Onboard Modules

Table of Contents

• List of available modules
  • Actuators modules
  • Adcs modules
  • Ahrs modules
  • Benchmark modules
  • Boards modules
  • Cam_Control modules
  • Checks modules
  • Com modules
  • Computer_Vision modules
  • Control modules
  • Core modules
  • Ctrl modules
  • Datalink modules
  • Decawave modules
  • Digital_Cam modules
  • Energy modules
  • Fdm modules
  • Gpio_Ext modules
  • Gps modules
  • Guidance modules
  • Helicopter modules
  • Imu modules
  • Ins modules
  • Intermcu modules
  • Lidar modules
  • Light modules
  • Loggers modules
  • Mcu_Periph modules
  • Meteo modules
  • Mission modules
  • Multi modules
  • Nav modules
  • Optical_Flow modules
  • Orange_Avoider modules
  • Radio_Control modules
  • Range_Finder modules
  • Rotwing_Drone modules
  • Sensors modules
  • Sonar modules
  • Stabilization modules
  • Stereocam modules
  • Switching modules
  • System_Identification modules
  • Misc modules

The modules allow to add new code in a flexible way with initialisation, periodic and event functions without modifying the main AP loop.

Also see http://wiki.paparazziuav.org/wiki/Modules

List of available modules

Actuators modules

• actuators module : Common actuators interface
• actuators_ardrone2 module : Actuators Driver for ARDrone2
• actuators_asctec_v2 module : Actuators Driver for Asctec V2 ESC
• actuators_bebop module : Actuators Driver for Bebop 1 and 2
• actuators_disco module : Actuators Driver for Disco plane
• actuators_dshot module : Driver for DSHOT speed controller.
• actuators_dualpwm module : Actuators Driver for dual PWM output
• actuators_dummy module : Dummy actuators driver
• actuators_esc32 module : Actuators Driver for AutoQuad ESC32 over CAN
• actuators_faulhaber module : Actuators Driver for the Faulhaber controller
• actuators_hitl module : Sends commands or actuators for Hardware In The Loop simulation
• actuators_md25 module : Driver for the MD25 rover controller board
• actuators_nps module : Actuators for NPS (dummy pwm)
• actuators_ostrich module : Driver for the Ostrich rover controller board
• actuators_pwm module : Actuators Driver using direct PWM output
• actuators_sbus module : Actuators Driver using Futaba SBUS
• actuators_spektrum module : Actuators Driver with Spektrum output
• actuators_sts3032 module : Feetech sts3032 servo.
• actuators_uavcan module : UAVCan actuators
• motor_mixing module : Motor mixing for multi-rotor systems

Adcs modules

• adc_generic module : Generic ADC
• battery_monitor module : AggieAir Battery and power monitor using a custom breakout board, for both fixedwings and rotocrafts.
• max11040 module : Max11040 ADC
• mcp355x module : MCP355X ADC driver (SPI)

Ahrs modules

• ahrs_chimu_spi module : CHimu (SPI)
• ahrs_chimu_uart module : CHimu (UART)
• ahrs_common module : Generic AHRS interface.
• ahrs_float_cmpl_quat module : AHRS using complementary filter in floating point.
• ahrs_float_cmpl_rmat module : AHRS using complementary filter in floating point.
• ahrs_float_dcm module : AHRS using DCM filter.
• ahrs_float_invariant module : AHRS using invariant filter.
• ahrs_float_mlkf module : AHRS using MLKF filter.
• ahrs_int_cmpl_quat module : AHRS using complementary filter in fixed point.
• ahrs_madgwick module : AHRS using IMU (accel, gyro) only with Madwick implementation.
• ahrs_sim module : Simple simulation of the AHRS result.
• ahrs_vectornav module : Vectornav VN200 over uart used as AHRS.

Benchmark modules

• flight_benchmark module : Flight benchmark for fixedwing.
• i2c_abuse_test module : I2C Abuse Test
• imu_quality_assessment module : Give comparable with IMU Health information.

Boards modules

• board_matek_f405_wing module : Autoload several onboard sensors and modules
• board_matek_f765_car module : Autoload several onboard sensors and subsystems
• board_matek_f765_wing module : Autoload several onboard sensors and modules
• board_tawaki module : Autoload several onboard sensors for the Tawaki board with proper configuration
• board_tawaki_2.0 module : Autoload several onboard sensors for the Tawaki board with proper configuration
• opa_controller module : Controller for OPA board functionalities
• power_switch module : Simple power switch module to set a specific GPIO pin

Cam_Control modules

• cam_point module : Camera control for fixedwing
• cam_roll module : Camera control on roll axis only
• cam_segment module : Camera control to point a segment
• rotorcraft_cam module : Camera control for rotorcraft.

