Modules list
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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 |
| geo_mag | geo_mag | geo_mag.xml | FW & RW | Calculation of the normalized geomagnetic field vector (saved to ahrs_impl.mag_h) at startup using GPS fix. |
| cv_opticflow | computer_vision | cv_opticflow.xml | FW & RW | Estimation of optical flow from captured images. |
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
Simple static comparsion of recent digital barometric 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 |
| airspeed_otf | sensors | airspeed_otf.xml | FW | Aeroprobe On-The-Fly! air data computer |
| airspeed_ms45xx_i2c | sensors | airspeed_ms45xx_i2c.xml | FW | MS45xx differential pressure sensor (airspeed) |
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 |
Radio modules
| Name | directory | configuration files | airframe(s) | description |
|---|---|---|---|---|
| pineapple | pineapple | pineapple.xml | FW | WiFi pen-test tool |
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 |