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==Introduction==
 
==Introduction==
Getting started with Paparazzi is not difficult if you follow the steps as described in this Wiki. It take some persistence if things do not work out immediately , but in the end everyone will reach their goal.
+
Getting started with Paparazzi is not difficult if you follow the steps as described in this Wiki. This article will try to take you through all the needed steps by hand. If anything is missing in this tutorial please contact us through the Mailinglist or the Gitter Chat. We are happy to clarify any questions you may have.
 +
 
 +
==Tutorials==
 +
There are already some complete tutorials (specific for one Autopilot and Airframe)<br/>
 +
Refer to the [[Tutorials]] article first.
  
 
==Install the Ground Station==
 
==Install the Ground Station==
See [[Installation]]
+
To install the ground station as well as all the necessary tools to compile the autopilot firmware, refer to the [[Installation]] article.
 +
Go to the page specific for your OS, download and install all packages.<br/>
 +
Download source code from git and compile it.
  
 
==Run a Simulation==
 
==Run a Simulation==
<p>Now you are ready to start your [[Simulation]].</p>
+
This will show the capabilities of Paparazzi. Doing this is not required but will make later steps easier.
 +
 
 +
Refer to the [[Simulation]] article first.
 +
 
 +
For your first few simulations you should use the default flight plan (use the Microjet aircraft) and configuration files in Paparazzi. This will allow you to get the simulator up and running in as little time as possible so you can see what Paparazzi can do. Once you have familiarized yourself with what a default Paparazzi simulation can do you will probably want to start building a flight plan (where the simulated aircraft flies) for your local area. The best way to do this is to go to Google Maps and type in your local town. Once you have found your local town, get the Latitude and Longitude of somewhere where you would like to fly your simulated UAV. Once you have the latitude and longitude, go and edit the basic flight plan (this is the example flight plan) and change the HOME latitude and longitude to the one near your home town. When you change the HOME latitude and longitude, the whole flight plan and way points will dynamically move to their relative position around your chosen latitude and longitude. You can now download the Google maps for your chosen area to give it that realistic look.
 +
 
 +
Once you have done this you will know more about what you can configure with Paparazzi. The best place to start to learn how to configure Paparazzi is to edit your flight plan so you can do more complex things. There are a multitude of examples for you to use both on the wiki and within the supplied Paparazzi flight plan files.
 +
 
 +
To try out the simulation, choose an aircraft, e.g. Microjet
 +
# Then choose "Target -> Sim" it will mean that you are building firmware for usage with "Simulation" session. Press "Build".
 +
# After the process is done, choose "Simulation" session and click "Execute".
 +
# You will get two windows: GCS and windows named after our aircraft (e.g. Microjet).
 +
# Now we recommended choosing "Maps" -> "Maps Auto" (of course if you have an Internet connection) to see satellite maps in GCS.
 +
# Then in the lower left pane there is a small runway where you choose "Takeoff".
 +
 
 +
If everything goes well you'll see that your virtual aircraft took off and is making circles around the "standby" point. All further interactions are made through changing modes inside the flight plan.
 +
 
 +
==Hardware considerations==
 +
===PC===
 +
We recommend using a Laptop with Ubuntu. Most of the Paparazzi developers use this set up as their ground stations, making it the most common and best tested platform. Alternatively, you can use an apple laptop with MacOSX. For Paparazzi installation instructions, refer to the [[Installation]] article.
 +
 
 +
===RC Transmitter / Receiver===
 +
A 3 position switch is needed to switch between the [[AutopilotModes]].<br/>
 +
 
 +
New 2,4Ghz systems are recommended. (e.g. Graupner MX-12/16/20)
 +
 
 +
The signal input from receiver to Autopilot board is done with a ppm sum stream. If the receiver can't output a ppm sum stream a [[PPM_Encoder]] board is needed.
 +
 
 +
Take a look at [[RC_Receivers_and_Radios|RC Receivers and Radios]] for more instructions about transmitters and receivers.
 +
 
