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/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