Difference between revisions of "Subsystems"

Latest revision as of 02:45, 29 November 2021

Since v6.0 all subsystems have been moved to modules and no longer exist in Paparazzi.

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 ekf2	fixedwing fixedwing fixedwing fixedwing rotorcraft rotorcraft rotorcraft rotorcraft all (experimental, only tested on fw) all	all all all all all all all all mcu with fpu (e.g. stm32f4) all	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

@@ Line 1: / Line 1: @@
-== About ==
+<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages hideprefix=always>Subsystems</categorytree>
+{| class="wikitable"
+|-
+| Since '''v6.0''' all subsystems have been moved to modules and no longer exist in Paparazzi.
+|}
 Mostly a subsystem is a part offering a specific functionality with a
-defined interface and can have multiple different implementations.
+defined interface and can have multiple different implementations. (See <tt>sw/airborne/subsystems/...</tt>)
-On the technical side subsystems are basically just a convenient way
-to pack certain parts of the code into makefiles and add a few
+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]].
-configuration options to them. (See conf/autopilot/subsystems/...)
+{| class="wikitable"
-So these replaced the old raw makefile section in the airframe file.
+|-
-This makes it easier to put an airframe file together and also allows
+| 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]].
-us to change the code and move/rename files behind the scenes without
+|}
-breaking everyones airframe files.
-=== Differences 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>)
-So the difference is that with subsystems you "package" some of the
-"normal" code and you have to explicitly call the functions (e.g.
-control loops) from the main ap loop. This gives you tighter control
-over what gets called when.
-The event and periodic functions of the [[Modules]] get called at the end
-of event_task_ap and periodic_task_ap respectively.
-This means that modules are perfect to add stuff like extra sensors,
+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.
-but not so much for e.g. estimation and control where you want to
-exactly control when and in what order things happen.
-But you can also wrap some subsystem code as a modules (e.g.
+See [[FirmwareArchitecture]] for the differences to [[Modules]], as well as how to write a new subsystem.
-infrared), or the other way round (e.g. imu_ppzuav).
-As you can see with the imu_ppzuav module it also still expects a
-direct ImuEvent call from main_ap, so you could say it's not a "pure"
-module.
 == Available Subsystems ==
-{| class="wikitable" border="1"
+{| class="wikitable sortable" border="1"
-! Name !! types !! firmwares !! description
+! Name !! Types !! Firmwares !! Architecture !! Description
 |-
 |[[Subsystem/gps|gps]]
 ||
-*ublox
+* ublox
 * ublox_utm
 * nmea
 * mediatek_diy
 * skytraq
-| all || GPS drivers
+* sirf
+|
+* all
+* fixedwing
+* all
+* fixedwing
+* rotorcraft
+* rotorcraft
+|
+* all
+| GPS drivers
 |-
 |[[Subsystem/imu|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
-* aspirin_i2c
+* krooz_sd
-* analog
+* navgo
-* ppzuav
+* umarin
 * crista
 * crista_hmc5843
+* ppzuav
 |
 * all
@@ Line 62: / Line 76: @@
 * all
 * all
-* fixedwing
+* all
-* fixedwing
+* all
-* fixedwing
+* 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
 |-
 |-
 |[[Subsystem/ahrs|ahrs]]
 ||
+* int_cmpl_quat
+* float_cmpl
 * float_dcm
 * int_cmpl_euler
-* int_cmpl_quat
+* float_mlkf
-| all || AHRS algorithms
+* infrared
+|
+* all
+|
+* all
+|| AHRS algorithms
+|-
+|[[Subsystem/ins|ins]]
+||
+* alt_float
+* gps_passthrough
+* xsens
+* xsens700
+* ''no_type''
+* hff
+* extended
+* ardrone2
+* float_invariant
+* ekf2
+|
+* fixedwing
+* fixedwing
+* fixedwing
+* fixedwing
+* rotorcraft
+* rotorcraft
+* rotorcraft
+* rotorcraft
+* all (experimental, only tested on fw)
+* all
+|
+* all
+* all
+* all
+* all
+* all
+* all
+* all
+* all
+* mcu with fpu (e.g. stm32f4)
+* all
+|| 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]]
@@ Line 82: / Line 177: @@
 * spektrum
 * datalink
+* superbitrf_rc
+* sbus
+* sbus_dual
+|
+* all
 |
+* all
+* STM32
+* all
+* STM32
 * all
 * all
-* fixedwing
 | Radio Control implementations
 |-
@@ Line 93: / Line 196: @@
 * transparent_usb
 * xbee_api
+* superbitrf
 |
-all
+* all
+* all
+* all
+* rotorcraft
+|
+* all
+* LPC21xx
+* all
+* STM32
 | Telemetry implementations
 |-
@@ Line 100: / Line 212: @@
 ||
 * mkk
+* mkk_v2
 * asctec
 * asctec_v2
-* pwm_supervision
+* pwm
+* dualpwm
 * skiron
-* heli
+|
+* all
+|
+* all
+| Drivers for different ESCs and servos
+|-
+|[[Subsystem/stabilization|stabilization]]
+||
+* int_quat
+* float_quat
+* int_euler
+* float_euler
+* indi
 |
 * rotorcraft
-* rotorcraft
+|
-* rotorcraft
+* all
-* rotorcraft
+| Attitude control system for rotorcraft
-* rotorcraft
-* rotorcraft
-| drivers for different ESCs for rotorcraft
 |}
 [[Category:Software]] [[Category:Developer_Documentation]] [[Category:Subsystems]]

Difference between revisions of "Subsystems"

Latest revision as of 02:45, 29 November 2021

Available Subsystems

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