Subsystems

Subsystems

Subsystem/actuators

Subsystem/ahrs

Subsystem/gps

Subsystem/imu

Subsystem/ins

Subsystem/stabilization

Subsystem/telemetry

Subsystems

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/autopilot/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.

Available Subsystems

Name	types	firmwares	description
gps	ublox ublox_utm nmea mediatek_diy skytraq	all	GPS drivers
imu	aspirin_v1.0 aspirin_v1.5 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 fixedwing fixedwing fixedwing fixedwing rotorcraft rotorcraft	IMU drivers
ahrs	float_dcm int_cmpl_euler int_cmpl_quat	all	AHRS algorithms
radio_control	ppm spektrum datalink	all all fixedwing	Radio Control implementations
telemetry	transparent transparent_usb xbee_api	all	Telemetry implementations
actuators	mkk asctec asctec_v2 pwm_supervision skiron heli	rotorcraft rotorcraft rotorcraft rotorcraft rotorcraft rotorcraft	drivers for different ESCs for rotorcraft