Difference between revisions of "Subsystems"

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They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].
They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].
{| class="wikitable"
|-
| Since '''v5.8''' it is possible to safely replace ''subsystem'' by ''module'' in your airframe file. The roadmap of Paparazzi is to convert existing subsystems to [[modules]].
|}


All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/autopilot/subsystems/...</tt>)
All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/firmwares/subsystems/...</tt>)


This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.
This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.


See [[FirmwareArchitecture]] for the differences to [[Modules]].
See [[FirmwareArchitecture]] for the differences to [[Modules]], as well as how to write a new subsystem.


== Available Subsystems ==
== Available Subsystems ==


{| class="wikitable" border="1"
{| class="wikitable sortable" border="1"
! Name !! types !! firmwares !! description
! Name !! Types !! Firmwares !! Architecture !! Description
|-
|-
|[[Subsystem/gps|gps]]
|[[Subsystem/gps|gps]]
||
||
*ublox
* ublox
* ublox_utm
* ublox_utm
* nmea
* nmea
* mediatek_diy
* mediatek_diy
* skytraq  
* skytraq
| all || GPS drivers
* sirf
|
* all
* fixedwing
* all
* fixedwing
* rotorcraft
* rotorcraft
|
* all
| GPS drivers
|-
|-
|[[Subsystem/imu|imu]]
|[[Subsystem/imu|imu]]
||
||
* analog
* apogee
* aspirin_v1.0
* aspirin_v1.0
* aspirin_v1.5
* aspirin_v1.5
* aspirin_v2.1
* aspirin_v2.2
* aspirin_i2c_v1.0
* aspirin_i2c_v1.5
* aspirin2_i2c
* b2_v1.0
* b2_v1.0
* b2_v1.1
* b2_v1.1
* b2_v1.2
* b2_v1.2
* drotek_10dof_v2
* gl1
* yai
* yai
* aspirin_i2c
* krooz_sd
* aspirin2_i2c
* navgo
* analog
* umarin
* ppzuav
* crista
* crista
* crista_hmc5843
* crista_hmc5843
* ppzuav
|
|
* all
* all
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* all
* all
* all
* all
* fixedwing
* all
* fixedwing
* all
* fixedwing
* all
* fixedwing
* all
* all
* all
* all
* all
* all
* all
* all
* all
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* fixedwing
|
* all
* stm32f4
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* stm32f4
* lpc21
* lpc21
* all
* all
* all
|| IMU drivers
|| IMU drivers
Traditional IR sensors can be used for fixedwing
but an IMU subsystem is not required
|-
|-
|-
|-
|[[Subsystem/ahrs|ahrs]]
|[[Subsystem/ahrs|ahrs]]
||
||
* int_cmpl_quat
* float_cmpl
* float_dcm  
* float_dcm  
* int_cmpl_euler
* int_cmpl_euler
* int_cmpl_quat
* float_mlkf
| all || AHRS algorithms
* infrared
|
* all
|
* all
|| AHRS algorithms
|-
|[[Subsystem/ins|ins]]
||
* alt_float
* gps_passthrough
* xsens
* xsens700
* ''no_type''
* hff
* extended
* ardrone2
* float_invariant
* ekf2
|
* fixedwing
* fixedwing
* fixedwing
* fixedwing
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* all (experimental, only tested on fw)
* all
|
* all
* all
* all
* all
* all
* all
* all
* all
* mcu with fpu (e.g. stm32f4)
* all
|| INS algorithms
Most of the INS filters are only providing position and speed, and they need to be used together with an AHRS filter for attitude
 
