Difference between revisions of "Booz"

Latest revision as of 16:53, 20 June 2012

Overview

Booz is an extension of Paparazzi to VTOLs. At the current stage of the project, the system provides attitude stabilization, vertical and horizontal guidance and automatic navigation. It is able to use Paparazzi flight plans and uses Paparazzi telemetry and datalink, which means all the Paparazzi ground segment applications are available( plotter, settings, gcs, etc...)

The current avionics consist of 3 boards

The main board, comprising power supply, a LPC2148 and a barometer.
The IMU board, comprising gyroscopes, accelerometers, magnetometers and a 16-bit ADC.
The GPS board, using a LEA-5H by ublox.

Additional Booz boards:

The "power" board.

It flies on a variety of Quad-rotor platforms

and less common vehicles

Simulator

Paparazzi features the advanced NPS simulator which can serve many purposes, from learning how to operate a vehicle to evaluating control or estimation algorithms.

Hardware

Motor controllers

Booz is able to handle a number of quadrotor specific brushless motor controllers.

more info in BoozMotorControllers

Power board

The power board allows to switch power on and off on your vehicle as well as to make a clean wiring by avoiding wired Y

more info in BoozPowerBoard

Booz GPS

more info in BoozGPSBoard

IMU

Booz has support for its custom designed IMU as well as for Cloudcap Crista IMU

more info in BoozIMU

Autopilot

Current version of Booz autopilot is based on a lpc2148

more info in BoozAutopilot

A new version of the autopilot, based on a STM32 is in development

more info in Lisa

Airframes

One nice thing about quadrotors is that the mechanics being extremely simple, they can be build with very few tools. Booz mounting holes are compatible with popular of the shelf frames.

more info in BoozAirframes

Purchasing Hardware

There are now vendors offering Booz hardware, Please see the Get Hardware page for details.

Hardware Test

Booz comes with a number of simple test programs that you can use to validate a newly assembled board or learn how booz code works in case you want to extend it.

more info in BoozHardwareTest

Software

Peripheral support

Type #	Model	Booz	Lisa/L
IMU	Boozv1	yes	yes
	crista	yes	yes
	mti	?	no
	vn100	?	no
RC	PPM	yes	no
	spektrum	yes	yes
Actuators	asctec	yes	yes
	mkk	yes	yes
	servospwm	2	6
	CAN	no	in progress

Sensors Calibration

All the sensors needs to be calibrated in order to provide useful informations. The calibration process needs to be performed after the assembly of the vehicle is complete.

- Note: The barometer on the Booz Main board is designed to work between -300 to 928 meters MSL. In this range it will create a zero offset, and then give 10cm resolution for 100 meters of altitude. BEWARE! if you fly above 100m the ADC will saturate. In addition, if you are someplace that is above 928 meters MSL the baro will not calibrate on boot, and will not output values. If you look at the RAW messages you will see that the BARO_RAW message reads 0 for both values. To fix the latter issue, the Value of R20 on the Main board can be changed to change the range. An example: If R20 is changes from a 560ohm to a 100ohm resistor, the new measurable range would be from -300 to 1800 meters. Because this changes the gain on the sensor it will also change the amount of altitude you can read from the ADC. For this case we reduce the amount to ~90 meters.

more info in BoozSensorsCalibration

GCS notes

If you set your ground modems for an interface rate different than 9600bps you need to add a flag to the "link" program on startup. In GCS if you use "Execute" you will see "link" is the first. You can click stop, then modify the command line by clicking in the text area. Add the -s flag with the baud rate you use. In my case 57600. So I use: -s 57600. Then click "Redo" and link will be restarted with the new flag and value (and you will start seeing messages and GCS wil populate). So you don't have to repeat this each time do "Save Session" and this will save the changes.