 +
===Airframe===
 +
Generally there are two types of airframes:
 +
 
 +
'''Fixedwing:'''
 +
* Airplanes - this includes all standard airplanes: aerobatic, slow flying and so on.
 +
* Gliders - almost the same thing as an airplane but with a different flight concept. Unlike airplane, gliders mostly rely on motor-less flight, which results in slower turns and less throttle usage.
 +
 
 +
'''Rotorcraft:'''
 +
* Helicopters - have a main and tail rotor.
 +
* Tri,Quad,Hexa,Octo-Copters - multirotor platforms.
 +
 
 +
'''Set your requirements:'''
 +
* fast & acrobatic
 +
* long range
 +
* heavy load
 +
* price
 +
* other
  
<p>For your first few simulations you should use the default flight plan (use the Microjet aircraft) and configuration files in Paparazzi. This will allow you to get the simulator up and running in as little time as possible so you can see what Paparazzi can do. Once you have familiarized yourself with what a default Paparazzi simulation can do you will probably want to start building a flight plan (where the simulated aircraft flies) for your local area. The best way to do this is to go to Google Maps and type in your local town. Once you have found your local town, get the Latitude and Longitude of somewhere where you would like to fly your simulated UAV. Now you have the lat and long go and edit the basic (this is the example flight plan) flight plan and change the HOME lat and long to the one near your home town. When you change the HOME lat and long, the whole flight plan and way points will dynamically move to their relative position around your chosen lat and long. You can now download the Google maps for your chosen area to give it that realistic look.</p>
+
The Multiplex Mentor (flies well), Multiplex FunJet (has a prebuilt airframe configuration) or the Bixler are good starting points in fixedwings.<br/>
 +
Talk to an experienced pilot if you want it to exactly meet your needs. We recommend starting with a FunJet or Bixler, it will be easier.<br/>
 +
Some other information is located on the [[Airframes]] page.
  
<p>Once you are doing this you will quickly be interested in learning more about what you can configure with Paparazzi. The best place to start to learn how to configure Paparazzi is to edit your flight plan so you can do more complex things. There are a multitude of examples for you to use both on the wiki and within the supplied Paparazzi flight plan files.</p>
+
===Autopilot board===
 +
There are a lot of different autopilot boards designed for use with PaparazziUAV. Choose which one will best meet your needs.<br/>
 +
A good choice is one of the following recent Paparazzi Autopilots, for example:
 +
*[[Elle0]]
 +
*[[Lisa/MX]]
 +
*[[Lisa/S]]
 +
*[[Apogee]]
 +
*[[Krooz]]
  
<p>Now you have spent time simulating the aircraft and configuring flight plans and any other goodies which has peaked your interest you might be ready to take the plunge and get a real UAV.</p>
+
For a full list of supported hardware, visit the [[Autopilots]] article.
  
<p>If you are ready to take the plunge you will need a few things other than your computer.</p>
+
===External Components===
 +
These 4 extra categories can be helpful:
  
<p>If you used your desktop computer for simulating Paparazzi, you will need to move to a laptop so you can take it out to your flying site.</p>
+
* [[Sensors]] used for orientation, proximity, leveling purposes.
 +
* [[GPS]] sensors that allow for accurate positioning.
 +
* [[Modems]] for communication between GCS and UAV.
 +
* [[OMAP]] which is a portable computer used for on-board data processing.
 +
* [[Other_Hardware | Other hardware,]] Additional useful items.
  
