Modules list

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Revision as of 09:04, 15 March 2010 by Ghattenb (talk | contribs) (list of the available and future possible modules)

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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/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 vision booz_cam.xml Booz pointing of a simple camera on booz (servo for tilt, heading for pan
Booz drop drop booz_drop.xml Booz drop mechanism on booz
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

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