Checks modules

• pfc_actuators module : Preform a pre flight check of the actuators and validate by looking at the feedback.
• preflight_checks module : Preform preflight checks before arming the motors and periodically while not armed for status information.

Com modules

• generic_com module : Generic com.
• usb_serial_stm32_example1 module : Serial-over-USB console on STM32.
• usb_serial_stm32_example2 module : STM32 USB-serial example.

Computer_Vision modules

• bebop_ae_awb module : Auto Exposure and Auto White Balancing for the front camera on the Parrot Bebop 1 and 2 and the Disco
• cv_blob_locator module : Find a colored item and track its geo-location and update a waypoint to it
• cv_colorfilter module : ColorFilter
• cv_detect_color_object module : Color Object Detector
• cv_detect_contour module : A module that detects the contour of a dronerace obstacle.
• cv_detect_gate module : Detects gates as used in the IROS drone races, i.e., square colored gates
• cv_detect_window module : Detect window
• cv_georeference module : Geo-reference computer vision detections
• cv_opencvdemo module : This example shows how OpenCV can be used on (for example) the Bebop drone.
• cv_opticflow module : Compute optical flow.
• cv_target_localization module : Find georeferenced position of a target from visual detection.
• cv_textons module : Represent the appearance (texture, color) of an image by means of a texton histogram.
• cv_undistort_image module : Undistortion a fisheyelens distortion of a whole image
• tag_tracking module : Track position of a tag (ArUco, QRcode, ...) detected by an onboard camera
• video_capture module : Capture images from video device on the internal memory (JPEG, full size, best quality)
• video_exif module : Add EXIF data to any JPEG
• video_rtp_stream module : Video streaming for Linux based devices.
• video_thread module : Read video devices in a thread.
• video_usb_logger module : Log video and pose to USB-stick.

Control modules

• control module : Basic control for fixed-wing aircraft.
• control_adaptive module : Adaptive control for fixed-wing aircraft.
• control_energy module : Energy control for fixed-wing aircraft.
• control_energyadaptive module : Energy control for fixed-wing aircraft with adaptive stabilization.
• control_new module : Full PID control for fixed-wing aircraft.

Core modules

• pwm_meas module : PWM measurement.
• settings module : Settings interface
• settings_rc module : Change settings via Remote Control, e.g
• shell module : Simple debug shell
• state_interface module : State Interface
• sys_mon module : System monitor.
• system_core module : Core system components meta module
• trig_test module : Trig Test

Ctrl modules

• approach_moving_target module : Approach a moving target (e.g
• ctrl_module_innerloop_demo module : Demo Control Module.
• ctrl_module_outerloop_demo module : Demo Control Module.
• ctrl_windtunnel module : Windtunnel controller for performing step inputs on flaps and throttle.
• eff_scheduling_cyfoam module : Interpolation of control effectiveness matrix for Cyfoam tailsitter.
• eff_scheduling_falcon module : Interpolation of control effectivenss matrix of the Falcon hybride plane
• eff_scheduling_generic module : Interpolation of control effectivenss matrix.
• eff_scheduling_nederdrone module : Interpolation of control effectivenss matrix
• eff_scheduling_rotwing module : T
• eff_scheduling_rotwing_v2 module : T
• follow_me module : Follow a ground based object which is transmitting the TARGET_POS datalink message or using RTK GPS.
• gain_scheduling module : Gain set interpolation.
• object_tracking module : Control a rotorcraft heading to track an object detected by a camera
• optical_flow_hover module : This module implements monocular vision height estimation and uses this
• optical_flow_landing module : Optical flow landing.
• scheduling_indi_simple module : Interpolation of control effectivenss matrix.
• shift_tracking module : Pilot nav shift variable to track an offset in navigation
• target_pos module : Target position calculation
• vertical_ctrl_module_demo module : Demo Vertical Control Module.