==Get the hardware==
+
===Example list===
 +
This is just a example of a complete list:
  
===The Autopilot===
+
* Laptop with Ubuntu
 +
* Airframe with servos, ESC, Battery (ready to fly Airframe !)
 +
* RC Transmitter and Receiver (Graupner HOTT series)
 +
* 2 x XBee modules
 +
* XBee USB adapter
 +
* LisaMV2 with aspirinv2.2 or KroozSD or Apogee AP
 +
* NEO-6M GPS Module (Hobbyking, 13€)
 +
* FT2232 Mini Module (USB <-> UART Adapter)
  
*Your best bet is to buy a prebuilt autopilot pack from one of the [[Get Hardware | vendors]]. This saves lots of time and they will often give you help if you need it! ORDER ONE WITH A POLARIZED PLUG FOR POWER. It is common to accidentally reverse the +/- input and burn up the board without one.
+
==When the Autopilot arrives==
*Make sure you understand that the signal input to the autopilot/controller is a combined signal of all channels together. The RC receiver outputs 8 individual channels. You have options that include:
+
We recommend inspecting your new hardware under a microscope for solder bridges and open connections before hooking it up to power and flying. If you find any of the above make sure to resolve the issues before connecting the device to power, or else you risk destroying the hardware. We recommend using a current limited Lab power supply for the initial bring up of any new hardware. This minimizes the risk of destroying your newly purchased / assembled device before use. Never try to power a new board directly from a battery before doing the above inspection. When powering up, set the lab power supply to 0mA and slowly increase the current limit until the board powers on, usually within the range of Maximum 100mA otherwise the board contains a short or is likely damaged. Never leave the board powered at a suspiciously high power level for too long, you risk burning up the board.
**Get a [[ATmega_PPM_Encoder_Board | PPM encoder board]] (combines 8ch inputs into a combined signal).
 
**Get a [[MeekPE_PPM_Encoder_Board | MeekPE Encoder Board]] (combines 8ch inputs into a combined signal).
 
**Purchase an RC reciver that outputs a combined signal (many do nowdays). Below lists several.
 
*You can avoid the PPM encoder board by using an RC receiver that outputs PPM sum stream:
 
**[[RC_Receivers_and_Radios#Jeti_Duplex_2.4_GHz_Receiver_Rsat_2 | Jeti Duplex ]]
 
**[[RC_Receivers_and_Radios#ACT_DSL-4top_mikrokopter.de_version | ACT DSL-4top ]]
 
**[[RC_Receivers_and_Radios#Scherrer_UHF | Scherrer UHF ]]
 
**[[RC_Receivers_and_Radios#Robbe_RASST_7_.26_8_channed_receivers | Robbe R6x0xSP series]]
 
**[[RC_Receivers_and_Radios#Graupner_GR-12.2FGR-16.2FGR-20 | Graupner GR-12/16/22]]
 
*Make sure you get a [[Serial_Cables | FTDI board/cable]] in your pack. You need it to connect the GCS PC directely to Paparazzi without a radio modem. You might also need it to connect your [[Modems#GCS_Adaptation | GCS radio modem]] to the GCS PC. The reason is communications with the autopilot is via serial Tx/Rx. So you can use the XBee as an RF serial device or use a wired serial adapter like the FTDI USB to serial adapters out there. Just be sure to cross Tx -> Rx and Rx->Tx. Think of it like plumbing where the out on one goes to the in on the other.
 
  
===The Airframe===
+
==Upload the Bootloader==
<ul>
+
Not all boards require an external programmer and it is possible your board already comes with one.  
<li>Get an electric foam aircraft because they are not dangerous and cheap. The Multiplex Mentor (flies very good-natured) or the Multiplex FunJet (already has prebuilt airframe configuration files) are good starting points.
+
[[Lisa/L]] comes with a built in programmer, while [[Elle0]], [[Lisa/M]], [[KroozSD]] and [[Apogee]] can be programmed through a built in bootloader, using USB.
<li>There is more information in the [[Airframes]] page
+
More information is located in the [[Developer_Guide]] and [[FirmwareFlashing]] site.
</ul>
 
  
===The Radio Control===
+
===STM32===
<ul>
+
[[Luftboot]] is the most used bootloader for the [[Lisa/MX]] board.<br/>
<li>You need a radio control with a 3 position switch to switch between autopilot modes.
+
[[Elle0]], [[KroozSD]] and [[Apogee]] have their own bootloader.<br/>
</ul>
+
STM32 MCU have a native dfu boootloader that can also be used. (eg. stm32f4_discovery) See [[DFU]].
===Batteries===
 
<ul>
 
<li>Get a decent LiPo or NiMh battery with at least 11 volts available with a Deans plug on it (make sure its the correct way around or you will fry your autopilot). You will also need a power extender so you are not plugging the battery directly into the autopilot - you will understand later.
 
