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Precompiled binaries can be downloaded and executed with the ''paparazzi-bin'' package but to maintain the power and flexibility of open-source code, most operations within Paparazzi involve recompilation of autopilot and/or ground station code.  Therefore the typical installation requires all of the necessary C and OCaml compilers as well as some XML and [http://www.tls.cena.fr/products/ivy/ Ivy] handlers. These tools are provided by the ''paparazzi-dev'' package.
+
<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree>
 +
__TOC__
  
The Paparazzi sources are hosted by [http://savannah.nongnu.org/cvs/?group=paparazzi Savannah].
+
'''<span style="color:red">This page only describes the installation of the prerequisite tools and dependencies on Debian/Ubuntu needed for Paparazzi.</span>'''
  
The Paparazzi packages are hosted at the [http://www.recherche.enac.fr/paparazzi/debian ENAC repository].
+
'''See the general [[Installation]] page for how to [[Installation#Getting_the_Source_Code|download Paparazzi]] and [[Installation#Launching_the_Software|launching it]] after you followed the instructions here.'''
  
== Installation on Debian based distributions ==
+
== Introduction ==
  
Paparazzi is packaged for Debian as well as all of its dependencies. The [http://www.recherche.enac.fr/paparazzi/debian repository] hosted at ENAC holds their latest version.
+
Paparazzi is very easily installed on any laptop or workstation running [http://www.ubuntu.com/ Ubuntu], [http://www.debian.org/ Debian] (or any of their derivatives).
  
=== Installation from the Command Line===
+
The steps required to install the software needed to be able to let your UAS fly
Just add the following lines to your repository list (<b>/etc/apt/sources.list</b>) and then
+
<ul>
uncomment the line relevant to your operating system (e.g. one of etch, gutsy or hardy):
+
<li>[[Installation/Linux#Installation_of_dependencies|Install the basic Paparazzi dependencies]] and the [[Installation/Linux#ARM_embedded_toolchain|ARM cross compiling toolchain.]]
 +
<li>[[Installation#Getting_the_Source_Code|Download the source code from the source repository.]]
 +
<li>Allow access to your PC hardware connection by adding appropriate [[Udev]] rules.
 +
<li>[[Installation#Launching_the_Software|Compile the binaries from the sources and launch the software.]]
 +
</ul>
  
{{Box Code|/etc/apt/sources.list|
+
Users of other Linux flavors than a recent Ubuntu or Debian and anyone needing manual control of each individual package can [[Installation/Manual|install them independently]].
# Uncomment just _one_ of the following lines - depending on your OS version
 
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> etch main
 
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> lenny main
 
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> gutsy main
 
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> hardy main
 
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> intrepid main
 
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> jaunty main
 
}}
 
  
Note: It is not recommended to install both <tt>paparazzi-bin</tt> <b>and</b> <tt>paparazzi-dev</tt>.
+
===For the impatient===
  
Then, update your sources and '''either''' install the precompiled <b>bin</b>aries
+
For Ubuntu add the [https://launchpad.net/~paparazzi-uav/+archive/ppa paparazzi-uav ppa] <tt>sudo add-apt-repository ppa:paparazzi-uav/ppa</tt> and install the <tt>paparazzi-dev</tt> package.
  sudo apt-get update
+
 
  sudo apt-get install paparazzi-bin
+
Since Paparazzi v5.0 the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended.
<b>or</b> the dependencies needed for recompiling from the source (<b>dev</b>), and the cross-compiler (<b>arm7</b>) :
+
Available as of Ubuntu 14.04, on older versions it can be [[Installation/Linux#ARM_embedded_toolchain|installed via tarball]].
  sudo apt-get update
+
 
 +
Or just use the [[Installation#Quickstart_on_Ubuntu_12.04|Quickstart for Ubuntu 12.04 LTS]].
 +
 
 +
== Installation video Tutorials ==
 +
 
 +
{{#ev:youtubehd|SshFJrBuku8}} {{#ev:youtubehd|eW0PCSjrP78}}
 +
 
 +
== Installation of dependencies ==
 +
 
 +
=== Ubuntu ===
 +
'''Binary packages for Ubuntu are available for the ''i386'', ''amd64'' and ''armhf'' architectures.'''
 +
 
 +
Add the installation sources for the Paparazzi software packages. Run from a terminal:
 +
sudo add-apt-repository ppa:paparazzi-uav/ppa
 +
 