Datalink modules

• datalink_common module : Common datalink interface for telemetry, downlink and uplink
• extra_dl module : Extra datalink (PPRZ transport)
• fbw_datalink module : Forward datalink over inter-mcu link between FBW and AP
• mavlink module : Basic MAVLink implementation
• mavlink_decoder module : A simple MAVLINK decoder
• telemetry_bluegiga module : Telemetry using PPRZ protocol over Bluegiga modules
• telemetry_intermcu module : Telemetry bridge over InterMCU for FBW
• telemetry_ivy module : Telemetry using IVY
• telemetry_nps module : Telemetry module for NPS simalation
• telemetry_nps_secure module : Telemetry module for NPS simulation
• telemetry_secure_common module : Telemetry using secure PPRZ protocol - common parts
• telemetry_sim module : Telemetry using IVY for basic FW simulator
• telemetry_superbitrf module : Telemetry using PPRZ protocol over SuperbitRF module
• telemetry_transparent module : Telemetry using PPRZ protocol over UART or USB serial.
• telemetry_transparent_frsky_x module : Telemetry using pprzlink protocol over FrSky X SmartPort serial link
• telemetry_transparent_gec module : Galois Embedded Crypto over transparent datalink
• telemetry_transparent_udp module : Telemetry using PPRZ protocol over UDP
• telemetry_transparent_usb module : DEPRECATED: Use telemetry_transparent with configure MODEM_PORT=usb_serial instead
• telemetry_w5100 module : Telemetry using PPRZ protocol over W5100 Wifi module
• telemetry_xbee_api module : Telemetry using XBEE API protocol over UART
• xtend_rssi module : Digi Xtend RSSI PWM Module.

Decawave modules

• decawave_anchorless_communication module : Decawave DWM1000 module serial communication for use in anchorless network where the UWB modules are attached to MAVs
• dw1000_arduino module : Driver to get ranging data from Decawave DW1000 modules connected to Arduino

Digital_Cam modules

• dc_ctrl_parrot_mykonos module : Control the Parrot Bebop, Bebop2 and Disco cameras via native Parrot IMaging Process(PIMP).
• digital_cam module : Digital Photo Camera Triggering (using a GPIO pin)
• digital_cam_common module : Digital Photo Camera Triggering, common interface
• digital_cam_gpio module : Digital Photo Camera Triggering (using a GPIO pin)
• digital_cam_i2c module : Digital Photo Camera Triggering (using a I2C channel)
• digital_cam_pprzlink module : Digital Photo Camera Triggering using PPRZLINK messages
• digital_cam_servo module : Digital Photo Camera Triggering (using a servo)
• digital_cam_shoot_rc module : Digital camera control using radio channel.
• digital_cam_uart module : Digital Photo Camera Triggering (using a UART link)
• digital_cam_video module : Digital Photo Camera Triggering (using embedded video)
• hackhd module : HackHD control

Energy modules

• mppt module : Maximum Power Point Tracker
• bat_checker module : Battery checker module
• can_fuelcell module : CAN Fuelcell data sent to GCS
• electrical module : General electrical interface

Fdm modules

• fdm_crrcsim module : CRRCSIM FDM backend for NPS simulator
• fdm_fixedwing_sim module : Basic fixedwing FDM for NPS simulator
• fdm_gazebo module : Gazebo backend for NPS simulator
• fdm_jsbsim module : JSBSim FDM backend for NPS simulator
• fdm_pybullet module : PyBullet based FDM for NPS simulator
• fdm_rover module : Rover FDM for NPS simulator

Gpio_Ext modules

• gpio_ext_common module : Common functions for external GPIO
• gpio_ext_pca95xx module : PCA95XX external GPIO peripheral

Gps modules

• gps module : Generic GPS functions.
• gps_datalink module : Remote GPS via datalink.
• gps_furuno module : Furuno GPS (UART)
• gps_intermcu module : Remote GPS via intermcu.
• gps_mediatek_diy module : Mediatek MT3329 GPS (UART)
• gps_nmea module : NMEA GPS (UART)
• gps_nps module : Simulated GPS for NPS.
• gps_optitrack module : Optitrack used as indoor GPS.
• gps_piksi module : Swift-Nav Piksi RTK GPS.
• gps_sim module : Simulated GPS
• gps_sirf module : Sirf GPS (UART)
• gps_skytraq module : Skytraq GPS (UART)
• gps_ublox module : U-blox GPS (UART)
• gps_ubx_i2c module : U-blox GPS (I2C)
• gps_ubx_ucenter module : Ublox GPS autoconfiguration.
• gps_udp module : GPS via UDP.

Guidance modules

• guidance_basic_fw module : Legacy vertical control for fixedwing aircraft based on throttle (default) or pitch
• guidance_energy module : Energy based vertical control for fixedwing aircraft.
• guidance_full_pid_fw module : Vertical control for fixedwing aircraft based on PID
• guidance_hybrid module : Guidance controller for hybrid vehicles
• guidance_indi module : Guidance controller for rotorcraft using INDI
• guidance_indi_hybrid module : Common guidance controller code for hybrids using INDI: in your airframe file include one of the options:
• guidance_indi_hybrid_quadplane module : Guidance controller for hybrid quadplane vehicles
• guidance_indi_hybrid_tailsitter module : Guidance controller for hybrid tailsitter vehicles
• guidance_oneloop module : Dummy file for oneloop controller
• guidance_pid_rotorcraft module : Basic guidance code for rotorcraft with PID control
• guidance_rotorcraft module : Base guidance code for rotorcraft
• guidance_rover module : Base guidance code for rover
• guidance_rover_holonomic module : Holonomic guidance for rover
• guidance_rover_steering module : Steering guidance for rover.

