Onboard Modules

Table of Contents

• List of available modules
  • Adcs modules
  • Ahrs modules
  • Benchmark modules
  • Cam_Control modules
  • Cartography modules
  • Com modules
  • Computer_Vision modules
  • Core modules
  • Ctrl modules
  • Datalink modules
  • Digital_Cam modules
  • Display modules
  • Energy modules
  • Gps modules
  • Helicopter modules
  • Imu modules
  • Ins modules
  • Light modules
  • Loggers modules
  • Meteo modules
  • Mission modules
  • Multi modules
  • Nav modules
  • Sensors modules
  • Servo_Switch modules
  • Sonar modules
  • Stereocam 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

Adcs modules

• adc_generic module : Generic ADC
• max11040 module : Max11040 ADC
• mcp355x module : MCP355X ADC driver (SPI)

Ahrs modules

• 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_gx3 module : AHRS driver for GX3.
• ahrs_infrared module : AHRS infrared.
• ahrs_int_cmpl_euler module : AHRS using complementary filter in fixed point.
• ahrs_int_cmpl_quat module : AHRS using complementary filter in fixed point.
• ahrs_sim module : Simple simulation of the AHRS result.

Benchmark modules

• flight_benchmark module : Flight benchmark.
• i2c_abuse_test module : Benchmark
• imu_quality_assessment module : Give comparable with IMU Health information.

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.

Cartography modules

• cartography module : Cartography sweeping pattern for navigation
• photogrammetry_calculator module : Photogrammetry navigation functions

Com modules

• generic_com module : Generic com.
• uart_drop module : Module for dropping balls using UART
• usb_serial_stm32_example1 module : Serial-over-USB console on STM32.
• usb_serial_stm32_example2 module : STM32 USB-serial example.

Computer_Vision modules

• bebop_front_camera module : Video streaming for the Bebop front camera
• 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_contour module : A module that detects the contour of a dronerace obstacle.
• 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_textons module : Represent the appearance (texture, color) of an image by means of a texton histogram.
• 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.

Core modules

• pwm_meas module : PWM measurement.
• sys_mon module : System monitor.
• trig_test module : Trigger Ext

Ctrl modules

• ctrl_module_demo module : Demo Control Module.
• gain_scheduling module : Gain set interpolation.
• optical_flow_landing module : Optical flow landing.
• vertical_ctrl_module_demo module : Demo Vertical Control Module.

Datalink modules

• extra_dl module : Extra datalink (PPRZ transport)
• mavlink module : Basic MAVLink implementation
• mavlink_decoder module : A simple MAVLINK decoder
• telemetry_transparent module : Telemetry using PPRZ protocol over UART
• xtend_rssi module : Digi Xtend RSSI PWM Module.

Digital_Cam modules

• digital_cam module : Digital Photo Camera Triggering (using a GPIO pin)
• digital_cam_i2c module : Digital Photo Camera Triggering (using a I2C channel)
• 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

Display modules

• lcd_dogm module : EA DOG-M163 LCD (SPI)
• osd_max7456 module : MAX7456 driver (SPI)

Energy modules

• mppt module : Maximum Power Point Tracker
• bat_checker module : Battery checker module

Gps modules

• gps module : Generic GPS functions.
• gps_datalink module : Remote GPS via datalink.
• gps_furuno module : Furuno GPS (UART)
• 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_sim_hitl module : Sim HITL 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.

Helicopter modules

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

Imu modules

• imu_analog module : Analog IMU connected to MCU ADC ports.
• 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_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_b2_common module : Common part for all Booz2 IMUs.
• imu_b2_v1.0 module : Booz2 IMU v1.0
• imu_b2_v1.1 module : Booz2 IMU v1.1
• imu_b2_v1.2 module : Booz2 IMU v1.2
• imu_bebop module : Driver for IMU on the Parrot Bebop drone.
• imu_common module : Common part for all IMUs.
• imu_drotek_10dof_v2 module : Drotek 10DOF V2 IMU via I2C.
• imu_elle0 module : MPU9250 IMU via SPI.
• imu_gl1 module : IMU from Goodluckbuy.
• imu_hbmini module : HBmini IMU.
• imu_krooz_sd module : IMU on KroozSD board.
• imu_krooz_sd_memsic module : IMU on KroozSD board.
• 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_mpu6000 module : IMU with MPU6000 via SPI.
• imu_mpu6000_hmc5883 module : IMU with MPU6000 and HMC5883.
• imu_mpu60x0_i2c module : IMU with MPU60x0 via I2C.
• imu_mpu9250_i2c module : IMU with MPU9250 via I2C.
• imu_mpu9250_spi module : IMU with MPU9250 via SPI.
• imu_navgo module : NAVGO IMU.
• imu_navstik module : Navstik IMU: MPU60x0 and HMC5883 via I2C.
• imu_nps module : Simulated IMU for NPS.
• imu_openpilot_revo module : Driver for IMU on OpenPilot Revo board.
• imu_pprzuav module : PPZUAV IMU.
• 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_um6 module : CHR-UM6 IMU.
• imu_umarim module : UMARIM IMU.
• imu_yai module : YAI IMU.

