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
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