buffer);
float val = DL_SETTING_value(dl_buffer);
DlSetting(i, val);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
}
break;

case DL_GET_SETTING: {
if (DL_GET_SETTING_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
}
break;
#endif /** Else there is no dl_settings section in the flight plan */

#if USE_JOYSTICK
case DL_JOYSTICK_RAW: {
if (DL_JOYSTICK_RAW_ac_id(dl_buffer) == AC_ID) {
Expand All @@ -236,38 +152,7 @@ void dl_parse_msg(void)
}
break;
#endif // USE_JOYSTICK

#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
case DL_RC_3CH: {
//if (DL_RC_3CH_ac_id(dl_buffer) != TX_ID) { break; }
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_3ch_datalink(DL_RC_3CH_throttle_mode(dl_buffer),
DL_RC_3CH_roll(dl_buffer),
DL_RC_3CH_pitch(dl_buffer));
}
break;

case DL_RC_4CH: {
if (DL_RC_4CH_ac_id(dl_buffer) == AC_ID) {
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_4ch_datalink(DL_RC_4CH_mode(dl_buffer),
DL_RC_4CH_throttle(dl_buffer),
DL_RC_4CH_roll(dl_buffer),
DL_RC_4CH_pitch(dl_buffer),
DL_RC_4CH_yaw(dl_buffer));
}
}
break;
#endif // RC_DATALINK

default:
break;
}

/* Parse modules datalink */
modules_parse_datalink(msg_id);
}