Modules list

Modules
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.xmlins_xsens_MTi_Uart0.xmlins_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.xmldigital_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
Category:User_Documentation Category:Modules