Helicopter modules

• heli_swashplate_mixing module : Helicopter Swashplate Mixing
• heli_throttle_curve module : Throttle Curve Mixers

Imu modules

• filter_1euro_imu module : Prefiltering for IMU data using 1euro filter.
• imu_apogee module : Driver for IMU on Apogee board.
• imu_apogee_mpu9150 module : Driver for IMU on Apogee board.
• imu_ardrone2 module : IMU on Parrot ARDrone2.
• imu_aspirin_common module : Common functionality of Aspirin IMUs.
• imu_aspirin_i2c_common module : Common functionality of Aspirin IMUs using I2C only.
• imu_aspirin_i2c_v1.0 module : Aspirin v1.0 IMU using I2C only.
• imu_aspirin_i2c_v1.5 module : Aspirin v1.5 IMU.
• imu_aspirin_v1.0 module : Aspirin v1.0 IMU.
• imu_aspirin_v1.5 module : Aspirin v1.5 IMU.
• imu_aspirin_v2.1 module : Aspirin v2.1 IMU.
• imu_aspirin_v2.2 module : Aspirin v2.2 IMU.
• imu_aspirin_v2_common module : Common functionality of Aspirin v2 IMUs.
• imu_bebop module : Driver for IMU on the Parrot Bebop drone.
• imu_bmi088_i2c module : IMU with BMI088 via I2C.
• imu_chimera module : MPU9250 IMU via I2C.
• imu_common module : Common part for all IMUs.
• imu_cube module : IMU driver for the sensors inside the cube autopilots
• imu_disco module : Driver for IMU on the Parrot Disco drone.
• imu_elle0 module : MPU9250 IMU via SPI.
• imu_heater module : IMU Heater through a resistor or IO co-processor
• imu_icm42688 module : Driver module for the Invensense v3 IMU ICM42688.
• imu_lisa_m_v2.1 module : IMU on Lisa/M and MX v2.1 boards.
• imu_lisa_mx_v2.1 module : IMU on Lisa/MX v2.1 boards.
• imu_lisa_s_v1.0 module : IMU on LisaS board.
• imu_matek_h743_slim module : Default settings for Matek H743 SLIM imu
• imu_mpu6000 module : IMU with an Invensense MPU6000 connected via the SPI bus to flightcontroller.
• imu_mpu6000_hmc5883 module : IMU with MPU6000 and HMC5883.
• imu_mpu60x0_i2c module : IMU with MPU60x0 via I2C.
• imu_mpu9250 module : Test module for the mpu9250 with I2C
• imu_mpu9250_i2c module : IMU with MPU9250 via I2C.
• imu_mpu9250_spi module : IMU with MPU9250 via SPI.
• imu_nps module : Simulated IMU for NPS.
• imu_openpilot_revo module : Driver for IMU on OpenPilot Revo board.
• imu_openpilot_revo_nano module : IMU driver for OpenPilot Revo Nano.
• imu_pixhawk6x module : IMU driver for the sensors inside the Pixhawk 6X autopilots
• imu_px4fmu_v1.7 module : MPU6000 via SPI and HMC5883 via I2C on the PX4FMU v1.7 board
• imu_px4fmu_v2.4 module : PX4 Pixhawk IMU via SPI.
• imu_sim module : Dummy IMU for SIM.
• imu_vectornav module : Vectornav VN-200 over uart used as IMU.

Ins modules

• alt_filter module : Altitude filter
• imu_temp_ctrl module : Bebop2/Disco INS (MPU6x) sensor temperature control.
• imu_xsens module : XSens IMU.
• ins module : simple INS with vertical filter.
• ins_alt_float module : INS with Kalman Filter on altitude.
• ins_arduimu module : ArduIMU v2
• ins_arduimu_basic module : ArduIMU v2
• ins_ekf2 module : simple INS and AHRS using EKF2 from PX4
• ins_ext_pose module : Extened Kalman filter based on https://en.wikipedia.org/wiki/Extended_Kalman_filter
• ins_extended module : extended INS with vertical filter using sonar.
• ins_float_invariant module : Invariant INS (in float).
• ins_flow module : simple INS and AHRS using flow
• ins_gps_passthrough module : INS which just passes GPS through.
• ins_hff module : INS with float vertical and horizontal filters.
• ins_hff_extended module : extended INS with vertical filter using sonar.
• ins_mekf_wind module : MEKF-Wind INS estimator.
• ins_nps module : Simulated AHRS and INS.
• ins_sim module : Simulated INS.
• ins_skeleton module : INS module skeleton.
• ins_vectornav module : Vectornav INS Driver.
• ins_vn100 module : VectorNav VN100 (SPI)
• ins_xsens module : XSens Mti-G INS
• ins_xsens700 module : XSens Mti-G 700 INS

