Autonomy Modules

Overview

The AirStack autonomy stack is organized into modular layers that work together to enable autonomous operation. Each layer has specific responsibilities and communicates with adjacent layers through well-defined ROS 2 interfaces.

Modules

• Interface - Hardware interface and safety systems
• Sensors - Sensor integration and data processing
• Perception - State estimation and environment understanding
• Local - Local planning, world models, and control
• Global - Global planning and mapping
• Behavior - High-level mission execution and decision making

Key Resources

• System Architecture - Detailed architecture diagrams and data flow
• Integration Checklist - Guide for adding new modules

System Diagram