 +
Then update the systems package inventory and install the main Paparazzi software dependencies. This will take some time.
 +
  sudo apt-get update  
 +
  sudo apt-get install paparazzi-dev
 +
 
 +
=== Debian ===
 +
'''Binary packages for Debian are available for the ''i386'' and ''amd64'' architectures. ''armhf'' packages seem to be currently not supported by the OpenSUSE build service.'''
 +
 
 +
For Debian Wheezy (7.0), Jessie (8.0), Stretch (9.0) and Buster (10) packages are built using the [http://openbuildservice.org/ Open Build Service (OBS)] on [https://build.opensuse.org/project/show?project=home%3Aflixr%3Apaparazzi-uav OpenSUSE Build Service project home:flixr:paparazzi-uav]
 +
 
 +
[http://software.opensuse.org/download/package?project=home:flixr:paparazzi-uav&package=paparazzi-dev Install paparazzi-dev]
 +
 
 +
First add the key:
 +
wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/Release.key" -O- | sudo apt-key add -
 +
 
 +
Add the appropriate repo, depending on your Debian version to sources.list
 +
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/ ./" | tee -a /etc/apt/sources.list
 +
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_9.0/ ./" | tee -a /etc/apt/sources.list
 +
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_8.0/ ./" | tee -a /etc/apt/sources.list
 +
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/ ./" | tee -a /etc/apt/sources.list
 +
 
 +
Update the systems package inventory and install the main Paparazzi software dependencies.
 +
  sudo apt-get update  
 
  sudo apt-get install paparazzi-dev
 
  sudo apt-get install paparazzi-dev
sudo apt-get install paparazzi-arm7
 
  
As stated before it is not recommended to install both <tt>paparazzi-bin</tt> <b>and</b> <tt>paparazzi-dev</tt>. While the <b>bin</b> package is self-contained and should be sufficient for users who do not want to patch the code, the <b>dev</b> meta-package provides only the tools to compile the source code which must be separately downloaded, from an archive or the CVS repository.
+
== ARM embedded toolchain ==
 +
 
 +
For current Paparazzi versions (v5.0 and above) the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended, which also supports the STM32F4 with FPU (hardware floating point).
 +
 
 +
=== gcc-arm-none-eabi as Debian/Ubuntu package ===
 +
 
 +
'''This is the recommended method'''
 +
 
 +
Note that there are actually two '''different''' toolchains available!
 +
* [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain] with Debian package name ''gcc-arm-embedded''
 +
** includes libstdc++ and newlib-nano
 +
* [https://packages.debian.org/jessie/gcc-arm-none-eabi Debian gcc-arm-none-eabi toolchain]
 +
** does not include libstdc++
 +
** does not include newlib-nano
 +
 
 +
Both toolchains ''should'' work for most use-cases (if you don't need C++ or nano specs), although the [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain] is better tested.
  
 +
==== gcc-arm-embedded toolchain ====
  
==== Optional/Obsolete Packages ====
+
'''This is the recommended toolchain'''
Users of older AVR based boards will also need the paparazzi-avr package.
 
  
==== Extra for Ubuntu ====
+
On ''most'' Ubuntu versions the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] can be installed as a debian package from the [https://launchpad.net/~team-gcc-arm-embedded/+archive/ubuntu/ppa ppa]:
 +
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
 +
sudo apt-get update
 +
sudo apt-get install gcc-arm-embedded
  
The Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:
+
<div class="toccolours mw-collapsible mw-collapsed" style="width:800px">
 +
Previously there was a PPA by terry.guo that contained this toolchain under the package name ''gcc-arm-none-eabi''
 +
<div class="mw-collapsible-content">
 +
See https://launchpad.net/gcc-arm-embedded/+announcement/13824 for details on how to switch the newer
 +
PPA and package.
 +
</div></div>
  
sudo apt-get remove brltty
+
==== gcc-arm-none-eabi Debian toolchain ====
  
=== Installation thru Synaptic Package Manager ===
+
Current Debian ('''jessie''') and Ubuntu (14.04 '''trusty''' and later) releases have the gcc-arm-none-eabi package in the official repositories ('''universe'''), and can be installed with:
* Launch ''Synaptic Package Manager'' (''Applications/System'' Tools Menu)
+
sudo apt-get update
* In '''Settings/Repositories''', add a new repository on URI = '''<nowiki>http://paparazzi.enac.fr/debian</nowiki>''', Distribution = '''etch''', Section = '''main''' . For Ubuntu, replace '''debian''' by '''ubuntu''' and '''etch''' by '''gutsy''' (or '''hardy''')
+
sudo apt-get install gcc-arm-none-eabi gdb-arm-none-eabi
* Search for <tt>paparazzi-bin</tt>, <tt>paparazzi-dev</tt>, and <tt>paparazzi-arm7</tt> packages (use the ''Search'' button)
 