</li>
 
</ul>
 
==When the autopilot arrives==
 
===PPZUAV assembled autopilot steps===
 
<b>Note: photos coming soon for all the steps below</b>
 
Here are the steps perform on each autopilot to verify it before shipping. You are welcome to re-do these steps but know they were done already.
 
<ol>
 
<li>Inspection under a microscope for solder bridges and open connections. Repair as necessary.
 
<li>Power using current limited power supply with short protection. I use a micro-deans inserted into the (+/-) holes. Verify power draw at 10v to be sure there are no shorts missed by step 1
 
<li>Using a custom made cable (8pin molex) to FTDI serial utility board I power the autopilot and send this command:
 
<pre>make upload_bl PROC=GENERIC</pre>
 
See [[BootloaderUploadHowTo|here]] for more details and output.
 
</ol>
 
For TWOG that's it. You're ready to program it with a USB cable from now on. For Tiny13 or 2.11 there are more steps.
 
<ol>
 
<li>Load the "tunnel" program. This routes all UART output from the GPS to the other UART. This makes a tunnel from the serial connector to the GPS. Using this you can connect the Tx/Rx on the serial connector directly to the GPS Tx/Rx (via the tunnel). Using the USB program cable and an airframe file like MJ5 this is the command:
 
<pre>make AIRCRAFT=MJ5 tunnel.upload </pre>
 
You will see a lot of output so look at the end. When the autopilot is powered on and the USB cable is attached it goes into USB mode. When the make program detects the autopilot on USB you see ###### as it programs. The more # you see the bigger the program. The tunnel is small so I only see 1x #.
 
<li>Using u-center set to 115kbps the firmware v5 is loaded (from u-blox download site). Note you must first use 9600bps, the default for the module, then change it to 115k for the flashing. After it's automatically set back to 9600bps again.
 
<li>Using u-center the Paparazzi configuration file is uploaded into the GPS module
 
<li>The autopilot is reset and in u-center it is monitored to verify it sees satellites and left on until a 3D fix is acquired.
 
<li>Using the USB cable a sample program is flashed into the autopilot (usually funjet one modified for either Tiny13,Tiny211 or TWOG).
 
<li>The autopilot is reset and the LED blinking is verified. The LED blink based on the program loaded and is not itself an indication of hardware condition. It's an indication the software is running correctly.
 
</ol>
 
  
=== GPS programming using the "tunnel" ===
+
===LPC21===  
* Using the USB programming cable, load the tunnel program with:
+
[[Lpc21BootloaderUpload]]<br/>
make AIRCRAFT=MJ5 tunnel.upload
+
This must be done once to get the paparazzi bootloader to a brand new LPC21 chip.
* Using a serial adapter board like the FTDI Utility board (or SparkFun has similar) connect everything as shown in the photo.
 
* More instructions on programming the GPS are found [http://paparazzi.enac.fr/wiki/GPS#GPS_configuration_using_U-Center here].
 
<gallery>
 
Image:Gpstunnelsetup.jpg|Programming the GPS with a TWOG
 
</gallery>
 
  
==Where to go go from there==
+
==Build all required xml files==
===Configure the environnment for your hardware===
+
Most information is located on the matching site. A look at pre build xml files can be helpful.
*Setup a configuration file for your [[Radio_Control|radio control]]
 
*Setup a configuration file for your [[Airframe_Configuration|airframe]]
 
*Discover the [[GCS|Ground control station]] and build your [[Flight Plans|flight plan]], run [[Simulation]].
 
