Integration Manual Mandala variables Autopilot algorithms shiva Comm ports vcp Controls mixer controls Core modules mod Data Broker mdb GPIO ports controls.gpio Inertial Navigation ahrs Node modules tree node PHY Multiplexer ifc.mux Protocols protocols Telemetry streamer telemetry Vehicle Identity identity Vehicle limits vehicle WASM engine script

Core modules

Module: mod

Each hardware node is provided with core modules:

  • conf - node parameters manager, providing parameters dictionary, values and synchronization features to the GCS;
  • hub - communication interfaces hub to manage PHY interfaces and route data packets in the networks;
  • mdb - real-time database to manage low-latency publisher/subscriber relationships, shares mandala items data between other components, and manages data synchronization between nodes;
  • mod - modules manager, allowing deep inspection of every module and collecting statistical data of a node in a tree like structure;
  • node - generic node management module, providing basic Network Management functionality, node identification, and hardware information;
  • storage - node data storage manager provides non-volatile memory management with fall-backs and redundancy capability to store data files, such as parameters, missions, scripts, etc.;
  • syslog - manager for status messages delivery to the GCS;
  • tasks - a task manager and sequencer for different modules of the system, general abstraction layer from a platform OS;

Loader state

Each node can upgrade its firmware over-the-air (OTA).