Onboard Modules

Table of Contents

• List of available modules
  • Adcs 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
  • 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.xml Generic ADC
• max11040.xml Max11040 ADC
• mcp355x.xml MCP355X ADC driver (SPI)

Benchmark modules

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

Cam_Control modules

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

Cartography modules

• cartography.xml Cartography sweeping pattern for navigation
• photogrammetry_calculator.xml Photogrammetry navigation functions

Com modules

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

Computer_Vision modules

• bebop_front_camera.xml Video streaming for the Bebop front camera
• cv_blob_locator.xml Find a colored item and track its geo-location and update a waypoint to it
• cv_colorfilter.xml ColorFilter
• cv_detect_window.xml Detect window
• cv_georeference.xml Geo-reference computer vision detections
• cv_opticflow.xml Compute optical flow
• video_exif.xml Add EXIF data to any JPEG
• video_rtp_stream.xml Video streaming for Linux based devices
• video_thread.xml Read video in a thread
• video_usb_logger.xml Log video and pose to USB-stick

Core modules

• pwm_meas.xml PWM measurement
• sys_mon.xml System monitor
• trig_test.xml Trigger Ext

Ctrl modules

• ctrl_module_demo.xml Demo Control Module
• gain_scheduling.xml Gain set interpolation
• vertical_ctrl_module_demo.xml Demo Vertical Control Module

Datalink modules

• extra_dl.xml Extra datalink (PPRZ transport)
• mavlink.xml Basic MAVLink implementation
• mavlink_decoder.xml A simple MAVLINK decoder
• xtend_rssi.xml Digi Xtend RSSI PWM Module

Digital_Cam modules

• digital_cam.xml Digital Photo Camera Triggering (using a GPIO pin)
• digital_cam_i2c.xml Digital Photo Camera Triggering (using a I2C channel)
• digital_cam_servo.xml Digital Photo Camera Triggering (using a servo)
• digital_cam_shoot_rc.xml Digital camera control using radio channel
• digital_cam_uart.xml Digital Photo Camera Triggering (using a UART link)
• digital_cam_video.xml Digital Photo Camera Triggering (using embedded video)
• hackhd.xml HackHD control

Display modules

• lcd_dogm.xml EA DOG-M163 LCD (SPI)
• osd_max7456.xml MAX7456 driver (SPI)

Energy modules

• MPPT.xml Maximum Power Point Tracker
• bat_checker.xml Battery checker module

Gps modules

• gps_i2c.xml U-blox GPS (I2C)
• gps_ubx_ucenter.xml Ublox GPS autoconfiguration

Helicopter modules

• heli_swashplate_mixing.xml Helicopter Swashplate Mixing
• heli_throttle_curve.xml Throttle Curve Mixers

Ins modules

• ahrs_chimu_spi.xml CHimu (SPI)
• ahrs_chimu_uart.xml CHimu (UART)
• alt_filter.xml Altitude filter
• ins_arduimu.xml ArduIMU v2
• ins_arduimu_basic.xml ArduIMU v2
• ins_vn100.xml VectorNav VN100 (SPI)
• ins_xsens.xml XSens
• ins_xsens_MTiG_Uart0.xml XSens MTiG
• ins_xsens_MTi_Uart0.xml XSens MTi

Light modules

• led_safety_status.xml LED safety indicator
• light.xml Navigation leds

Loggers modules

• direct_memory_logger.xml Directly log values to memory for flash chips
• flight_recorder.xml Record flight data according to your telemetry file
• logger_dataflash.xml SPI logger
• logger_file.xml Logs to a csv file
• logger_sd_spi_direct.xml Direct SPI SD Logger that saves pprzlog messages to SD Card
• logger_spi_link.xml Stream all IMU data to external High-Speed SD-logger via SPI
• logger_uart.xml Stream IMU raw data over UART for off-board logging
• openlog.xml OpenLog telemetry timestamp

Meteo modules

• charge_sens.xml Charge sensor
• dust_gp2y.xml Sharp GP2Y1010AU dust sensor
• geiger_counter.xml Geiger counter sensor
• humid_dpicco.xml DigiPicco humidity sensor
• humid_hih.xml HIH-4030 humidity sensor
• humid_htm_b71.xml TronSens HTM-B71 humidity sensor (I2C)
• humid_pcap01.xml ACAM Picocap capacitance sensor
• humid_sht.xml SHTxx humidity sensor
• humid_sht_i2c.xml Sensirion SHT25 humidity sensor (I2C)
• ir_mlx.xml Infrared MLX sensor
• light_solar.xml Light Solar
• light_temt.xml Light Temt
• meteo_france_DAQ.xml Data acquisition board used by Meteo France
• meteo_stick.xml Meteo sensor board from Enac (absolute and differential pressure, temperature, humidity) aka Meteo Stick
• mf_ptu.xml PTU board from Meteo France (pressure, temperature, humidity)
• temp_lm75.xml LM75 temparature sensor
• temp_tcouple_adc.xml Temp Tcouple Adc
• temp_temod.xml Hygrosens TEMOD-I2C-Rx temperature sensor
• temp_tmp102.xml Temp Tmp102
• wind_gfi.xml Wind Gfi
• windturbine.xml Windturbine

Mission modules

• mission_fw.xml Interface for mission control of fixed wing aircraft
• mission_rotorcraft.xml Interface for mission control of rotorcraft