Intermcu modules

• intermcu_iomcu module : InterMCU communication with the ardupilot IO co-processor
• intermcu_uart module : Inter-MCU communication over UART

Lidar modules

• lidar_lite module : Lidar-Lite v1-3 (all labels) from PulsedLight3D (now Garmin) connected over i2c bus.
• lidar_sf11 module : Parallax SF11-A/B/C Laser Rangefinder connected over i2c bus.
• lidar_tfmini module : TFMini Lidar using a single UART for communication
• lidar_tfmini_i2c module : The TF Mini LiDAR is an unidirectional range finder based on time-of-flight (ToF) via IR LED technology
• lidar_vl53l5cx module : VL53L5CX multizone range sensor.

Light modules

• led_safety_status module : LED safety indicator.
• light module : Navigation leds
• light_scheduler module : Basic light scheduler using WS2812 driver

Loggers modules

• direct_memory_logger module : Directly log values to memory for flash chips.
• flight_recorder module : Record flight data according to your telemetry file.
• logger_control_effectiveness module : Logs to a csv file data required to compute control effectiveness
• logger_dataflash module : SPI logger
• logger_file module : Logs to a csv file.
• logger_sd_chibios module : Log on a SD card, either text or binary data.
• logger_sd_spi_direct module : Direct SPI SD Logger that saves pprzlog messages to SD Card.
• logger_spi_link module : Stream all IMU data to external High-Speed SD-logger via SPI
• logger_uart module : Stream IMU raw data over UART for off-board logging.
• openlog module : OpenLog telemetry timestamp.
• pprzlog module : Enable pprzlog binary prototol with downlink message system

Mcu_Periph modules

• adc module : General ADC driver
• dac module : General DAC driver
• i2c module : General I2C driver
• mcu module : Automatic initialization module for all MCU peripherals
• pipe module : General named pipe (fifo) driver
• rng module : Random Number Generator
• spi_master module : General SPI driver (master mode)
• sys_time module : Sys-time peripheral
• uart module : General UART driver
• udp module : General UDP driver

Meteo modules

• charge_sens module : Charge sensor.
• cloud_sensor module : Get data from Cloud Sensor
• cloud_sim module : Basic cloud simulation for testing adaptive navigation patterns
• dust_gp2y module : Sharp GP2Y1010AU dust sensor.
• ekf_aw module : Airspeed and Wind Estimator with EKF
• geiger_counter module : Geiger counter sensor
• humid_dpicco module : DigiPicco humidity sensor.
• humid_hih module : HIH-4030 humidity sensor.
• humid_htm_b71 module : TronSens HTM-B71 humidity sensor (I2C)
• humid_pcap01 module : ACAM Picocap capacitance sensor.
• humid_sht module : SHTxx humidity sensor.
• humid_sht_i2c module : Sensirion SHT25 humidity sensor (I2C)
• humid_sht_uart module : SHTxx humidity sensor.
• ir_mlx module : Infrared MLX sensor
• light_solar module : Light Solar
• light_temt module : Light Temt
• meteo_france_daq module : Data acquisition board used by Meteo France
• meteo_stick module : Meteo sensor board from Enac (absolute and differential pressure, temperature, humidity) aka Meteo Stick.
• mf_ptu module : PTU board from Meteo France (pressure, temperature, humidity).
• temp_lm75 module : LM75 temparature sensor
• temp_tcouple_adc module : Temp Tcouple Adc
• temp_temod module : Hygrosens TEMOD-I2C-Rx temperature sensor
• temp_tmp102 module : Temp Tmp102
• wind_estimation_quadrotor module : Wind estimation from quadrotor motion
• wind_estimator module : Wind Estimator.
• wind_gfi module : Wind Gfi
• windturbine module : Windturbine

Mission modules

• copilot module : Mission Computer module, interfacing the mission computer (also known as Copilot),
• mission_common module : Common interface for mission control.
• mission_fw module : Specific interface for mission control of fixed wing aircraft.
• mission_rotorcraft module : Specific interface for mission control of rotorcraft.