  
===Tune your airframe===
+
===Airframe===
*Learn about the [[Control Loops]]
+
[[Airframe_Configuration]]<br/>
*[[Tuning]]
+
Airframe describes the way our aircraft flies (fixedwing, rotorcraft), hardware that is used for control (autopilot, gps, imu, ahrs, servos, etc.), the way hardware interacts with each other (estimation algorithms for IMU, mixer settings for servos and such) and also allows to set constants (calibrations for servos and IMU, endpoints for servos, allowed voltage and turning rate limits and more).
*It will be appreciated if you report progress at this stage on the [[Users]] page
 
  
===Web for beginners are out there===
+
Syntax of config file allows to make includes, so you can place some information like AHRS settings and IMU calibrations to separate file. It is convenient if you have several airframes that can use the same AHRS settings, and it also leaves in config file only vital options allowing to get rid of common constants.
Many people have created websites and postings about their first time experience with Paparazzi. Remember however that Paparazzi is updated and only this Wiki will have the latest and most up to date information. Always check this Wiki first and use these links as simply extra information.  
 
  
*[http://www.rcgroups.com/forums/showthread.php?t=851820 RC groups thread - Paparazzi the RTF Autopilot]
+
===Flight plan===
 +
[[Flight Plans]]<br/>
 +
Here all paths for the flight plan are specified. (bungee start, different pattern, landing...)
 +
 
 +
===Settings===
 +
[[Settings]]<br/>
 +
Just a bunch of general settings. ( max altitude, max distance...)
 +
 
 +
===Radio===
 +
[[Radio_Control]]<br/>
 +
This is the setup for the ppm input for the AP
 +
Input values, channels e.g. are configured here.
 +
 
 +
===Telemetry===
 +
[[Telemetry]]<br/>
 +
This specifies the telemetry data (which data should be transmitted in which period)
 +
 
 +
==Flashing==
 +
[[FirmwareFlashing]]<br/>
 +
Search for the method your AP board needs, maybe some extra software is needed.
 +
 
 +
==Simulation==
 +
Doing both (soft and hardware) simulations is highly recommended. You can test if paparazzi or your code has any bugs.
 +
===Software simulation===
 +
[[Simulation]]<br/>
 +
This simulates your code only on the pc.
 +
 
 +
===Hardware simulation===
 +
[[HITL]]<br/>
 +
With this the AP board will work normal, but all sensor values (gps, imu...) are simulated. This is the best way to verify the AP is working correct. (is the IMU or GPS is bad, you won't find it with this simulation !)
  
 
==User's Manual==
 
==User's Manual==
Another excellent source of information is the [[Media:Users_manual.pdf|Paparazzi User's Manual]].
+
Although outdated, the 2008 [[Media:Users_manual.pdf|Paparazzi User's Manual]] may still be a useful guide through the Paparazzi environment.
  
 
You might find the [[Common_problems]] and [[XBee_configuration]] pages useful too.
 
You might find the [[Common_problems]] and [[XBee_configuration]] pages useful too.
  
 
==If everything else fails==
 
==If everything else fails==
If you get completely stuck and you read all the above already you can come over to our IRC channel on Freenode #paparazzi. Some of the [[Developers]] are hanging out there and will help you if you get stuck.
+
If you get completely stuck and you read all the above already you can come over to our IRC channel on Freenode #paparazzi. Some of the [[Developers]] are hanging out there and will help you if you get stuck. <br/>
 
+
You can also ask in the mailing list, but please don't spam.
 
[[Category:User_Documentation]]
 
[[Category:User_Documentation]]

Latest revision as of 05:51, 28 November 2017

Introduction

Getting started with Paparazzi is not difficult if you follow the steps as described in this Wiki. This article will try to take you through all the needed steps by hand. If anything is missing in this tutorial please contact us through the Mailinglist or the Gitter Chat. We are happy to clarify any questions you may have.

Tutorials

There are already some complete tutorials (specific for one Autopilot and Airframe)
Refer to the Tutorials article first.