Airframe settings and Flight testing

BoozAirframe

User Gallery

This page holds a list of current Booz users

BoozUserList

Difference between revisions of "Booz"

Latest revision as of 16:53, 20 June 2012

Contents

Overview

Simulator

Hardware

Motor controllers

Power board

Booz GPS

IMU

Autopilot

Airframes

Purchasing Hardware

Hardware Test

Software

Peripheral support

Sensors Calibration

GCS notes

Airframe settings and Flight testing

User Gallery

Navigation menu

@@ Line 1: / Line 1: @@
+<div style="float: right; width: 30%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
+<div style="float: right; width: 40%">[[Image:booz_logo.jpg|480px|right]]</div>
 == Overview ==
-<p>Booz is an extension of Paparazzi to VTOLs. At the current stage of the project, the system provides attitude stabilization, vertical guidance and automatic navigation. It is able to use simple Paparazzi flight plans ( only go instructions ) and uses Paparazzi telemetry and datalink, which means all the Paparazzi ground segment applications are available( plotter, settings, gcs, etc...)</p>
+<p>Booz is an extension of Paparazzi to VTOLs. At the current stage of the project, the system provides attitude stabilization, vertical and horizontal guidance and automatic navigation. It is able to use Paparazzi flight plans and uses Paparazzi telemetry and datalink, which means all the Paparazzi ground segment applications are available( plotter, settings, gcs, etc...)</p>
-<p>The current autopilot consist in 3 boards</p>
+<p>The current avionics consist of 3 boards</p>
 [[Image:booz2_main.jpg|240px]]
 [[Image:booz2_imu.jpg|240px]]
@@ Line 8: / Line 10: @@
 * The main board, comprising power supply, a LPC2148 and a barometer.
-* The IMU board, comprising gyroscopes, accelerometers, magnetometers and a 16 bits ADC.
+* The IMU board, comprising gyroscopes, accelerometers, magnetometers and a 16-bit ADC.
 * The GPS board, using a LEA-5H by ublox.
@@ Line 27: / Line 29: @@
 [[Image:booz2_a5.jpg|240px]]
-== Program Sources ==
+== Simulator ==
-Everything is at savannah.
+Paparazzi features the advanced [[NPS]] simulator which can serve many purposes, from learning how to operate a vehicle to evaluating control or estimation algorithms.
- -hardware in paparazzi4/trunk/hw/booz
- -code in paparazzi3/trunk
 == Hardware ==
 === Motor controllers ===
-[[BoozMotorControllers]]
+Booz is able to handle a number of quadrotor specific brushless motor controllers.
+more info in [[BoozMotorControllers]]
-===Purchasing Hardware===
+=== Power board ===
-<p>There are now vendors offering Booz hardware, Please see the [http://paparazzi.enac.fr/wiki/Get_Hardware Get Hardware] page for details.</p>
+The power board allows to switch power on and off on your vehicle as well as to make a clean wiring by avoiding wired Y
-===Building Tips===
+more info in [[BoozPowerBoard]]
-<p>Since the Booz uses the same LPC2148 as the Tiny and TWOG autopilots and runs the same core code the documented steps are nearly the same for booz. Below more Booz specific tests are given. However after assembly you load the bootloader in the same way to enable programming via the USB interface.</p>
-====Assembly Tips====
-* BOM
-===== power board =====
+=== Booz GPS ===
-Qty	Value	Device	Part	Manu PN	Mouser.com	DigiKey.com	Desc
+more info in [[BoozGPSBoard]]
-	1M	R-EU_R603	R4	CR0603-JW-105GLF	652-CR0603-JW-105GLF		Thick Film Resistors SMD 1MOHM 1/10WATT 5%
-	1uF	C-EU0603	C3	C0603C105K4PACTU	80-C0603C105K4P	399-5090-1-ND	CAP CERAMIC 1.00UF 16V X5R 0603
-	10k	R-EU_R0603	R5	CRCW060310K0FKEA	71-CRCW0603-10K-E3	541-10.0KHCT-ND	RES 10.0K OHM 1/10W 1% 0603 SMD
-	10uF	CPOL-EUSMCA	C2	T491A106M020AT	80-T491A106M020		Tantalum Capacitors - Solid SMD 20volts 10uF 20%
-	100nF	C-EUC0603	C1	C0603C104K5RACTU	80-C0603C104K5R	399-5089-1-ND	CAP CERAMIC .100UF 50V X7R 0603
-	220R	R-EU_R1206	R1	RK73B1JTTD221J	660-RK73B1JTTD221J		Thick Film Resistors SMD 1/10watts 220ohms 5%