* Mark them for installation (right-click on package names)
 
* Left-click on ''Apply''
 
  
== Manual Installation of Individual Packages ==
+
=== ARM gcc-arm-embedded tarball ===
Users of other Linux flavors or anyone needing manual control of each individual package can install them independently.  The list of dependencies of the Debian package is located in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/debian/control.etch?revision=1.16&view=markup <tt> debian/control.etch</tt>] file and may help users of other distributions.
+
Another way is to download and unpack the tarball and add it to your PATH:
  
The binary packages and some corresponding source tarballs can be downloaded from
+
* Download gcc-arm-none-eabi-*-*-linux.tar.bz2 from [https://launchpad.net/gcc-arm-embedded/+download External Downloads] section of ARM gcc-arm-embedded project
 +
* Unpack it to a directory of your choice
 +
* Add the bin folder in to your PATH
  
  http://paparazzi.enac.fr/debian/dists/etch/main/binary-i386/
+
e.g.:
 +
cd ~
 +
  wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q2-update/+download/gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
 +
sudo tar -vjxf gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2 -C /opt
 +
rm -r gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
 +
exportline="PATH=$PATH:/opt/gcc-arm-none-eabi-4_7-2013q2/bin"
 +
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
 +
source ~/.profile
  
For distributions using RPM packaging, the [http://packages.debian.org/unstable/source/alien alien] tool can be used to translate a .deb package into a .rpm package.
+
The file .profile will be sourced in every bash after logging out and in again. Until then,
 +
source ~/.profile
 +
can be used for every bash individually.
  
For Fedora (Core8) users, you can install the following packages from standard repository:
+
If you can not access your toolchain with PATH working, look a the [[Installation/Linux#Troubleshooting]].
* ocaml.i386
 
* ocaml-camlimages-devel.i386
 
* ocaml-lablgtk-devel.i386
 
* ocaml-xml-light-devel.i386
 
* boa.i386
 
* libgnomecanvas-devel.i386
 
* libusb-devel.i386
 
* pcre-devel.i386
 
* arm-gp2x-linux-gcc.i386
 
* arm-gp2x-linux-binutils.i386
 
* glade2.i386
 
* and gcc, make, cvs, gnuplot, imagemagik...
 
  
Then you need [http://packages.debian.org/unstable/source/alien alien] tool to convert packages from the paparazzi repository:
+
=== Old toolchain for Paparazzi v4.x and earlier ===
* ivy-c
 
* ivy-c-dev
 
* ivy-ocaml (WARNING: debian and fedora have different path for ocaml (/usr/lib/ocaml/<version> vs. /usr/lib/ocaml), so you need to move by hand the files in /usr/lib/ocaml/<version> to /usr/lib/ocaml)
 
* lpc21isp
 
  
== Installing the Source Code (not needed with paparazzi-bin) ==
+
'''For Paparazzi v4.x''' and earlier you need to install the <tt>paparazzi-arm-multilib</tt> package. It has support for both ARM7 (i.e. Tiny,TWOG,YAPA autopilot boards) as well as STM32F1 (i.e. LISA boards).<br>
After the <tt>paparazzi-dev</tt> package is installed the complete source code should be downloaded from the Subversion repository. See the [http://savannah.nongnu.org/svn/?group=paparazzi project page] at Savannah for more details. From the directory of your choice type:
+
'''This toolchain does not properly support STM32F4 based autopilots!!'''
svn co svn://svn.savannah.nongnu.org/paparazzi/paparazzi3/trunk paparazzi3
 
  
This will download all of the code and install it into <tt>paparazzi3/</tt>
+
You can install it explicitly with:
 +
sudo apt-get install paparazzi-arm-multilib
  
If you cannot use the Subversion install, daily updated tarballs can also be fetched from the [[Downloads|Downloads]] page.
+
== Optional Packages ==
  
== Launching the Software ==
+
The packages <b>lpc21isp</b> and <b>openocd</b> are normally '''automatically installed''' as they are recommended packages of paparazzi-dev, '''if not''' you can manually install them via:
 +
 +
sudo apt-get install lpc21isp openocd
  
If you are using the <tt>paparazzi-bin</tt> package or the Live-CD, just launch the <tt>paparazzi</tt> binary application and you will be guided through the installation of your personal configuration files.
+
<tt>lpc21isp</tt> is needed to serially flash the LPC2148 based autopilots (e.g. bootloader for tiny, twog, umarim), <tt>openocd</tt> is for flashing via JTAG (e.g. for Lisa boards) and debugging.
  
