Difference between revisions of "Subsystems"

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(Available Subsystems)
 
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They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].
 
They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].
 +
{| class="wikitable"
 +
|-
 +
| Since '''v5.8''' it is possible to safely replace ''subsystem'' by ''module'' in your airframe file. The roadmap of Paparazzi is to convert existing subsystems to [[modules]].
 +
|}
  
 
All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/firmwares/subsystems/...</tt>)
 
All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/firmwares/subsystems/...</tt>)
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== Available Subsystems ==
 
== Available Subsystems ==
  
{| class="wikitable" border="1"
+
{| class="wikitable sortable" border="1"
 
! Name !! Types !! Firmwares !! Architecture !! Description
 
! Name !! Types !! Firmwares !! Architecture !! Description
 
|-
 
|-
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* nmea
 
* nmea
 
* mediatek_diy
 
* mediatek_diy
* skytraq  
+
* skytraq
 +
* sirf
 
|
 
|
 
* all
 
* all
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* all
 
* all
 
* fixedwing
 
* fixedwing
 +
* rotorcraft
 
* rotorcraft
 
* rotorcraft
 
|
 
|
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|[[Subsystem/ahrs|ahrs]]
 
|[[Subsystem/ahrs|ahrs]]
 
||
 
||
 +
* int_cmpl_quat
 +
* float_cmpl
 
* float_dcm  
 
* float_dcm  
 
* int_cmpl_euler
 
* int_cmpl_euler
* int_cmpl_quat
+
* float_mlkf
 
* infrared
 
* infrared
 
|
 
|
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* all
 
* all
 
|| AHRS algorithms
 
|| AHRS algorithms
 +
|-
 +
|[[Subsystem/ins|ins]]
 +
||
 +
* alt_float
 +
* gps_passthrough
 +
* xsens
 +
* xsens700
 +
* ''no_type''
 +
* hff
 +
* extended
 +
* ardrone2
 +
* float_invariant
 +
|
 +
* fixedwing
 +
* fixedwing
 +
* fixedwing
 +
* fixedwing
 +
* rotorcraft
 +
* rotorcraft
 +
* rotorcraft
 +
* rotorcraft
 +
* all (experimental, only tested on fw)
 +
|
 +
* all
 +
* all
 +
* all
 +
* all
 +
* all
 +
* all
 +
* all
 +
* all
 +
* mcu with fpu (e.g. stm32f4)
 +
|| INS algorithms
 +
Most of the INS filters are only providing position and speed, and they need to be used together with an AHRS filter for attitude
 +
 +
Currently, only the experimental invariant filter is a full INS
 
|-
 
|-
 
|[[Subsystem/radio_control|radio_control]]
 
|[[Subsystem/radio_control|radio_control]]
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* datalink
 
* datalink
 
* superbitrf_rc
 
* superbitrf_rc
 +
* sbus
 +
* sbus_dual
 
|  
 
|  
 
* all
 
* all
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* all
 
* all
 
* STM32
 
* STM32
 +
* all
 +
* all
 
| Radio Control implementations
 
| Radio Control implementations
 
|-
 
|-
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||
 
||
 
* mkk
 
* mkk
 +
* mkk_v2
 
* asctec
 
* asctec
 
* asctec_v2
 
* asctec_v2
* pwm_supervision
+
* pwm
 +
* dualpwm
 
* skiron
 
* skiron
* heli
 
 
|  
 
|  
* rotorcraft
+
* all
* rotorcraft
 
* rotorcraft
 
* rotorcraft
 
* rotorcraft
 
* rotorcraft
 
 
|  
 
|  
 
* all
 
* all
* all
+
| Drivers for different ESCs and servos
* all
 
* all
 
* all
 
* all
 
| Drivers for different ESCs for rotorcraft
 
Fixedwing ESCs and servos are
 
 
 
possible on all firmwares/architectures
 
 
|-
 
|-
 
|[[Subsystem/stabilization|stabilization]]
 
|[[Subsystem/stabilization|stabilization]]
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* int_quat
 
* int_quat
 
* float_quat
 
* float_quat
* euler
+
* int_euler
 +
* float_euler
 +
* indi
 
|  
 
|  
 
* rotorcraft
 
* rotorcraft
* rotorcraft
 
* rotorcraft
 
 
 
|  
 
|  
* all
 
* all
 
 
* all
 
* all
 
| Attitude control system for rotorcraft
 
| Attitude control system for rotorcraft

Latest revision as of 10:33, 16 February 2016


Mostly a subsystem is a part offering a specific functionality with a defined interface and can have multiple different implementations. (See sw/airborne/subsystems/...)

They are selected and configured with a <subsystem name="foo" type="bar"> in the firmware section of the airframe file.

Since v5.8 it is possible to safely replace subsystem by module in your airframe file. The roadmap of Paparazzi is to convert existing subsystems to modules.

All this does is basically include a makefile foo_bar.makefile that adds the respective sources and adds a few configuration options. (See conf/firmwares/subsystems/...)

This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.

See FirmwareArchitecture for the differences to Modules, as well as how to write a new subsystem.

Available Subsystems

Name Types Firmwares Architecture Description
gps
  • ublox
  • ublox_utm
  • nmea
  • mediatek_diy
  • skytraq
  • sirf
  • all
  • fixedwing
  • all
  • fixedwing
  • rotorcraft
  • rotorcraft
  • all
GPS drivers
imu
  • analog
  • apogee
  • aspirin_v1.0
  • aspirin_v1.5
  • aspirin_v2.1
  • aspirin_v2.2
  • aspirin_i2c_v1.0
  • aspirin_i2c_v1.5
  • aspirin2_i2c
  • b2_v1.0
  • b2_v1.1
  • b2_v1.2
  • drotek_10dof_v2
  • gl1
  • yai
  • krooz_sd
  • navgo
  • umarin
  • crista
  • crista_hmc5843
  • ppzuav
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • rotorcraft
  • rotorcraft
  • fixedwing
  • all
  • stm32f4
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • stm32f4
  • lpc21
  • lpc21
  • all
  • all
  • all
IMU drivers

Traditional IR sensors can be used for fixedwing

but an IMU subsystem is not required

ahrs
  • int_cmpl_quat
  • float_cmpl
  • float_dcm
  • int_cmpl_euler
  • float_mlkf
  • infrared
  • all
  • all
AHRS algorithms
ins
  • alt_float
  • gps_passthrough
  • xsens
  • xsens700
  • no_type
  • hff
  • extended
  • ardrone2
  • float_invariant
  • fixedwing
  • fixedwing
  • fixedwing
  • fixedwing
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • all (experimental, only tested on fw)
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • mcu with fpu (e.g. stm32f4)
INS algorithms

Most of the INS filters are only providing position and speed, and they need to be used together with an AHRS filter for attitude

Currently, only the experimental invariant filter is a full INS

radio_control
  • ppm
  • spektrum
  • datalink
  • superbitrf_rc
  • sbus
  • sbus_dual
  • all
  • all
  • STM32
  • all
  • STM32
  • all
  • all
Radio Control implementations
telemetry
  • transparent
  • transparent_usb
  • xbee_api
  • superbitrf
  • all
  • all
  • all
  • rotorcraft
  • all
  • LPC21xx
  • all
  • STM32
Telemetry implementations
actuators
  • mkk
  • mkk_v2
  • asctec
  • asctec_v2
  • pwm
  • dualpwm
  • skiron
  • all
  • all
Drivers for different ESCs and servos
stabilization
  • int_quat
  • float_quat
  • int_euler
  • float_euler
  • indi
  • rotorcraft
  • all
Attitude control system for rotorcraft