Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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Here is a list of all modules:
[detail level 12]
 Math Functions
 Generic Orientation RepresentationsThis generic orientation representation consists of a struct, containing the 6 orientation representations, and a status variable
 LPC21 architecture
 STM32 architecture
 MCU Peripherals
 I2C Interface
 SPI Interface
 State interfaceThis general state interface holds all the most important vehicle states like position, velocity, attitude, etc
 Position representations
 Speed representations
 Acceleration representations
 Angular rate representations
 Wind- and airspeed representations
 Attitude representations