Difference between revisions of "Modules list"
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(added simple servo switch module) |
(added cam modules) |
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|Enose || enose || enose.xml || FW || chemical sensor | |Enose || enose || enose.xml || FW || chemical sensor | ||
|- | |- | ||
|Booz cam || | |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 | |Booz drop || drop || booz_drop.xml || Booz || drop mechanism on booz |
Revision as of 14:00, 30 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 | 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 |
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) | |
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 |