Multi modules

• drop_zone module : Only for selecting a drop zone...
• follow module : Follow a certain AC_ID using traffic_info.
• formation_flight module : Formation flight control
• potential module : Potential fields collision avoidance.
• rssi module : RSSI info from other aircrafts.
• tcas module : TCAS collision avoidance
• traffic_info module : Keeps track of other aircraft in airspace

Nav modules

• ballistic_touchdown module : Module that predicts the crash location if the motors would be
• ground_detect module : Ground detection module to detect ground
• nav_basic_fw module : Standard navigation patterns and flight plan handling
• nav_basic_rotorcraft module : Standard navigation patterns and flight plan handling for rotorcraft
• nav_bungee_takeoff module : Takeoff functions for bungee takeoff.
• nav_catapult module : Catapult launch timing system.
• nav_cube module : Fixedwing Navigation in a cube towards a center.
• nav_drop module : Compute the dropping point for a fixedwing aircraft.
• nav_fish module : Bio-inspired swarm navigation
• nav_flower module : Make a flower navigation pattern
• nav_gls module : gps landing system
• nav_heli_spinup module : Helicopter Rotor spinup
• nav_hybrid module : Navigation patterns and flight plan handling for hybrid airframes
• nav_lace module : Adaptive border pattern for cloud exploration
• nav_launcher module : Launcher.
• nav_line module : Fixedwing navigation along a line with nice U-turns.
• nav_line_border module : navigate along a border line (line 1-2) with turns in the same direction
• nav_line_osam module : Fly along a line
• nav_poles module : Navigate around two poles
• nav_rosette module : Adaptive flower pattern for cloud exploration
• nav_rotorcraft module : Standard navigation API for rotorcraft
• nav_rover_base module : Basic navigation functions for Rovers
• nav_skid_landing module : Landing on skidpads
• nav_smooth module : Smooth navigation to wp_a along an arc (around wp_cd), a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
• nav_spiral module : Fixedwing navigation in a spiral/helix.
• nav_spiral_3d module : Fixedwing navigation in a 3D spiral.
• nav_survey_disc module : Disc Survey.
• nav_survey_hybrid module : Polygon survey for hybrid aircraft.
• nav_survey_poly_osam module : Polygon survey from OSAM.
• nav_survey_poly_rotorcraft module : Polygon survey for rotorcraft.
• nav_survey_polygon module : Survey a polygon with a fixedwing.
• nav_survey_rectangle_rotorcraft module : Survey a rectangle with a rotorcraft.
• nav_survey_zamboni module : Zamboni pattern survey for fixedwings.
• nav_takeoff_and_landing module : Navigation routines for takeoff and landing
• nav_trinity module : Adaptive "trinity" pattern for cloud exploration
• nav_vertical_raster module : Copy of nav line with altitude changes at every sweep
• navigation module : Meta module for loading proper navigation
• takeoff_detect module : Fixed-wing automatic launch detection
• tune_airspeed module : NAV AIRSPEED.

Optical_Flow modules

• optical_flow_mateksys_3901_l0x module : Transfers flow X and Y and range data of the Mateksys3901-l0X sensor to the autopilot
• px4flow module : PX4FLOW optical flow sensor
• px4flow_i2c module : PX4FLOW optical flow sensor connected over i2c bus

Orange_Avoider modules

• orange_avoider module : This module is an example module for the course AE4317 Autonomous Flight of Micro Air Vehicles at the TU Delft.
• orange_avoider_guided module : This module is an example module for the course AE4317 Autonomous Flight of Micro Air Vehicles at the TU Delft.

Radio_Control modules

• radio_control_cc2500_frsky module : Software implementation of Frsky radio control protocol for onboard CC2500 receiver.
• radio_control_common module : Radio control common
• radio_control_datalink module : Radio control over datalink
• radio_control_hott module : Radio control based on Graupner HOTT SUMD
• radio_control_intermcu module : Radio control over intermcu
• radio_control_ppm module : Radio control based on PPM input
• radio_control_sbus module : Radio control based on Futaba SBUS
• radio_control_sbus_dual module : Radio control using two Futaba SBUS receivers
• radio_control_spektrum module : Radio control based on Spektrum DSM2 or DSMX receivers
• radio_control_superbitrf_rc module : Radio control based on the SuperbitRF chip

Range_Finder modules

• cf_deck_multi_ranger module : Multi-ranger deck from Bitcraze for Crazyflie drones
• laser_range_array module : Reads out values through uart of an laser range ring (array), containing multiple ToF IR laser range modules
• teraranger_one module : Driver for the TeraRanger One range finder (I2C)

Rotwing_Drone modules

• rotwing_state module : This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan
• wing_rotation_adc_sensor module : Module to read wing skew angle from ADC
• wing_rotation_controller_servo module : Module to control wing rotation servo command based on prefered angle setpoint

