Difference between revisions of "Modules list"
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|Sonar || sonar || sonar_maxbotix_booz.xml || Booz || driver for a Maxbotix ultrasonic sensor | |Sonar || sonar || sonar_maxbotix_booz.xml || Booz || driver for a Maxbotix ultrasonic sensor | ||
|- | |- | ||
|Sys mon || | |Sys mon || core || sys_mon.xml || FW & Booz || measures CPU load & activity | ||
|} | |} | ||
Revision as of 12:44, 5 August 2010
Some part of the code is already available as modules. Some other parts could be easily adapted. A module may have several configuration files for the most common uses. The code of the modules is placed in sw/modules/<directory name>.
Available modules
| Name | directory | configuration files | airframe(s) | description |
|---|---|---|---|---|
| Demo | demo_module | demo_module.xml | FW | basic example with blinking leds |
| Enose | enose | enose.xml | FW | chemical sensor |
| Booz cam | vision | booz_cam.xml | Booz | pointing of a simple camera on booz (servo for tilt, heading for pan |
| Booz drop | drop | booz_drop.xml | Booz | drop mechanism on booz |
| Formation flight | multi | formation_flight.xml | FW | formation flight control for fixed-wing aircraft |
| Gps i2c | gps_i2c | gps_i2c.xml | FW | i2c driver for Ubx GPS modules |
| Xsens | ins | ins_xsens.xml ins_xsens_MTi_Uart0.xml ins_xsens_MTiG_Uart0.xml |
driver for the Xsens AHRS/INS (incomplete, only read values, estimator is not updated) | |
| Max 3100 | max3100 | max3100.xml | FW | max3100 driver (spi<->uart converter) |
| MPPT | MPPT | MPPT.xml | FW | maximum power point tracker (control board for solar cells, i2C interface) |
| Poles | poles | poles.xml | FW | special navigation functions to fly around poles and counting loops |
| Potential | multi | potential.xml | FW | use potential fields for collision avoidance |
| Sonar | sonar | sonar_maxbotix_booz.xml | Booz | driver for a Maxbotix ultrasonic sensor |
| Sys mon | core | sys_mon.xml | FW & Booz | measures CPU load & activity |
Possible modules
A list of the parts of the FW airborne code that could be changed to modules.
| Name | hedear | init | periodic | event | datalink | description |
|---|---|---|---|---|---|---|
| Led | X | X | control leds and GPIO | |||
| ADC Generic | X | X | 4Hz | |||
| Telemeter | X | X | 1Hz | |||
| I2C | X | X | ||||
| DC | X | X | ||||
| Dpicco | X | 4Hz | ||||
| Humid | X | X | 4Hz | Humidity sensor | ||
| Baro SCP | X | X | 4Hz | Barometer | ||
| Baro MS | X | 20Hz | X | Barometer | ||
| Airspeed ETS | X | X | 20Hz | Eagle Tree airspeed sensor | ||
| Baro ETS | X | X | 20Hz | Eagle Tree barometric sensor | ||
| SPI | X | X | ||||
| Traffic | X | X | update traffic information from datalink | |||
| TCAS | X | X | 1Hz - 4Hz | ? | vertical collision avoidance | |
| Cam | X | X | 4Hz - 60Hz | camera pointing system | ||
| Light | X | X | 1Hz | control blinking speed of the LEDs for night flights | ||
| Gyro | X | X | 60Hz | |||
| IR | X | X | 60Hz | Infrared sensors | ||
| GPS | X | X | X | |||
| Joystick | X | X | X | X | control a plane from telemetry |