Install the Ground Station

To install the ground station as well as all the necessary tools to compile the autopilot firmware, refer to the Installation article. Go to the page specific for your OS, download and install all packages.
Download source code from git and compile it.

Run a Simulation

This will show the capabilities of Paparazzi. Doing this is not required but will make later steps easier.

Refer to the Simulation article first.

For your first few simulations you should use the default flight plan (use the Microjet aircraft) and configuration files in Paparazzi. This will allow you to get the simulator up and running in as little time as possible so you can see what Paparazzi can do. Once you have familiarized yourself with what a default Paparazzi simulation can do you will probably want to start building a flight plan (where the simulated aircraft flies) for your local area. The best way to do this is to go to Google Maps and type in your local town. Once you have found your local town, get the Latitude and Longitude of somewhere where you would like to fly your simulated UAV. Once you have the latitude and longitude, go and edit the basic flight plan (this is the example flight plan) and change the HOME latitude and longitude to the one near your home town. When you change the HOME latitude and longitude, the whole flight plan and way points will dynamically move to their relative position around your chosen latitude and longitude. You can now download the Google maps for your chosen area to give it that realistic look.

Once you have done this you will know more about what you can configure with Paparazzi. The best place to start to learn how to configure Paparazzi is to edit your flight plan so you can do more complex things. There are a multitude of examples for you to use both on the wiki and within the supplied Paparazzi flight plan files.

To try out the simulation, choose an aircraft, e.g. Microjet

  1. Then choose "Target -> Sim" it will mean that you are building firmware for usage with "Simulation" session. Press "Build".
  2. After the process is done, choose "Simulation" session and click "Execute".
  3. You will get two windows: GCS and windows named after our aircraft (e.g. Microjet).
  4. Now we recommended choosing "Maps" -> "Maps Auto" (of course if you have an Internet connection) to see satellite maps in GCS.
  5. Then in the lower left pane there is a small runway where you choose "Takeoff".

If everything goes well you'll see that your virtual aircraft took off and is making circles around the "standby" point. All further interactions are made through changing modes inside the flight plan.

Hardware considerations

PC

We recommend using a Laptop with Ubuntu. Most of the Paparazzi developers use this set up as their ground stations, making it the most common and best tested platform. Alternatively, you can use an apple laptop with MacOSX. For Paparazzi installation instructions, refer to the Installation article.

RC Transmitter / Receiver

A 3 position switch is needed to switch between the AutopilotModes.

New 2,4Ghz systems are recommended. (e.g. Graupner MX-12/16/20)

The signal input from receiver to Autopilot board is done with a ppm sum stream. If the receiver can't output a ppm sum stream a PPM_Encoder board is needed.

Take a look at RC Receivers and Radios for more instructions about transmitters and receivers.

Airframe

Generally there are two types of airframes:

Fixedwing:

  • Airplanes - this includes all standard airplanes: aerobatic, slow flying and so on.
  • Gliders - almost the same thing as an airplane but with a different flight concept. Unlike airplane, gliders mostly rely on motor-less flight, which results in slower turns and less throttle usage.

Rotorcraft:

  • Helicopters - have a main and tail rotor.
  • Tri,Quad,Hexa,Octo-Copters - multirotor platforms.

Set your requirements:

  • fast & acrobatic
  • long range
  • heavy load
  • price
  • other

The Multiplex Mentor (flies well), Multiplex FunJet (has a prebuilt airframe configuration) or the Bixler are good starting points in fixedwings.
Talk to an experienced pilot if you want it to exactly meet your needs. We recommend starting with a FunJet or Bixler, it will be easier.
Some other information is located on the Airframes page.

Autopilot board

There are a lot of different autopilot boards designed for use with PaparazziUAV. Choose which one will best meet your needs.
A good choice is one of the following recent Paparazzi Autopilots, for example:

For a full list of supported hardware, visit the Autopilots article.