Multi modules

• drop_zone.xml Only for selecting a drop zone
• follow.xml Follow a certain AC_ID trough remote GPS
• formation_flight.xml Formation flight control
• potential.xml Potential fields collision avoidance
• tcas.xml TCAS collision avoidance

Nav modules

• nav_bungee_takeoff.xml Takeoff functions for bungee takeoff
• nav_catapult.xml Catapult
• nav_cube.xml Fixedwing Navigation in a cube towards a center
• nav_drop.xml Compute the dropping point for a fixedwing aircraft
• nav_flower.xml Make a flower navigation pattern
• nav_gls.xml gps landing system
• nav_line.xml Fixedwing navigation along a line with nice U-turns
• nav_line_border.xml navigate along a border line (line 1-2) with turns in the same direction
• nav_line_osam.xml Fly along a line
• nav_poles.xml Navigate around two poles
• nav_smooth.xml 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.xml Fixedwing navigation in a spiral/helix
• nav_survey_disc.xml Disc Survey
• nav_survey_poly_osam.xml Polygon survey from OSAM
• nav_survey_poly_rotorcraft.xml Polygon survey from OSAM
• nav_survey_polygon.xml Survey a polygon with a fixedwing
• nav_survey_rectangle_rotorcraft.xml Survey a rectangle with a rotorcraft
• nav_survey_zamboni.xml Zamboni pattern survey for fixedwings
• nav_vertical_raster.xml Copy of nav line with altitude changes at every sweep
• takeoff_detect.xml Fixed-wing automatic launch detection
• tune_airspeed.xml NAV AIRSPEED

Sensors modules

• AOA_adc.xml Angle of Attack using internal ADC
• AOA_pwm.xml Angle of Attack sensor using PWM input
• airspeed_adc.xml Airspeed sensor (ADC)
• airspeed_ads1114.xml ADS1114 airspeed sensor
• airspeed_amsys.xml Airspeed AMSYS (I2C)
• airspeed_ets.xml Airspeed ETS (I2C)
• airspeed_ms45xx_i2c.xml MS45XX differential pressure/airspeed sensor
• airspeed_otf.xml OTF! airspeed/flow angle sensor
• alt_srf08.xml SRF08 ultrasonic range meter
• baro_MS5534A.xml MS5534a barometer (SPI)
• baro_amsys.xml Baro AMSYS (I2C)
• baro_bmp.xml Bosch BMP085 pressure sensor
• baro_ets.xml Baro ETS (I2C)
• baro_hca.xml Baro sensortechnics HCA (I2C)
• baro_mpl3115.xml Baro MPL3115A2 (I2C)
• baro_ms5611_i2c.xml Baro MS5611 (I2C)
• baro_ms5611_spi.xml Baro MS5611 (SPI)
• baro_scp.xml VTI SCP1000 pressure sensor (SPI)
• baro_scp_i2c.xml VTI SCP1000 pressure sensor (I2C)
• baro_sim.xml Simulated barometer
• bat_voltage_ardrone2.xml Battery voltage reading for ARDrone2
• ezcurrent.xml EzOSD Current sensor (I2C)
• imu_mpu9250.xml Test module for the mpu9250 with I2C
• infrared_adc.xml Infrared sensor using ADC
• infrared_i2c.xml I2C Infrared sensor
• mag_hmc5843.xml hmc5843 magnetometer
• mag_hmc58xx.xml HMC58xx magnetometer
• mag_micromag_fw.xml Micromag magnetometer
• pbn.xml Pressure Board Navarro
• temp_adc.xml Temperature ADC
• trigger_ext.xml External trigger

Servo_Switch modules

• auto1_commands.xml AUTO1 FLAPS/HATCH COMMANDS
• servo_switch.xml Servo switch

Sonar modules

• agl_dist.xml Get sonar values from ABI and store last and filtered values
• sonar_adc.xml Sonar ADC driver
• sonar_bebop.xml Bebop Sonar driver

Stereocam modules

• stereocam.xml StereoCamera read and decode
• stereocam_droplet.xml Stereocam Droplet
• stereocam_follow_me.xml Follows a person using the reference given by the stereocam
• stereocam_nav_line_avoid.xml Read Stereoboard Obstacle Protocol and plan around obstacles during nav-line navigation
• stereocam_state2camera.xml Writes rotation to the uart bus

Misc modules

• ahrs_infrared.xml AHRS infrared
• air_data.xml AirData interface
• airborne_ant_track.xml Airborne Antenna tracker
• configure_actuators_mkk_v2.xml Configure Mikrokopter MKK v2
• cv_qrcode.xml QR code reader using ZBAR library
• demo_module.xml Demo module
• enose.xml Chemical Enose sensor
• gas_engine_idle.xml Gas Engine Idle
• geo_mag.xml GeoMagnetic field vector
• gps_ublox.xml U-blox GPS (UART)
• gsm.xml GSM module
• gumstix_qr_code_spi_link.xml QR code gumstix interface
• hott_telemetry.xml Graupner HOTT telemetry control module
• max3100.xml MAX3100 SPI/Uart converter
• obstacle_avoidance.xml Obstacle avoidance module
• opticflow_hover.xml Hovers the drone based on optical flow made for Linux video Devices
• px4flow.xml PX4FLOW optical flow sensor
• send_imu_mag_current.xml Enables sending of IMU_MAG_CURRENT_CALIBRATION message
• stereocam_stereocam2state.xml StereoCamera 2 VELOCITY_ESTIMATE
• time_countdown.xml Count down time
• vehicle_interface_datalink.xml Vehicule Interface over Datalink