Difference between revisions of "Subsystems"
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<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages hideprefix=always>Subsystems</categorytree> | <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 | Mostly a subsystem is a part offering a specific functionality with a | ||
| Line 5: | Line 11: | ||
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]]. | 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]]. | ||
{| class="wikitable" | |||
|- | |||
| 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 <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/ | 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>) | ||
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]]. | See [[FirmwareArchitecture]] for the differences to [[Modules]], as well as how to write a new subsystem. | ||
== Available Subsystems == | == Available Subsystems == | ||
{| class="wikitable" border="1" | {| class="wikitable sortable" border="1" | ||
! Name !! Types !! Firmwares !! Architecture !! Description | ! Name !! Types !! Firmwares !! Architecture !! Description | ||
|- | |- | ||
| Line 23: | Line 33: | ||
* nmea | * nmea | ||
* mediatek_diy | * mediatek_diy | ||
* skytraq | * skytraq | ||
* sirf | |||
| | | | ||
* all | * all | ||
* fixedwing | * fixedwing | ||
* all | * all | ||
* | * fixedwing | ||
* rotorcraft | |||
* rotorcraft | * rotorcraft | ||
| | | | ||
| Line 36: | Line 48: | ||
|[[Subsystem/imu|imu]] | |[[Subsystem/imu|imu]] | ||
|| | || | ||
* analog | |||
* apogee | |||
* aspirin_v1.0 | * aspirin_v1.0 | ||
* aspirin_v1.5 | * aspirin_v1.5 | ||
* aspirin_v2.1 | * aspirin_v2.1 | ||
* aspirin_v2.2 | |||
* aspirin_i2c_v1.0 | |||
* aspirin_i2c_v1.5 | |||
* aspirin2_i2c | |||
* b2_v1.0 | * b2_v1.0 | ||
* b2_v1.1 | * b2_v1.1 | ||
* b2_v1.2 | * b2_v1.2 | ||
* drotek_10dof_v2 | |||
* gl1 | |||
* yai | * yai | ||
* | * krooz_sd | ||
* | * navgo | ||
* | * umarin | ||
* crista | * crista | ||
* crista_hmc5843 | * crista_hmc5843 | ||
* ppzuav | |||
| | | | ||
* all | * all | ||
| Line 57: | Line 77: | ||
* all | * all | ||
* all | * all | ||
* | * all | ||
* | * all | ||
* | * all | ||
* | * all | ||
* all | |||
* all | |||
* all | |||
* all | |||
* all | |||
* all | |||
* all | |||
* rotorcraft | * rotorcraft | ||
* rotorcraft | * rotorcraft | ||
* fixedwing | |||
| | | | ||
* all | |||
* stm32f4 | |||
* all | |||
* all | |||
* all | * all | ||
* all | * all | ||
| Line 74: | Line 106: | ||
* all | * all | ||
* all | * all | ||
* all | |||
* stm32f4 | |||
* lpc21 | |||
* lpc21 | |||
* all | * all | ||
* all | * all | ||
* all | * all | ||
|| IMU drivers | || IMU drivers | ||
Traditional IR sensors can be used for fixedwing | |||
but an IMU subsystem is not required | |||
|- | |- | ||
|- | |- | ||
|[[Subsystem/ahrs|ahrs]] | |[[Subsystem/ahrs|ahrs]] | ||
|| | || | ||
* int_cmpl_quat | |||
* float_cmpl | |||
* float_dcm | * float_dcm | ||
* int_cmpl_euler | * int_cmpl_euler | ||
* | * float_mlkf | ||
* infrared | * infrared | ||
| | | | ||
| Line 92: | Line 132: | ||
* all | * all | ||
|| AHRS algorithms | || 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]] | |[[Subsystem/radio_control|radio_control]] | ||
| Line 98: | Line 177: | ||
* spektrum | * spektrum | ||
* datalink | * datalink | ||
* superbitrf_rc | |||
* sbus | |||
* sbus_dual | |||
| | | | ||
* all | * all | ||
| | |||
* all | * all | ||
* | * STM32 | ||
* all | * all | ||
* STM32 | * STM32 | ||
* all | |||
* all | * all | ||
| Radio Control implementations | | Radio Control implementations | ||
| Line 113: | Line 196: | ||
* transparent_usb | * transparent_usb | ||
* xbee_api | * xbee_api | ||
* superbitrf | |||
| | | | ||
* all | * all | ||
* all | |||
* all | |||
* rotorcraft | |||
| | | | ||
* all | * all | ||
* LPC21xx | * LPC21xx | ||
* all | * all | ||
* STM32 | |||
| Telemetry implementations | | Telemetry implementations | ||
|- | |- | ||
| Line 124: | Line 212: | ||
|| | || | ||
* mkk | * mkk | ||
* mkk_v2 | |||
* asctec | * asctec | ||
* asctec_v2 | * asctec_v2 | ||
* | * pwm | ||
* dualpwm | |||
* skiron | * skiron | ||
| | | | ||
* | * all | ||
* | | | ||
* | * all | ||
* | | Drivers for different ESCs and servos | ||
* | |- | ||
|[[Subsystem/stabilization|stabilization]] | |||
|| | |||
* int_quat | |||
* float_quat | |||
* int_euler | |||
* float_euler | |||
* indi | |||
| | |||
* rotorcraft | * rotorcraft | ||
| | | | ||
* all | * all | ||
| Attitude control system for rotorcraft | |||
| | |||
|} | |} | ||
[[Category:Software]] [[Category:Developer_Documentation]] [[Category:Subsystems]] | [[Category:Software]] [[Category:Developer_Documentation]] [[Category: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 |
|
|
|
GPS drivers |
| imu |
|
|
|
IMU drivers
Traditional IR sensors can be used for fixedwing but an IMU subsystem is not required |
| ahrs |
|
|
|
AHRS algorithms |
| ins |
|
|
|
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 |
|
|
|
Radio Control implementations |
| telemetry |
|
|
|
Telemetry implementations |
| actuators |
|
|
|
Drivers for different ESCs and servos |
| stabilization |
|
|
|
Attitude control system for rotorcraft |