If you are using the source code, the first step is to compile it. From the <tt>paparazzi3</tt> directory (<tt>cd paparazzi3</tt>), run
+
== Installing and running Paparazzi ==
  
make
+
Please see [[Installation#Getting_the_Source_Code|Getting the Source Code on the general Installation page]] for details on downloading the Paparazzi source code, compiling and running it.
  
You will have to run this command after each update of the source (<tt>cvs update</tt> command).
+
== Udev rules ==
Launch the software from the <tt>paparazzi3</tt> directory with
 
  
  ./paparazzi
+
Add the appropriate [[Udev]] rule (available in fhe file ''50-paparazzi.rules'') to the USB handler. Simply copy as root <tt>conf/system/udev/rules/50-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>, e.g in a terminal:
  
From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''MJ5'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session.
+
cd <your paparazzi directory>
 +
sudo cp conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/
 +
sudo udevadm control --reload-rules
  
If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]), without using the Paparazzi Center, you must have the Paparazzi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:
+
See the [[Udev]] page for more details.
{{Box Code|/home/your_username/.bashrc|
 
export PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi3 directory''
 
export PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi3 directory''
 
}}
 
If you wish to manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:
 
export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`
 
Verify that your variables are set correctly with the following command:
 
env | grep PAPARAZZI
 
which should return the following:
 
PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi3 directory''
 
PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi3 directory''
 
  
== Setting access rights for USB download ==
+
== Troubleshooting ==
  
This may be required to flash the Paparazzi-boards directly thru USB. For flashing details, see [[Compiling]].
+
=== No access rights for USB devices ===
  
Default linux rights may not allow standard (non root) users to directly access the USB bus. You will need to make yourself a member of the plugdev "group" and then create a "rule", associated with that "group". <br>
+
Some Linux distributions, don't allow standard (non admin) users to directly access the USB bus by default. On recent Ubuntu/Debian versions the first/main user is already a member of the ''plugdev'' group which should be sufficient for most cases.<br>
Make yourself a member of the ''plugdev'' group:
+
If you have problems, make yourself a member of the ''plugdev'' and ''dialout'' groups:
  
 
  sudo adduser <your login> plugdev
 
  sudo adduser <your login> plugdev
 +
sudo adduser <your login> dialout
  
Logout and login again. Then add the appropriate rule (available ine fhe file ''10-paparazzi.rules'') to the USB handler.  Simply copy as root <tt>$PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>
+
Logout and login again.
  
sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/
+
=== arm-none-eabi-gcc: Command not found ===
 +
Appeared on Debian Wheezy 7 (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)<br/>
 +
If this error occurs, maybe the [https://packages.debian.org/de/wheezy/ia32-libs ia32-libs] are missing.
  
== Software Updates ==
+
Enable multiarch and install ia32-libs:
Paparazzi is a very rapidly evolving project and as such, you will find that variables and functions are frequently added, changed, or removed. Update your software with care and caution, and always test the functionality on the ground and in the air as some updates will affect tuning parameters. Your airframe file will not be updated by the CVS system and therefore any new or modified variable names will need to be added manually.  The compiler will usually identify the problem variables at which point you can look at some of the most recent airframe files on the CVS to find the proper syntax.  See the [[Compiling]] page for more help if needed.
+
  dpkg --add-architecture i386
<br>
+
  apt-get update
That said, keeping your software up to date is easy with the CVS system. The system will compare all source code files with the server and update any that are needed, automatically merging any minor changes that you have incorporated along the way.
+
  apt-get install ia32-libs
  
To download and automatically merge any updated source files, run the following command from your Paparazzi directory
+
=== arm-linux-gnueabi-gcc cross-compiler not found ===
cvs update -d
 
where the <tt>-d</tt> is needed to get any new directories.
 