Sensors modules

• aoa_adc module : Angle of Attack using internal ADC
• aoa_pwm module : Angle of Attack sensor using PWM input
• airspeed_adc module : Airspeed sensor (ADC).
• airspeed_ads1114 module : ADS1114 airspeed sensor.
• airspeed_amsys module : Airspeed AMSYS (I2C)
• airspeed_ets module : Airspeed ETS (I2C).
• airspeed_ms45xx_i2c module : MS45XX differential or gauge type of pressure sensor for e.g measuring airspeed.
• airspeed_otf module : OTF! airspeed/flow angle sensor
• airspeed_sdp3x module : SDP3X differential pressure sensor for e.g measuring airspeed.
• airspeed_uadc module : Driver for the Aeroprobe uADC air data computer.
• airspeed_uavcan module : Airspeed sensor over the uavcan protocol and optionally publishes over ABI.
• alt_srf08 module : SRF08 ultrasonic range meter
• baro_ms5534a module : MS5534a barometer (SPI)
• baro_amsys module : Baro AMSYS (I2C).
• baro_bmp module : Bosch BMP085 pressure sensor
• baro_bmp280_i2c module : Bosch-Sensortech BMP280xx pressure sensor
• baro_bmp3 module : Bosch-Sensortech BMP3xx pressure sensor
• baro_board module : Magic module to load the proper baro for a board (if supported)
• baro_board_common module : Baro module calling internal barometer functions for boards supporting them
• baro_ets module : Baro ETS (I2C).
• baro_hca module : Baro sensortechnics HCA (I2C)
• baro_mpl3115 module : Baro MPL3115A2 (I2C)
• baro_ms5611_i2c module : Baro MS5611 (I2C)
• baro_ms5611_spi module : Baro MS5611 (SPI)
• baro_scp_i2c module : VTI SCP1000 pressure sensor (I2C)
• baro_sim module : Simulated barometer.
• bat_voltage_ardrone2 module : Battery voltage reading for ARDrone2
• ezcurrent module : EzOSD Current sensor (I2C).
• generic_uart_sensor module : Generic UART sesnsor where the data is forwarded to the GCS
• mag_hmc5843 module : hmc5843 magnetometer
• mag_hmc58xx module : HMC58xx magnetometer.
• mag_ist8310 module : ST IST8310 magnetometer.
• mag_lis3mdl module : ST LIS3MDL magnetometer.
• mag_pitot_uart module : Remotely located magnetometer and pitot tube over uart (RS232) communication
• mag_qmc5883l module : Module to be able to use an QMC5883L magnetometer.
• mag_rm3100 module : PNI RM3100 magnetometer.
• nps_hitl_sensors module : Send simulated sensors for HITL (HardwareInTheLoop).
• opticflow_pmw3901 module : Driver for PMW3901 optical flow sensor
• power_uavcan module : Power sensors over the uavcan protocol:
• range_sensor_uavcan module : Range sensor over the uavcan protocol which publishes over ABI as AGL
• rpm_sensor module : RPM sensor based on time difference between pulses
• sensors_hitl module : Simulated sensors for HITL (HardwareInTheLoop).
• temp_adc module : Temperature ADC

• jevois module : Decoder for standardized messages from the JEVOIS smart camera (http://jevois.org)
• jevois_mavlink module : Send sensor data to jevois and read commands from jevois using MAVLINK messages.

Sonar modules

• agl_dist module : Get sonar values from ABI and store last and filtered values
• sonar_adc module : Sonar ADC driver.
• sonar_bebop module : Bebop Sonar driver.
• sonar_pwm module : Driver for a PWM based sonar range sensor
• sonar_vl53l1x module : VL53L1X laser ranger AGL driver

Stabilization modules

• stabilization_adaptive_fw module : Adaptive attitude and lateral (heading) control for fixedwing aircraft.
• stabilization_attitude_fw module : Legacy attitude and lateral (heading) control for fixedwing aircraft
• stabilization_float_euler module : Stabilization controller for rotorcraft using float euler implementation
• stabilization_float_quat module : Stabilization controller for rotorcraft using float quaternion implementation
• stabilization_heli_indi module : INDI stabilization controller for helicopters
• stabilization_indi module : Full INDI stabilization controller for rotorcraft
• stabilization_indi_simple module : Simple INDI stabilization controller for rotorcraft
• stabilization_int_euler module : Stabilization controller for rotorcraft using integer euler implementation
• stabilization_int_quat module : Stabilization controller for rotorcraft using integer quaternion implementation
• stabilization_oneloop module : Dummy stabilization for oneloop control
• stabilization_passthrough module : Passthrough controller for rotorcraft
• stabilization_rate module : Rate controller for rotorcraft
• stabilization_rate_indi module : Rate INDI controller for rotorcraft
• stabilization_rotorcraft module : Base stabilization code for rotorcraft

Stereocam modules

• stereocam module : StereoCamera read and decode.
• stereocam_droplet module : Stereocam Droplet
• stereocam_follow_me module : Follows a person using the reference given by the stereocam.
• stereocam_nav_line_avoid module : Read Stereoboard Obstacle Protocol and plan around obstacles during nav-line navigation

Switching modules

• auto1_commands module : AUTO1 FLAPS/HATCH COMMANDS.
• switch_servo module : Swicht using a Servo
• switch_uart module : Active swithes via UART commands.