External Components

These 4 extra categories can be helpful:

  • Sensors used for orientation, proximity, leveling purposes.
  • GPS sensors that allow for accurate positioning.
  • Modems for communication between GCS and UAV.
  • OMAP which is a portable computer used for on-board data processing.
  • Other hardware, Additional useful items.

Example list

This is just a example of a complete list:

  • Laptop with Ubuntu
  • Airframe with servos, ESC, Battery (ready to fly Airframe !)
  • RC Transmitter and Receiver (Graupner HOTT series)
  • 2 x XBee modules
  • XBee USB adapter
  • LisaMV2 with aspirinv2.2 or KroozSD or Apogee AP
  • NEO-6M GPS Module (Hobbyking, 13€)
  • FT2232 Mini Module (USB <-> UART Adapter)

When the Autopilot arrives

We recommend inspecting your new hardware under a microscope for solder bridges and open connections before hooking it up to power and flying. If you find any of the above make sure to resolve the issues before connecting the device to power, or else you risk destroying the hardware. We recommend using a current limited Lab power supply for the initial bring up of any new hardware. This minimizes the risk of destroying your newly purchased / assembled device before use. Never try to power a new board directly from a battery before doing the above inspection. When powering up, set the lab power supply to 0mA and slowly increase the current limit until the board powers on, usually within the range of Maximum 100mA otherwise the board contains a short or is likely damaged. Never leave the board powered at a suspiciously high power level for too long, you risk burning up the board.

Upload the Bootloader

Not all boards require an external programmer and it is possible your board already comes with one. Lisa/L comes with a built in programmer, while Elle0, Lisa/M, KroozSD and Apogee can be programmed through a built in bootloader, using USB. More information is located in the Developer_Guide and FirmwareFlashing site.

STM32

Luftboot is the most used bootloader for the Lisa/MX board.
Elle0, KroozSD and Apogee have their own bootloader.
STM32 MCU have a native dfu boootloader that can also be used. (eg. stm32f4_discovery) See DFU.

LPC21

Lpc21BootloaderUpload
This must be done once to get the paparazzi bootloader to a brand new LPC21 chip.

Build all required xml files

Most information is located on the matching site. A look at pre build xml files can be helpful.

Airframe

Airframe_Configuration
Airframe describes the way our aircraft flies (fixedwing, rotorcraft), hardware that is used for control (autopilot, gps, imu, ahrs, servos, etc.), the way hardware interacts with each other (estimation algorithms for IMU, mixer settings for servos and such) and also allows to set constants (calibrations for servos and IMU, endpoints for servos, allowed voltage and turning rate limits and more).

Syntax of config file allows to make includes, so you can place some information like AHRS settings and IMU calibrations to separate file. It is convenient if you have several airframes that can use the same AHRS settings, and it also leaves in config file only vital options allowing to get rid of common constants.

Flight plan

Flight Plans
Here all paths for the flight plan are specified. (bungee start, different pattern, landing...)

Settings

Settings
Just a bunch of general settings. ( max altitude, max distance...)

Radio

Radio_Control
This is the setup for the ppm input for the AP Input values, channels e.g. are configured here.

Telemetry

Telemetry
This specifies the telemetry data (which data should be transmitted in which period)

Flashing

FirmwareFlashing
Search for the method your AP board needs, maybe some extra software is needed.

Simulation

Doing both (soft and hardware) simulations is highly recommended. You can test if paparazzi or your code has any bugs.

Software simulation

Simulation
This simulates your code only on the pc.

Hardware simulation

HITL
With this the AP board will work normal, but all sensor values (gps, imu...) are simulated. This is the best way to verify the AP is working correct. (is the IMU or GPS is bad, you won't find it with this simulation !)

User's Manual

Although outdated, the 2008 Paparazzi User's Manual may still be a useful guide through the Paparazzi environment.

You might find the Common_problems and XBee_configuration pages useful too.

If everything else fails

If you get completely stuck and you read all the above already you can come over to our IRC channel on Freenode #paparazzi. Some of the Developers are hanging out there and will help you if you get stuck.
You can also ask in the mailing list, but please don't spam.