[Paparazzi-devel] Add new sensor

[Jimmy]

Hello everybody,

I was looking forward to add a new sensor to ppz, but I am in trouble.the
output signal is 

rs232, and I have a max3232 chip.

The current situation is I have creat a message successfully. However, the
function I added in 

the file firmware/fixeding/autopilot.c like this:
static void send_pzg(void) {
  struct FloatEulers* att = stateGetNedToBodyEulers_f();
  DOWNLINK_SEND_PZG(DefaultChannel, DefaultDevice,
      &(att->psi));     
};
The PZG message can display. 
But I want to know the way of reading the data from the serial port and
using those data to 

update the ahrs.

Any help would be greatly appreciated.



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