Currently, only the experimental invariant filter is a full INS
|-
|-
|[[Subsystem/radio_control|radio_control]]
|[[Subsystem/radio_control|radio_control]]
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* spektrum
* spektrum
* datalink
* datalink
* superbitrf_rc
* sbus
* sbus_dual
|
* all
|  
|  
* all
* STM32
* all
* STM32
* all
* all
* all
* all
* fixedwing
| Radio Control implementations
| Radio Control implementations
|-
|-
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* transparent_usb
* transparent_usb
* xbee_api
* xbee_api
* superbitrf
|  
|  
all
* all
* all
* all
* rotorcraft
|
* all
* LPC21xx
* all
* STM32
| Telemetry implementations
| Telemetry implementations
|-
|-
Line 86: Line 206:
||
||
* mkk
* mkk
* mkk_v2
* asctec
* asctec
* asctec_v2
* asctec_v2
* pwm_supervision
* pwm
* dualpwm
* skiron
* skiron
* heli
|
* all
|
* all
| Drivers for different ESCs and servos
|-
|[[Subsystem/stabilization|stabilization]]
||
* int_quat
* float_quat
* int_euler
* float_euler
* indi
|  
|  
* rotorcraft
* rotorcraft
* rotorcraft
|
* rotorcraft
* all
* rotorcraft
| Attitude control system for rotorcraft
* rotorcraft
* rotorcraft
| drivers for different ESCs for rotorcraft
|}
|}


[[Category:Software]] [[Category:Developer_Documentation]] [[Category:Subsystems]]
[[Category:Software]] [[Category:Developer_Documentation]] [[Category:Subsystems]]

Revision as of 14:46, 15 March 2021

Mostly a subsystem is a part offering a specific functionality with a defined interface and can have multiple different implementations. (See sw/airborne/subsystems/...)

They are selected and configured with a <subsystem name="foo" type="bar"> in the firmware section of the airframe file.

Since v5.8 it is possible to safely replace subsystem by module in your airframe file. The roadmap of Paparazzi is to convert existing subsystems to modules.

All this does is basically include a makefile foo_bar.makefile that adds the respective sources and adds a few configuration options. (See conf/firmwares/subsystems/...)

This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.

See FirmwareArchitecture for the differences to Modules, as well as how to write a new subsystem.

Available Subsystems

Name Types Firmwares Architecture Description
gps
  • ublox
  • ublox_utm
  • nmea
  • mediatek_diy
  • skytraq
  • sirf
  • all
  • fixedwing
  • all
  • fixedwing
  • rotorcraft
  • rotorcraft
  • all
GPS drivers
imu
  • analog
  • apogee
  • aspirin_v1.0
  • aspirin_v1.5
  • aspirin_v2.1
  • aspirin_v2.2
  • aspirin_i2c_v1.0
  • aspirin_i2c_v1.5
  • aspirin2_i2c
  • b2_v1.0
  • b2_v1.1
  • b2_v1.2
  • drotek_10dof_v2
  • gl1
  • yai
  • krooz_sd
  • navgo
  • umarin
  • crista
  • crista_hmc5843
  • ppzuav
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • rotorcraft
  • rotorcraft
  • fixedwing
  • all
  • stm32f4
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • stm32f4
  • lpc21
  • lpc21
  • all
  • all
  • all
IMU drivers

Traditional IR sensors can be used for fixedwing

but an IMU subsystem is not required

ahrs
  • int_cmpl_quat
  • float_cmpl
  • float_dcm
  • int_cmpl_euler
  • float_mlkf
  • infrared
  • all
  • all
AHRS algorithms
ins
  • alt_float
  • gps_passthrough
  • xsens
  • xsens700
  • no_type
  • hff
  • extended
  • ardrone2
  • float_invariant
  • ekf2
  • fixedwing
  • fixedwing
  • fixedwing
  • fixedwing
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • rotorcraft
  • all (experimental, only tested on fw)
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • all
  • mcu with fpu (e.g. stm32f4)
  • all
INS algorithms

Most of the INS filters are only providing position and speed, and they need to be used together with an AHRS filter for attitude

Currently, only the experimental invariant filter is a full INS

radio_control
  • ppm
  • spektrum
  • datalink
  • superbitrf_rc
  • sbus
  • sbus_dual
  • all
  • all
  • STM32
  • all
  • STM32
  • all
  • all
Radio Control implementations
telemetry
  • transparent
  • transparent_usb
  • xbee_api
  • superbitrf
  • all
  • all
  • all
  • rotorcraft
  • all
  • LPC21xx
  • all
  • STM32
Telemetry implementations
actuators
  • mkk
  • mkk_v2
  • asctec
  • asctec_v2
  • pwm
  • dualpwm
  • skiron
  • all
  • all
Drivers for different ESCs and servos
stabilization
  • int_quat
  • float_quat
  • int_euler
  • float_euler
  • indi
  • rotorcraft
  • all
Attitude control system for rotorcraft