-	470K	R-EU_R0603	R2	ERA-3AEB471V	71-CRCW0603-442K-E3	P470DBCT-ND	RES 470K OHM 1/10W .1% 0603 SMD
-	BAS70	BAS70	D1	BAS70-TP	833-BAS70-TP	BAS70TPMSCT-ND	DIODE SCHOTTKY 70V 200MA SOT23
-	BC847SMD	BC847SMD	Q2	BC847B-TP	833-BC847B-TP	BC847B-TPCT-ND	TRANS SS NPN 50V 100MA SOT23
-	FDB8442	FDB8442	U$1	FDB8442	512-FDB8442	FDB8442CT-ND	MOSFETs 40V N-Ch PowerTrench MOSFET
+=== IMU ===
+Booz has support for its custom designed IMU as well as for [http://www.cloudcaptech.com/ Cloudcap] Crista IMU
-* Assembly Notes
+more info in [[BoozIMU]]
-* Expected voltages for newly created boards
-====Loading the USB Boot Loader====
+=== Autopilot ===
-<p>This is virtually the same steps as for all other LPC2148 based Paparazzi autopilots. Just the cable is different. Using UART0/serial to load the image.</p>
+Current version of Booz autopilot is based on a lpc2148
-<p>Create an adapter cable that has Tx/Rx and Ground along with the ability to hold P0.14 low (i.e. grounded). My cable has P0.14 pin connected to ground as I have found P0.14 should be held low during the entire upload process. See the Eagle Schematic for the pinouts on the GPS connector you will use to upload (same connector as the Tiny/TWOG). NOTE: You can not use the same cable as the Tiny/TWOG.</p>
-<p>
-Steps:
-<ol>
-<li>Connect the "USB to FTDI cable" (#1 above) TTL ends to 8-pin Picoblade to FTDI board cable
-<li>Connect the USB end to your Linux laptop (/var/log/messages should show a new device on /dev/ttyUSB0).
-<li>Connect 8-pin adapter cable to "GPS" 8-pin Pico-Female on Booz Main "GPS" labeled connector
-<li>Using common ground" set BOOT (P0.14) "low" and keep it held low (on GPS connector)
-<li>Power on (~5v to 12v current limited power supply suggested)
-<li>Enter this command in a terminal:
-<pre>make upload_bl PROC=GENERIC</pre>
-</ol>
-NOTE: Success will mean you see this at the end in the terminal:
+more info in [[BoozAutopilot]]
-<pre>
-Synchronizing. OK
-Read bootcode version: 2.12.0
-Read part ID: LPC2148, 512 kiB ROM / 40 kiB SRAM (67305253)
-Sector 0: .................................................. .............................................
-Sector 1: .................................................. .........................
-Download Finished... taking 6 seconds
-Now launching the brand new code
-ioctl get failed
-ioctl set ok, status = 0
-ioctl get ok, status = 2
-ioctl get ok, status = 2
-ioctl set ok, status = 2
-ioctl set ok, status = 0
-ioctl set ok, status = 0
-</pre>
-</p>
-<p>What you need to see is the "Download Finished" message. Now you can remove Jumper and FTDI cable. From now on all programming is loaded using USB Adapter cable</p>
-====USB Programming====
-<p>Once the USB boot code is loaded (see above) you now program the autopilot via USB. To enable the LPC2148 to wait for programming on the USB interface you must power the board while the USB is connected to the ground station computer. When properly wired P0.21 will be fed 5v from the USB interface and at boot time that tells the LPC2148 to wait for programming over USB. Once programmed the board will rest itself and run the programming (even if you leave the cable attached).
-</p>
-<p>Steps
-<ol>
-<li>Connect the USB cable from the computer to the Booz Main USB connector</li>
-<li>Power on the Booz Main board</li>
-<li>On the Linux (computer) side dmesg should show you a new detected USB device</li>
-<li>In Paparazzi Center click "Upload" and wait for the ####### message to show the code is being uploaded.
-</ol>
-That's it.
-</p>
-== Running a simulator ==
+A new version of the autopilot, based on a STM32 is in development
-[[BoozSimulator]]
+more info in [[Lisa]]
-== Hardware Test ==
+=== Airframes ===
-Booz comes with a number of simple test programs that you can use to validate a newly assembled board or learn how booz code works in case you want to extend it.