Ins modules

• ahrs_chimu_spi module : CHimu (SPI)
• ahrs_chimu_uart module : CHimu (UART)
• alt_filter module : Altitude filter
• 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_extended module : extended INS with vertical filter using sonar.
• ins_float_invariant module : Invariant INS (in float).
• ins_gps_passthrough module : INS which just passes GPS through.
• ins_hff module : INS with float vertical and horizontal filters.
• ins_nps module : Simulated AHRS and INS.
• ins_sim module : Simulated AHRS and 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

Light modules

• led_safety_status module : LED safety indicator.
• light module : Navigation leds

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_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.

Meteo modules

• charge_sens module : Charge sensor.
• dust_gp2y module : Sharp GP2Y1010AU dust sensor.
• 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)
• 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_gfi module : Wind Gfi
• windturbine module : Windturbine

Mission modules

• mission_fw module : Interface for mission control of fixed wing aircraft.
• mission_rotorcraft module : 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

• 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_flower module : Make a flower navigation pattern
• nav_gls module : gps landing system
• nav_heli_spinup module : Helicopter Rotor spinup
• 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_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_survey_disc module : Disc Survey.
• 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_vertical_raster module : Copy of nav line with altitude changes at every sweep
• takeoff_detect module : Fixed-wing automatic launch detection
• tune_airspeed module : NAV AIRSPEED.

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 pressure/airspeed sensor.
• airspeed_otf module : OTF! airspeed/flow angle sensor
• airspeed_uadc module : Driver for the Aeroprobe uADC air data computer.
• 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_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 module : VTI SCP1000 pressure sensor (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).
• imu_aspirin_i2c_v1.0 module : Aspirin v1.0 IMU using I2C only.
• imu_aspirin_i2c_v1.5 module : Aspirin v1.5 IMU.
• imu_mpu9250 module : Test module for the mpu9250 with I2C
• infrared_adc module : Infrared sensor using ADC
• infrared_i2c module : I2C Infrared sensor
• mag_hmc5843 module : hmc5843 magnetometer
• mag_hmc58xx module : HMC58xx magnetometer.
• mag_micromag_fw module : Micromag magnetometer.
• mag_pitot_uart module : Remotely located magnetometer and pitot tube over uart (RS232) communication
• pbn module : Pressure Board Navarro.
• rpm_sensor module : RPM sensor based on time difference between pulses
• temp_adc module : Temperature ADC
• trigger_ext module : External trigger

Servo_Switch modules

• auto1_commands module : AUTO1 FLAPS/HATCH COMMANDS.
• servo_switch module : Servo switch

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.

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
• stereocam_state2camera module : Writes rotation to the uart bus

Misc modules

• air_data module : AirData interface.
• airborne_ant_track module : Airborne Antenna tracker
• configure_actuators_mkk_v2 module : Configure Mikrokopter MKK v2.0 BLDC motor controllers (requires subsystem actuators_mkk_v2)
• current_sensor module : Current sensor via onboard ADC.
• cv_qrcode module : QR code reader using ZBAR library
• demo_module module : Demo module
• enose module : Chemical Enose sensor
• esc32 module : Driver for the ESC32v3 speed controller
• gas_engine_idle module : Gas Engine Idle
• geo_mag module : GeoMagnetic field vector.
• gsm module : GSM module
• gumstix_qr_code_spi_link module : QR code gumstix interface
• hott_telemetry module : Graupner HOTT telemetry control module.
• imu_aspirin_common module : Common functionality of Aspirin IMUs.
• imu_aspirin_i2c_common module : Common functionality of Aspirin IMUs using I2C only.
• imu_aspirin_v2_common module : Common functionality of Aspirin v2 IMUs.
• max3100 module : MAX3100 SPI/Uart converter
• obstacle_avoidance module : Obstacle avoidance module
• opa_controller module : Controller for OPA board functionalities
• opticflow_hover module : Hovers the drone based on optical flow made for Linux video Devices.
• orange_avoider module : Avoid all objects that are orange!
• 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
• px4flow module : PX4FLOW optical flow sensor
• send_imu_mag_current module : Enables sending of IMU_MAG_CURRENT_CALIBRATION message.
• spektrum_soft_bind module : Puts Spektrum in binding mode through software
• stereocam_stereocam2state module : StereoCamera 2 VELOCITY_ESTIMATE.
• telemetry_intermcu module : Telemetry over InterMCU
• time_countdown module : Count down time.
• tlsf module : Dynamic memory allocator
• vehicle_interface_datalink module : Vehicule Interface over Datalink