Modules list

Modules

ArduIMU

Module/ADC generic

Module/Aeroprobe OTF

Module/Airspeed ETS

Module/AOA adc

Module/Bosch BMP085

Module/collective tracking control

Module/FlightBenchmark

Module/Freescale MPL3115A2

Module/GPS UBlox UCenter

Module/guidance vector field

Module/Honeywell HIH-4030

Module/Hygrosens TEMOD-I2C-R1

Module/infrared

Module/IST DigiPicco

Module/LM75

Module/Mag HMC58xx

Module/Meas Spec MS5611 I2C

Module/Melexis MLX90614

Module/rl obstacle avoidance

Module/Rotorcraft cam

Module/Sensirion SHT25

Module/Sensirion SHT75

Module/Servo switch

Module/System monitor

Module/TI TMP102

Module/TronSens HTM B71

Module/VTI SCP1000 I2C

Module/VTI SCP1000 SPI

Modules

Modules list

MultiUAV

Openlog

Pan Tilt Camera

SDLogger SPI Direct

Sensors/AMSYS

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/airborne/modules/<directory name>.

The auto-generated list and short doc for all modules in the master branch can be found at the onboard modules page of the doxygen docs.

Available modules

Name	directory	configuration files	airframe(s)	description
Demo	demo_module	demo_module.xml	FW	basic example with blinking leds
Booz cam (Rotorcraft cam)	cam_control	booz_cam.xml (rotorcraft_cam.xml)	Rotor	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
GPS UBX µcenter	gps	gps_ubx_ucenter.xml	FW/Rotor	Module to initialise µ-blox GPS at every power on
Xsens	ins	ins_xsens.xml ins_xsens_MTi_Uart0.xml ins_xsens_MTiG_Uart0.xml		driver for the Xsens AHRS/INS (for fixedwing it provides a full navigation solution, for rotorcraft it is a bit slow)
ins_ArduIMU	ins	ins_arduimu.xml	FW	ArduIMU V2+ (Flat) INS (should probably be renamed to AHRS and adhere to the ahrs interface)
imu_ppzauv	sensors	imu_ppzuav.xml	FW/rotor	module to read the PPZIMU
imu_aspirin_i2c	sensors	imu_aspirin_i2c.xml	FW/rotor	module to read the aspirin IMU via I2C
VN-100	ins	ins_vn100.xml	FW RW?	VectorNav VN-100 AHRS (should probably be renamed to AHRS and adhere to the ahrs interface)
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
infrared_adc	sensors	infrared_adc.xml	FW	driver for infrared sensors based on analog voltage
infrared_i2c	sensors	infrared_i2c.xml	FW	driver for infrared sensors with i2c connection
alt_srf08	sensors	alt_srf08.xml	FW	driver for Devantech Ultrasonic Range Finder SRF08
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
xtend_rssi	datalink	xtend_rssi.xml	FW	driver to measure and report rssi from Digi 9Xtend radio with pwm input, currently only LPC21xx arch
pwm_meas	core	pwm_meas.xml	FW	driver wrapper to measure duty and period of pwm input, currently only LPC21xx arch
sys mon	core	sys_mon.xml	FW & Booz	measures CPU load & activity
DC	digital_cam	digital_cam.xml digital_cam_i2c.xml	FW & RW	Controls Digital Camera Functions (buttons) like shoot/zoom/onoff/take pictures at regular intervals
AOA adc	sensors	AOA_adc.xml	FW	Reads the value of an US DIGITAL MA3-A10-236-N AoA Sensor and controls the elevator with its value
flight_benchmark	benchmark	flight_benchmark.xml	FW	quantitative assessments of flights
openlog	openlog	openlog.xml	FW & RW	Module for logging with a Sparkfun OpenLog

Analog-digital converters

Name	directory	configuration files	airframe(s)	description
ADC generic	adcs	adc_generic.xml	FW	autopilot internal 10 bit AD converter
max11040	adcs	max11040.xml	FW	24 bit 16 channel AD converter
mcp355x	adcs	mcp355x.xml	FW	22 bit 1 channel AD converter

Temperature sensors

Name	directory	configuration files	airframe(s)	description
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
ir_mlx	meteo	ir_mlx.xml	FW	driver for Melexis 90614 infrared radiation sensor

Barometric pressure/altitude sensors

Name	directory	configuration files	airframe(s)	description
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_ms5611_i2c	sensors	baro_ms5611_i2c.xml	FW	driver for Measurement Specialties MS5611-01BA 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
baro_amsys	sensors	baro_amsys.xml	FW	driver for AMS 5812-0150-A (Baro) pressure sensors

Airspeed sensors

Name	directory	configuration files	airframe(s)	description
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
airspeed_amsys	sensors	airspeed_amsys.xml	FW	driver for AMS 5812-0003-D (Airspeed) pressure sensors

Humidity sensors

Name	directory	configuration files	airframe(s)	description
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_htm_b71	meteo	humid_htm_b71.xml	FW	driver for TronSens HTM-B71 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)

Other environment sensors

Name	directory	configuration files	airframe(s)	description
enose	enose	enose.xml	FW	chemical gas sensor
dust_gp2y	meteo	dust_gp2y.xml	FW	driver for Sharp GP2Y1010AU0F dust sensor
light_temt	meteo	light_temt.xml	FW	driver for Vishay TEMT6000 ambient light sensor

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
SPI	X	X
Traffic	X				X	update traffic information from datalink
TCAS	X	X	1Hz - 4Hz		?	vertical collision avoidance
GPS	X	X		X
Joystick	X	X		X	X	control a plane from telemetry