+One nice thing about quadrotors is that the mechanics being extremely simple, they can be build with very few tools.
-The ''Makefile'' for those is in ''conf/autopilot/booz2_test_progs.makefile''
+Booz mounting holes are compatible with popular of the shelf frames.
+more info in [[BoozAirframes]]
-=== test_downlink ===
+===Purchasing Hardware===
-Paparazzi's Makefile allow you to build different ''TARGETS'' (aka programs) using a doted notation. The begining of the ''Makefile'' reads
+<p>There are now vendors offering Booz hardware, Please see the [http://paparazzi.enac.fr/wiki/Get_Hardware Get Hardware] page for details.</p>
-<syntaxhighlight lang="make">
+== Hardware Test ==
- #
- # test downlink
- #
- test_downlink.ARCHDIR = $(ARCHI)
- test_downlink.ARCH = arm7tdmi
- test_downlink.TARGET = test_downlink
- test_downlink.TARGETDIR = test_downlink
- #
- test_downlink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
- test_downlink.CFLAGS += -DPERIPHERALS_AUTO_INIT
- test_downlink.srcs   += $(SRC_BOOZ_TEST)/booz2_test_downlink.c
- test_downlink.CFLAGS += -DUSE_LED
- test_downlink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./10.))' -DTIME_LED=1
- test_downlink.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
- #
- test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
- test_downlink.srcs   += $(SRC_ARCH)/uart_hw.c
- #
- test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
- test_downlink.srcs   += downlink.c pprz_transport.c
-</syntaxhighlight>
-FIXME: More on this when syntax highlighting/line numbering works
+Booz comes with a number of simple test programs that you can use to validate a newly assembled board or learn how booz code works in case you want to extend it.
-The command line to compile the "test_downlink" target for the BOOZ2_A1 aircraft would be
- make AIRCRAFT=BOOZ2_A1 test_downlink.compile
-and to upload this program to your board ( you don't really need to type the previous command, make is smart and will compile your program if needed when you ask him to upload it )
+more info in [[BoozHardwareTest]]
- make AIRCRAFT=BOOZ2_A1 test_downlink.upload
+== Software ==
+=== Peripheral support ===
-=== test_max1168 ===
+{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
+!''Type #''!!''Model''!!''Booz''!!''Lisa/L''
+|-
+|IMU       ||Boozv1   ||yes||yes
+|-
+|          ||crista   ||yes||yes
+|-
+|          ||mti      || ? ||no
+|-
+|          ||vn100    ||?  ||no
+|-
+|RC        ||PPM      ||yes||no
+|-
+|          ||spektrum ||yes||yes
+|-
+|Actuators ||asctec   ||yes||yes
+|-
+|          ||mkk      ||yes||yes
+|-
+|          ||servospwm|| 2 || 6
+|-
+|          ||CAN      ||no || in progress
+|-
+|}
-the ''max1168'' is the 16 bits analog to digital converter chip used on the IMU to sample gyros and accels.
- make AIRCRAFT=BOOZ2_A1 test_max1168.upload
 == Sensors Calibration ==
-All our sensors needs to be calibrated in order to provide useful informations.
+All the sensors needs to be calibrated in order to provide useful informations. The calibration process needs to be performed after the assembly of the vehicle is complete.
-Accelerometers and Magnetometers calibration is critical for AHRS performances and can be performed using no special hardware. For the magnetometer, it is even very important that the calibration be performed in the fully assembled vehicle, with all systems powered. This is the so-called hard-iron calibration and will allow us to compensate for any constant parasitic magnetic field generated by the vehicle.
-The calibration process consist in finding a set of neutrals and scale factors for each sensor, such as
-<math>
-\begin{pmatrix}physical\_value_x\\physical\_value_y\\physical\_value_z\end{pmatrix} = \begin{pmatrix}sf_x&0&0\\0&sf_y&0\\0&0&sf_z\end{pmatrix} * (\begin{pmatrix}sensor_x\\sensor_y\\sensor_z\end{pmatrix}-\begin{pmatrix}n_x\\n_y\\n_z\end{pmatrix})
