Difference between revisions of "Booz"

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<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 ==
 
== Overview ==
<!--
+
<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>
<graphviz border='frame' format='svg'>
 
digraph G {
 
  "attitude filter" [
 
    URL="[[Booz#Attitude_Filter]]"
 
    fontcolor=blue
 
  ]
 
  "actuators" [
 
    URL="[[Booz#Motor controllers]]"
 
    fontcolor=blue
 
  ]
 
  "supervision" [
 
    URL="[[Booz#Supervision]]"
 
    fontcolor=blue
 
  ]
 
  IMU->"attitude filter"
 
  "attitude filter"->"stabilization attitude" [label="filter_att_aligned[]"]
 
  "stabilization attitude"->supervision->actuators
 
  aligner->"attitude filter[[Link title]]"
 
  "r/c"->autopilot
 
  guidance_v->supervision
 
  nav->guidance_h->"stabilization attitude"
 
  nav->guidance_v
 
  GPS->INS->"stabilization attitude"
 
  GPS->guidance_h
 
  baro->guidance_v
 
  IMU->guidance_v
 
  autopilot->FMS->datalink
 
  datalink->FMS->autopilot
 
}
 
</graphviz>
 
-->
 
  
== Running a simulator : quick start guide ==
+
<p>The current avionics consist of 3 boards</p>
 +
[[Image:booz2_main.jpg|240px]]
 +
[[Image:booz2_imu.jpg|240px]]
 +
[[Image:Boozassy2.jpg|300px]]
  
* Extract a copy of paparazzi3 svn
+
* The main board, comprising power supply, a LPC2148 and a barometer.
  svn co svn://svn.savannah.nongnu.org/paparazzi/paparazzi3/trunk paparazzi3
+
* The IMU board, comprising gyroscopes, accelerometers, magnetometers and a 16-bit ADC.
 +
* The GPS board, using a LEA-5H by ublox.
  
* Install all required dependancies
+
<p>Additional Booz boards:</p>
apt-get install paparazzi-dev libtool
+
[[Image:Med_BoozPower03.jpg|240px]]
 +
* The "power" board.
  
 +
<p>It flies on a variety of Quad-rotor platforms</p>
  
* Compile JSBSIM
+
[[Image:small_quad.jpg|240px]]
  cvs -z3 -d:pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim co -P JSBSim
+
[[Image:booz2_a2.jpg|240px]]
  cd JSBSim
+
[[Image:booz2_a1.jpg|240px]]
  ./autogen.sh
 
  ./configure --enable-maintainer-mode --enable-compile-warnings --enable-libraries --enable-shared --prefix=/opt/jsbsim
 
  make
 
  sudo make install
 
  
here is a ''[[Media:‎Jsbsim silent warnings.patch.gz.jpg|patch]]'' to silent warnings
+
and less common vehicles
  
* Compile paparazzi
+
[[Image:booz2_a4.jpg|240px]]
  cd paparazzi3/trunk
+
[[Image:booz2_a4 2.jpg|240px]]
  make
+
[[Image:booz2_a5.jpg|240px]]
  
* Compile the vehicle
+
== Simulator ==
  make AIRCRAFT=BOOZ2_A1 clean_ac sim
 
  
 +
Paparazzi features the advanced [[NPS]] simulator which can serve many purposes, from learning how to operate a vehicle to evaluating control or estimation algorithms.
  
* Start paparazzi_center if you want click to start programs
+
== Hardware ==
./paparazzi
 
  
* Start messages to watch the middleware activity ( from the tool menu of paparazzi center) or with
+
=== Motor controllers ===
./sw/ground_segment/tmtc/messages
+
Booz is able to handle a number of quadrotor specific brushless motor controllers.
  
