Difference between revisions of "Subsystems"

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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.
 
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]].
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See [[FirmwareArchitecture]] for the differences to [[Modules]], as well as how to write a new subsystem.
  
 
== Available Subsystems ==
 
== Available Subsystems ==

Revision as of 16:40, 21 February 2013


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.

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
  • all
  • fixedwing
  • all
  • fixedwing
  • rotorcraft
  • all
GPS drivers
imu
  • aspirin_v1.0
  • aspirin_v1.5
  • aspirin_v2.1
  • b2_v1.0
  • b2_v1.1
  • b2_v1.2
  • yai
  • aspirin_i2c
  • aspirin2_i2c
  • analog
  • ppzuav
  • crista
  • crista_hmc5843
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • fixedwing
  • fixedwing
  • fixedwing
  • fixedwing
  • rotorcraft
  • rotorcraft
  • STM32
  • STM32
  • STM32
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
IMU drivers

Traditional IR sensors can be used for fixedwing

but an IMU subsystem is not required

ahrs
  • float_dcm
  • int_cmpl_euler
  • int_cmpl_quat
  • infrared
  • all
  • all
AHRS algorithms
radio_control
  • ppm
  • spektrum
  • datalink
  • all
  • all
  • fixedwing
  • all
  • STM32
  • all
Radio Control implementations
telemetry
  • transparent
  • transparent_usb
  • xbee_api
  • all
  • all
  • LPC21xx
  • all
Telemetry implementations
actuators
  • mkk
  • asctec
  • asctec_v2
  • pwm_supervision
  • skiron
  • heli
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • all
  • all
  • all
  • all
  • all
  • all
Drivers for different ESCs for rotorcraft

Fixedwing ESCs and servos are

possible on all firmwares/architectures

stabilization
  • int_quat
  • float_quat
  • euler
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • all
  • all
  • all
Attitude control system for rotorcraft