Difference between revisions of "Subsystems"
| Line 149: | Line 149: | ||
possible on all firmwares/architectures | possible on all firmwares/architectures | ||
|- | |- | ||
|[[Subsystem/stabilization|stabilization]] | |[[Subsystem/stabilization|stabilization]] | ||
| Line 165: | Line 164: | ||
* all | * all | ||
* all | * all | ||
| | | Attitude control system for rotorcraft | ||
|} | |} | ||
Revision as of 08:59, 26 June 2012
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.
Available Subsystems
| Name | Types | Firmwares | Architecture | Description |
|---|---|---|---|---|
| gps |
|
|
|
GPS drivers |
| imu |
|
|
|
IMU drivers
Traditional IR sensors can be used for fixedwing but an IMU subsystem is not required |
| ahrs |
|
|
|
AHRS algorithms |
| radio_control |
|
|
|
Radio Control implementations |
| telemetry |
|
|
|
Telemetry implementations |
| actuators |
|
|
|
Drivers for different ESCs for rotorcraft
Fixedwing ESCs and servos are possible on all firmwares/architectures |
| stabilization |
|
|
|
Attitude control system for rotorcraft |