!REDIRECT “https://docs.px4.io/master/ja/uart/user_configurable_serial_driver.html“

Making Serial Port Drivers User-Configurable

This topic explains how to set up a serial driver so that it can be end-user configured (via parameters) to run on any of a flight controller board’s configurable serial ports.

Preconditions

The driver is assumed to already exist, and be started in the shell using the command syntax:

<driver_name> start -d <serial_port> [-b <baudrate> | -b p:<param_name>]

where,

• -d: serial port name.
• -b: Baud rate (optional) if the driver supports multiple baud rates. If supported, the driver must allow you to specify the rate as both a bare baudrate and as a parameter name in the form -b p:<param_name> (which can be parsed with px4_get_parameter_value()). > Tip See the gps driver for an example.

Making the Driver Configurable

To make driver configurable:

1. Create a YAML module configuration file:
   • Add a new file in the driver’s source directory named module.yaml
   • Insert the following text and adjust as needed: ``` module_name: uLanding Radar serial_config:
     • command: ulanding_radar start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} port_config_param: name: SENS_ULAND_CFG group: Sensors ``` > Note The full documentation of the module configuration file can be found in the validation/module_schema.yaml file. This is also used to validate all configuration files in CI.
2. Add the module configuration to the CMakeLists.txt file for the driver module:

    px4_add_module(
    MODULE drivers__ulanding
    MAIN ulanding_radar
    SRCS
        ulanding.cpp
    MODULE_CONFIG
        module.yaml
    )