  
After any CVS update or source code modification the code can be recompiled from ''your paparazzi3 directory'' with the following command:
+
=== Ubuntu ===
 +
apt-get install gcc-arm-linux-gnueabi
  
make
+
=== Debian ===
 +
Starting with jessie, there were [https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=771496#41 some changes] to the way cross-compilers are set up. To make it work you will have to add armel architecture and pick up some crossbuild tools.
  
The ''make'' command will only recompile portions of the software where changed have been detected. If it does not behave as expected you can deleted all compiled files and recompile from scratch with the following commands:
+
First edit your /etc/apt/sources.list and add the following line, to enable the emdebian repo:
 +
deb http://emdebian.org/tools/debian/ jessie main
  
make clean
+
Run the following command in your terminal to add the keys for it
  make
+
  curl http://emdebian.org/tools/debian/emdebian-toolchain-archive.key | sudo apt-key add -
  
See the [[Compiling]] page for more info.
+
Then you could add armel architecture and fetch the missing cross-compiler packages
 +
dpkg --add-architecture armel
 +
apt-get update
 +
apt-get install crossbuild-essential-armel
  
Users making changes to their code structure may prefer to have more control over the updating and merging process and may wish to install and use '''tkcvs''' instead which provides highlighted comparisons of any files that differ between your code and the CVS server and allows for a file by file update.
+
You could find out more about cross-toolchains in jessie on debian [https://wiki.debian.org/CrossToolchains wiki page].
  
To update your Linux distribution as well as any dependencies of Paparazzi (seldom necessary), run the following as root:
+
Note that some of your repos might not mirror embedded architectures, which would give you an error when you try to update the sources. In that case you will have to specify which architecture you do want from them by editing the corresponding entry in your sources.list file, in a way described [https://wiki.debian.org/Multiarch/HOWTO here]. Like in this example with the crunchbang repo you could specify it by adding [arch=amd64,i386] to the line, so you only enable amd64 and i386 architectures:
 +
deb [arch=amd64,i386] http://packages.crunchbang.org/waldorf waldorf main
  
sudo apt-get update
+
===arm-none-eabi-gdb: error with libncurses.so.5===
sudo apt-get upgrade
+
Appeared on Xubuntu 14.04 LTS (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)<br/>
 +
Terminal output: arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory
  
== LiveCd ==
+
If this error occurs, maybe [http://packages.ubuntu.com/search?keywords=lib32ncurses5 lib32ncurses5] is missing. <br/>
 +
Found on [https://answers.launchpad.net/gcc-arm-embedded/+question/226680 launchpad q&a]
  
The LiveCD is an easy way to test Paparazzi: no installation is required and no changes are made to your computer.  Simply burn the image as a boot CD and reboot!  The LiveCD includes Linux and the complete paparazzi binary package (code source, tools and cross compilers).  It is intended for demonstration only and not frequently updated but it contains the complete system and can store changed files on a pen drive or compressed file on your hard drive so that it can compile, flash, and operate any aircraft, albeit slowly. 
+
=== FTDI serial adapter not working on old Ubuntu version ===
 
The CD image and a howto on [[Using the Boot CD]] is available from the [[Downloads|Downloads]] page.
 
  
The Paparazzi demo is launchable on the Live CD from the Paparazzi icon.
+
On older Linux distributions (not needed for lucid and later), the Braille TTY driver interferes with FTDI USB Serial adapters. If somehow your FTDI serial adapter does not work, remove the package via:
  
Knoppix allows for all the user data to be saved on a hard disk partition (most file systems are supported) or on a removable device (typically a USB pendrive). Note that this action is not destructive: the user data tree is compressed and stored on your file system as a single file (<tt>knoppix.img</tt>).
+
sudo apt-get remove brltty
* From the Knoppix menu (second from bottom left), choose '''Configure''', '''Create a persistent KNOPPIX disk image'''
 
* Choose your media (be sure to connect your USB pendrive before booting!)
 
* Choose if you want an encrypted filesystem (to protect your flight plan designed for the next MAV competition :-) )
 
* Choose the size of your home directory (100Mb is recommended)
 
On the next reboot, this saved state will be automatically located and loaded.
 
 
 
Using this persistent feature, the Paparazzix Live CD can really be used to configure, simulate and fly an aircraft with the Paparazzi system.
 