* Start the sim
+
more info in [[BoozMotorControllers]]
LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl
 
  
You should now see activity in the "messages" window
+
=== 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
  
* Plot the value of a message field.
+
more info in [[BoozPowerBoard]]
start 'plotter' ( from the tool menu of paparazzi center) or with
 
  ./sw/logalizer/plotter
 
for example drag the label 'int32 phi' from the BOOZ2_FP message to the drawing area of the plotter
 
  
 +
=== Booz GPS ===
 +
more info in [[BoozGPSBoard]]
  
* Use the datalink to change the temetry mode
+
=== IMU ===
start 'settings' ( from the tool menu of paparazzi center) or with
+
Booz has support for its custom designed IMU as well as for [http://www.cloudcaptech.com/ Cloudcap] Crista IMU
  ./sw/ground_segment/tmtc/settings -ac BOOZ2_A1
 
start 'server' to dispatch datalink messages ( from the tool menu of paparazzi center) or with
 
./sw/ground_segment/tmtc/server
 
change the field "telemetry" on the first page to "Att loop" and send by pressing the green check button. THe label on the left or the drop box should change to "Att loop" confirming your essage has been received. "message" should now show that the message "BOOZ2_STAB_ATTITUDE" is received
 
  
* Use flightgear to visualize your vehicle
+
more info in [[BoozIMU]]
If you want a view of a quadrotor in flightgear, make a link from
 
/usr/share/games/FlightGear/Models/Aircraft/paparazzi to PAPARAZZI_SRC/conf/simulator/flightgear/
 
start flighgear with
 
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --prop:/sim/model/path=Models/Aircraft/paparazzi/mikrokopter.xml
 
restart your simulator with
 
  LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl --fghost 127.0.0.1
 
  
* Save you session
+
=== Autopilot ===
 +
Current version of Booz autopilot is based on a lpc2148
  
== Tunning the attitude control loop ==
+
more info in [[BoozAutopilot]]
  
Here we are going to use the simulator to demonstrate a way of tunning the attitude control loop.
+
A new version of the autopilot, based on a STM32 is in development
  
* Restart your previous session
+
more info in [[Lisa]]
  
* Set telemetry mode to "Att loop"
+
=== Airframes ===
  
* Display two real time plotter windows
+
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.
  
In the first one, plot the field "m_phi" from the "BOOZ2_STAB_ATTITUDE" message. This is our estimation of roll angle.
+
more info in [[BoozAirframes]]
On top of that, plot the field "phi" from the "BOOZ2_STAB_ATTITUDE_REFERENCE" message. This is our reference roll angle, that is, the roll value we are trying to achieve.
 
  
In the second plotter, plot the fields "delta_a_fb" and "delta_a_ff". Those are respectively the feddback and feedforward part of our roll command. The sum of those two terms is what is used as roll command.The feedforward part is the part used to follow our trajectory and the feedback part is the part used to reject perturbations.
+
===Purchasing Hardware===
 +
<p>There are now vendors offering Booz hardware, Please see the [http://paparazzi.enac.fr/wiki/Get_Hardware Get Hardware] page for details.</p>
  
 +
== Hardware Test ==
  
* In "Settings", go to the "Att Loop" tab
+
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.
We notice that the vehicle doesn't follow accurately the step trajectory we are trying to make him do.
 
 
Start by setting the value of the proportional gain ('pgain_phi') to 1000 instead of 400. The vehicle now follows the trajectory faster but overshoots. To prevent that, increase the value of the derivative gain ('dgain p') from -300 to -700.
 
  
If you look at the plotter where you're ploting the commands, you'll notice that during steps, the feedback command has to work hard. This means that our feedforward command is badly tunned, and namely not working hard enough.Increase the value of the feedforward gain ('ddgain p') from 300 to 540. You'll notice that now the feedback command has becomed marginal during the steps. This is the right value for the gain. Anything bigger will make the feedback command fight against the feedforward command during steps, anything smaller will make the feedback command have to complement the feedforward command.
+
more info in [[BoozHardwareTest]]
  
 +
== Software ==
  
And by now, you should have found the rounding bug I'm fighting with
+
=== Peripheral support ===
 +
 
 +
{|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
 +
|-
 +
|}
 +
 
 +
 
 +
 
 +
== 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]]
 +
 
 +
[[Category:Autopilots]] [[Category:Booz]]

Latest revision as of 14:53, 20 June 2012

Booz logo.jpg

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

Booz2 main.jpg Booz2 imu.jpg Boozassy2.jpg

  • 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:

Med BoozPower03.jpg

  • The "power" board.

It flies on a variety of Quad-rotor platforms

Small quad.jpg Booz2 a2.jpg Booz2 a1.jpg

and less common vehicles

Booz2 a4.jpg Booz2 a4 2.jpg Booz2 a5.jpg

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

User Gallery

This page holds a list of current Booz users

BoozUserList