System_Identification modules

• sys_id_auto_doublets module : Module that automatically runs a doublet sequence on a list of actuators
• sys_id_chirp module : Chirp maneuver for system identification.
• sys_id_doublet module : Doublet input for system identification.
• sys_id_wave module : Wave maneuver for system identification.

Misc modules

• air_data module : AirData interface.
• airborne_ant_track module : Airborne Antenna tracker
• autopilot_gnc module : Autopilot Guidance Navigation anc Control
• autopilot_gnc_fw module : Autopilot GNC specific to fixedwing part
• autopilot_guided module : Guided mode interface for autpilote
• bebop_cam module : Compile and control the settings of the Bebop front and bottom cameras.
• collective_tracking_control module : Algorithm that makes the centroid of a team of aircraft (with different speeds) to track a (possibly moving) target/waypoint.
• collective_tracking_control_target module : Distributed algorithm for tracking a velocity/position reference signal
• current_sensor module : Current sensor via onboard ADC.
• cv_qrcode module : QR code reader using ZBAR library
• demo_module module : Demo module
• dfu_command module : THIS MODULE MUST BE PLACED ABOVE ANY USB SERIAL CONSUMERS IN THE AIRFRAME!
• distributed_circular_formation module : Distributed algorithm for circular formations with air-to-air communications.
• dragspeed module : Estimate the velocity/airspeed of rotorcraft by measuring the drag force.
• e_identification_fr module : Format and send via UART tracking data according to French regulation.
• esc32 module : Driver for the ESC32v3 speed controller
• fc_rotor module : Algorithm for the formation control of a team of rotorcrafts.
• gas_engine_idle module : Gas Engine Idle
• geo_mag module : GeoMagnetic field vector.
• glide_wing_lock module : Locks the wing of an ornicopter so it can glide.
• gsm module : GSM module
• gumstix_qr_code_spi_link module : QR code gumstix interface
• gvf_common module : Common file to allow both gvf to work together.
• gvf_module module : Guidance algorithm for tracking smooth trajectories
• gvf_parametric module : Guidance algorithm for tracking 2D and 3D smooth trajectories that are defined by a parametric equation.
• haclc module : HACL* verified cryptographic library
• hard_fault_recovery module : Minimal autopilot for recovery
• hott_telemetry module : Graupner HOTT telemetry control module.
• joystick module : Handle JOYSTICK_RAW messages
• mag_calib_ukf module : Calibrate magnetometer using UKF
• math module : Math library.
• mav_course_exercise module : Exercise module for Autonomous Flight of MAV Course
• obstacle_avoidance module : Obstacle avoidance module
• oneloop_andi module : One loop (Guidance + Stabilization) ANDI controller for the rotating wing drone RW3C
• opticflow_hover module : Hovers the drone based on optical flow made for Linux video Devices.
• osd_max7456 module : MAX7456 driver (SPI)
• pano_unwrap module : Unwrap images taken through a panoramic lens
• parachute module : This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan
• pca9685 module : pca9685 additional servo driver
• photogrammetry_calculator module : Photogrammetry navigation functions
• pose_history module : Ask this module for the pose the drone had closest to a given timestamp
• px4_flash module : Flash Pixhawk via PX4 bootloader.
• px4_gimbal module : Control gimbal camera axis through px4 from rc
• range_forcefield module : This module generates a forcefield based on range sensor measurements the use of single point range sensor
• relative_localization_filter module : Relative Localization Filter based on UWB range measurements + Communication between drones.
• rust_demo_module module : Simple rust module
• servo_tester module : Servo tester
• spektrum_soft_bind module : Puts Spektrum in binding mode through software
• syslink_dl module : Bitcraze syslink module
• time_countdown module : Count down time.
• tlsf module : Dynamic memory allocator
• uav_recovery module : Parachute
• uavcan module : UAVCan interface for transmitting/receiving uavcan messages on CAN busses
• wedgebug module : An integration of the WegdeBug algorithm (Laubach 1999) for path finding, for drones with stereo vision.
• wls module : Weighted Least Square optimization algorithm.