> ## Documentation Index
> Fetch the complete documentation index at: https://docs.altnautica.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Extensions catalog

> First-party extensions shipped by Altnautica through the public ADOSExtensions repo.

# Extensions catalog

These are the first-party extensions Altnautica publishes through the public [`ADOSExtensions`](https://github.com/altnautica/ADOSExtensions) repo. Each one ships as a signed `.adosplug` archive (Ed25519, signer `altnautica-2026-A`) on GitHub Releases and installs from the Mission Control [Plugins tab](/mission-control/installing-plugins) on any drone you've connected.

Every extension is licensed GPL-3.0-or-later; hardware reference designs ship CC0 1.0.

## ADOS Battery Health Panel

| Field          | Value                                    |
| -------------- | ---------------------------------------- |
| Plugin id      | `com.altnautica.battery-health-panel`    |
| Version        | 1.0.2                                    |
| Risk           | low                                      |
| Type           | GCS-only (iframe)                        |
| Agent required | Yes (telemetry source only)              |
| Hardware       | Any smart battery the FC already reports |

Cell-level diagnostics, predictive time-to-min, and anomaly alerts. Contributes a **Battery Health** tab under the FC configuration view and a warning-severity notification channel for battery anomalies.

**Permissions:** telemetry battery + MAVLink subscriptions, recording write, three UI slot contributions (`fc.tab`, `notification`, `settings-section`).

## ADOS Thermal Camera (FLIR Lepton USB UVC)

| Field            | Value                                          |
| ---------------- | ---------------------------------------------- |
| Plugin id        | `com.altnautica.thermal-flir-lepton-usb`       |
| Version          | 1.0.2                                          |
| Risk             | medium                                         |
| Type             | Hybrid (agent subprocess + GCS iframe)         |
| Hardware         | PureThermal 2 USB UVC dongle + FLIR Lepton 3.5 |
| Supported boards | cm4, cm5, rk3582, rk3576, rk3566, x86          |

FLIR Lepton 3.5 radiometric thermal imaging via USB UVC. Adds a live thermal **video overlay** on the Command view, a **Thermal Camera** tab under FC configuration, and a MAVLink camera component (`component_id: 100`) that mission planners can target.

**Permissions:** USB UVC claim, sensor camera register, MAVLink camera component, mission read/write, video.overlay + fc.tab + notification slot contributions.

**Resources:** 192 MB max RAM, 35% CPU.

## ADOS MAVLink Gimbal v2 Controller

| Field     | Value                                                       |
| --------- | ----------------------------------------------------------- |
| Plugin id | `com.altnautica.mavlink-gimbal-v2`                          |
| Version   | 1.0.2                                                       |
| Risk      | medium                                                      |
| Type      | Hybrid (agent subprocess + GCS iframe)                      |
| Hardware  | SimpleBGC, Storm32 NT, Gremsy (or ArduPilot SITL) over UART |

MAVLink Gimbal v2 controller with optional driver paths. Manual sliders, ROI lock-on-target, follow-me. Adds a **Gimbal** tab under FC configuration, a reticle overlay on the video view, and a MAVLink gimbal component (`component_id: 154`).

**Permissions:** UART claim, MAVLink read/write, gimbal component, command send, gimbal telemetry subscribe, fc.tab + video.overlay + notification slot contributions.

**Resources:** 64 MB max RAM, 15% CPU.

## ADOS Vision Navigation

| Field            | Value                                                                           |
| ---------------- | ------------------------------------------------------------------------------- |
| Plugin id        | `com.altnautica.vision-nav`                                                     |
| Version          | 0.3.0                                                                           |
| Risk             | high                                                                            |
| Type             | Hybrid (Rust agent binary + GCS iframe)                                         |
| Hardware         | USB UVC global-shutter camera (preferred) or CSI via V4L2; optional rangefinder |
| FC firmware      | ArduPilot 4.5+, PX4 1.14+, iNav 7.0+                                            |
| Supported boards | cm4, cm5, rk3582, rk3588s2, rk3576, rpi5, pi-zero-2w                            |

GPS-denied navigation. Optical flow (downward camera) and visual-inertial odometry (forward or downward camera) feeding the flight controller a 30 Hz position estimate over MAVLink so position-hold, loiter, and missions keep working unchanged.

Six modes covering optical flow with or without a rangefinder, OpenVINS VIO, VINS-Fusion VIO, Hybrid, and Off. The agent half is a compiled Rust binary that reads frames from the agent's shared vision bus. A 250 ms internal self-check steps down to a safer mode when features drop or drift grows and surfaces the degradation through a warning notification channel.

**Permissions:** shared vision frame bus read, UART and I2C rangefinder access, telemetry extend, event publish and subscribe, MAVLink read and write plus the peripheral and VIO components, estimator pose inject, and process spawn for the signed vendor binaries (OpenVINS, VINS-Fusion).

**Vendor binaries:** OpenVINS (`v2.7`, GPL-3.0-only) and VINS-Fusion (GPL-3.0-only). The plugin host's subprocess sandbox accepts only the two allowlisted basenames (`ados_openvins_shim`, `ados_vins_fusion_shim`). Both binaries ship inside the signed archive under the plugin's `vendor/` directory and stay dormant unless a VIO mode is active.

**Resources:** 512 MB max RAM, 80% CPU.

See the [Vision Navigation overview](/drone-agent/vision-nav-overview) for the full operator guide.

## Installing one

From Mission Control:

1. Open a drone from the fleet, switch to the **Plugins** tab.
2. Click **Install plugin on this drone**, then point the dialog at the extension's `.adosplug` (paste the release URL or upload the downloaded file).
3. Approve the two-stage install dialog.

From the agent CLI:

```bash theme={"theme":{"light":"github-light","dark":"github-dark"}}
ados plugin install https://github.com/altnautica/ADOSExtensions/releases/download/<release>/<extension>.adosplug
```

The signature is verified against `/etc/ados/plugin-keys/` before the archive is unpacked.

## Submitting an extension

Community extensions land via the [hosted registry](/developers/distribution-registry) submission flow when the registry hits v1.0. Until then, first-party extensions live in the public [`ADOSExtensions`](https://github.com/altnautica/ADOSExtensions) repo and any plugin you build with the [SDK](/developers/sdk-python) installs cleanly via the local `.adosplug` path documented in [Distribution: local install](/developers/distribution-local-install).