-</math>
-The principle of the calibration is the following : An accelerometer, on a vehicle at rest measures a constant vector ( the opposite of gravity ) in the earth frame, expressed in the vehicle frame.
-<math>
-DCM * \begin{pmatrix}0\\0\\-9.81\end{pmatrix} =
-\begin{pmatrix}sf_x&0&0\\0&sf_y&0\\0&0&sf_z\end{pmatrix} * (\begin{pmatrix}sensor_x\\sensor_y\\sensor_z\end{pmatrix}-\begin{pmatrix}n_x\\n_y\\n_z\end{pmatrix})
-</math>
-DCM is a rotation matrix that converts between earth frame and body frame. It will change when we change the orientation of the vehicle. Nevertheless, a rotation conserves the norm of a vector. We can thus obtain the following scalar equation that doesn't depend on the vehicle orientation :
-<math>
-.81^2 = ( sf_x(sensor_x-n_x) )^2 +  (sf_y(sensor_y-n_y) )^2 +  (sf_z(sensor_z-n_z) )^2
-</math>
-We can then record an important number of measurements in different orientations and find the set of scale factor and neutral giving the norm closest to 9.81
-Booz comes with a ( very unfriendly ) scilab script to perform this operation ( sw/tools/calibration/calib_accel_mag.sce ). Here is the way to use it
-Switch to the "raw sensors" telemetry mode and launch "server" to record a log.
-Move the quad in different orientations ( upright, inverted, on nose, on tail, on right side, on left side ) . You can also take some measurememts banking 45 degres.
+**Note:  The barometer on the Booz Main board is designed to work between -300 to 928 meters MSL.  In this range it will create a zero offset, and then give 10cm resolution for 100 meters of altitude.  BEWARE! if you fly above 100m the ADC will saturate.  In addition, if you are someplace that is above 928 meters MSL the baro will not calibrate on boot, and will not output values.  If you look at the RAW messages you will see that the BARO_RAW message reads 0 for both values.  To fix the latter issue, the Value of R20 on the Main board can be changed to change the range.  An example: If R20 is changes from a 560ohm to a 100ohm resistor, the new measurable range would be from -300 to 1800 meters.  Because this changes the gain on the sensor it will also change the amount of altitude you can read from the ADC.  For this case we reduce the amount to ~90 meters.
-Try to get an homogeneous distribution of your measurements. I find it better to let the quad rest while measuring. You can then run the scilab script to get your calibration coefficients.  It first makes an initial guess using min and max, ie for each axis
+more info in [[BoozSensorsCalibration]]
-neutral = 0.5 * (max + min)
+== GCS notes ==
+* If you set your ground modems for an interface rate different than 9600bps you need to add a flag to the "link" program on startup. In GCS if you use "Execute" you will see "link" is the first. You can click stop, then modify the command line by clicking in the text area. Add the -s flag with the baud rate you use. In my case 57600. So I use: -s 57600. Then click "Redo" and link will be restarted with the new flag and value (and you will start seeing messages and GCS wil populate). So you don't have to repeat this each time do "Save Session" and this will save the changes.
-sensitivity = 0.5*(max-min)
+== Airframe settings and Flight testing ==
+* [[BoozAirframe]]
-It then uses scilab's "datafit" algorithm to optimise the initial guess
+== User Gallery ==
-[[Image:calibAccel.png|240px]]
+This page holds a list of current Booz users
+[[BoozUserList]]
-Note for magnetometer:
+[[Category:Autopilots]] [[Category:Booz]]

Difference between revisions of "Booz"

Latest revision as of 16:53, 20 June 2012

Overview

Simulator

Hardware

Motor controllers

Power board

Booz GPS

IMU

Autopilot

Airframes

Purchasing Hardware

Hardware Test

Software

Peripheral support

Sensors Calibration

GCS notes

Airframe settings and Flight testing

User Gallery

Navigation menu

Search