Modules list

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
max11040	adcs	max11040.xml	FW	24 bit 16 channel AD converter
ADC generic	adcs	adc_generic.xml	FW	autopilot internal 10 bit AD converter
Enose	enose	enose.xml	FW	chemical sensor
Booz cam	cam_control	booz_cam.xml	Booz	pointing of a simple camera on booz (servo for tilt, heading for pan
Cam point	cam_control	cam_point.xml	FW	pointing of a camera
Cam roll	cam_control	cam_roll.xml	FW	roll camera
Booz drop	drop	booz_drop.xml	Booz	drop mechanism on booz
light	light	light.xml	FW	control blinking speed of the LEDs for night flights
servo switch	servo_switch	servo_switch.xml	FW	simply switch a servo to "on" or "off" position, e.g. trigger camera or open hatch
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)
ins_ArduIMU	ins	ins_arduimu.xml	FW	ArduIMU V2+ INS
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
dust_gp2y	meteo	dust_gp2y.xml	FW	driver for Sharp GP2Y1010AU0F dust sensor
humid_dpicco	meteo	humid_dpicco.xml	FW	driver for IST DigiPicco humidity sensor
humid_hih	meteo	humid_hih.xml	FW	driver for Honeywell HIH-4030 humidity sensor
humid_sht	meteo	humid_sht.xml	FW	driver for Sensirion SHT75 humidity sensor
humid_sht_i2c	meteo	humid_sht_i2c.xml	FW	driver for Sensirion SHT25 humidity sensor (I2C)
ir_mlx	meteo	ir_mlx.xml	FW	driver for Melexis 90614 IR sensor
light_temt	meteo	light_temt.xml	FW	driver for Vishay TEMT6000 ambient light sensor
temp_lm75	meteo	temp_lm75.xml	FW	driver for National LM75 temperature sensor
temp_temod	meteo	temp_temod.xml	FW	Hygrosens TEMOD-I2C-Rx temperature sensor for PT1000
temp_tmp102	meteo	temp_tmp102.xml	FW	driver for TI TMP102 temperature sensor
airspeed_adc	sensors	airspeed_adc.xml	FW	driver for airspeed sensor based on analog voltage
airspeed_ets	sensors	airspeed_ets.xml	FW	Eagle Tree Systems airspeed sensor
alt_srf08	sensors	alt_srf08.xml	FW	driver for Devantech Ultrasonic Range Finder SRF08
baro_bmp	sensors	baro_bmp.xml	FW	driver for Bosch BMP085 pressure sensor
baro_ets	sensors	baro_ets.xml	FW	Eagle Tree Systems pressure sensor
baro_MS5534A	sensors	baro_MS5334A.xml	FW	driver for Intersema MS5534A pressure sensor
baro_scp	sensors	baro_scp.xml	FW	driver for VTI SCP1000 (SPI) pressure sensor
baro_scp_i2c	sensors	baro_scp_i2c.xml	FW	driver for VTI SCP1000 (I2C) pressure sensor
mag_micromag_fw	sensors	mag_micromag_fw.xml	FW	driver for PNI Micromag magnetic sensor
trigger_ext	sensors	trigger_ext.xml	FW	driver to measure external events/durations
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	header	init	periodic	event	datalink	description
Led	X	X				control leds and GPIO
I2C	X	X
DC	X	X
SPI	X	X
Traffic	X				X	update traffic information from datalink
TCAS	X	X	1Hz - 4Hz		?	vertical collision avoidance
Gyro	X	X	60Hz
IR	X	X	60Hz			Infrared sensors
GPS	X	X		X
Joystick	X	X		X	X	control a plane from telemetry