  
The Live CD can also be used to install a Debian system on the hard disk, using the <tt>knoppix-installer</tt> command. Be sure to backup the hard disk before trying ...
+
=== Code not starting on autopilot after changing gcc ===
  
 +
If you changed the toolchain (e.g. installed a new one for having FPU-Support for the F4), you need to run
  
[[Image:Lightscribe_CD_Cover_1.JPG|thumb|320px|LightScribe CD Cover]] A LiveCD needs some looks... In color or in LightScribe format, your CD will always look cool.
+
make clean && make
* Get the PDF version for download here [http://paparazzi.enac.fr/wiki_images/Lightscribe_CD_Cover_1.pdf LightScribe CD Cover 1].
 
  
* The LightScribe version is in Nero Cover Design format (.ncd) and it's here for download [http://paparazzi.enac.fr/wiki_images/Lightscribe_CD_Cover_1.zip LightScribe CD Cover 1]
+
in sw/ext in order to rebuild the libs. Otherwise the embedded code can behave strange (most likely not start)
  
* Better is ofcourse to use it on an OpenSource OS, some Linux software to be found here: [http://www.lightscribe.com/downloadSection/linux/index.aspx?id=815]
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[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]

Latest revision as of 08:55, 5 February 2020

This page only describes the installation of the prerequisite tools and dependencies on Debian/Ubuntu needed for Paparazzi.

See the general Installation page for how to download Paparazzi and launching it after you followed the instructions here.

Introduction

Paparazzi is very easily installed on any laptop or workstation running Ubuntu, Debian (or any of their derivatives).

The steps required to install the software needed to be able to let your UAS fly

Users of other Linux flavors than a recent Ubuntu or Debian and anyone needing manual control of each individual package can install them independently.

For the impatient

For Ubuntu add the paparazzi-uav ppa sudo add-apt-repository ppa:paparazzi-uav/ppa and install the paparazzi-dev package.

Since Paparazzi v5.0 the gcc-arm-embedded toolchain is recommended. Available as of Ubuntu 14.04, on older versions it can be installed via tarball.

Or just use the Quickstart for Ubuntu 12.04 LTS.

Installation video Tutorials

Installation of dependencies

Ubuntu

Binary packages for Ubuntu are available for the i386, amd64 and armhf architectures.

Add the installation sources for the Paparazzi software packages. Run from a terminal:

sudo add-apt-repository ppa:paparazzi-uav/ppa

Then update the systems package inventory and install the main Paparazzi software dependencies. This will take some time.

sudo apt-get update 
sudo apt-get install paparazzi-dev

Debian

Binary packages for Debian are available for the i386 and amd64 architectures. armhf packages seem to be currently not supported by the OpenSUSE build service.

For Debian Wheezy (7.0), Jessie (8.0), Stretch (9.0) and Buster (10) packages are built using the Open Build Service (OBS) on OpenSUSE Build Service project home:flixr:paparazzi-uav

Install paparazzi-dev

First add the key:

wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/Release.key" -O- | sudo apt-key add -

Add the appropriate repo, depending on your Debian version to sources.list

echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_9.0/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_8.0/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/ ./" | tee -a /etc/apt/sources.list

Update the systems package inventory and install the main Paparazzi software dependencies.

sudo apt-get update 
sudo apt-get install paparazzi-dev

ARM embedded toolchain

For current Paparazzi versions (v5.0 and above) the gcc-arm-embedded toolchain is recommended, which also supports the STM32F4 with FPU (hardware floating point).

gcc-arm-none-eabi as Debian/Ubuntu package

This is the recommended method

Note that there are actually two different toolchains available!

Both toolchains should work for most use-cases (if you don't need C++ or nano specs), although the ARM gcc-arm-embedded toolchain is better tested.

gcc-arm-embedded toolchain

This is the recommended toolchain

On most Ubuntu versions the gcc-arm-embedded toolchain can be installed as a debian package from the ppa:

sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt-get install gcc-arm-embedded

Previously there was a PPA by terry.guo that contained this toolchain under the package name gcc-arm-none-eabi

See https://launchpad.net/gcc-arm-embedded/+announcement/13824 for details on how to switch the newer PPA and package.

gcc-arm-none-eabi Debian toolchain

Current Debian (jessie) and Ubuntu (14.04 trusty and later) releases have the gcc-arm-none-eabi package in the official repositories (universe), and can be installed with:

sudo apt-get update
sudo apt-get install gcc-arm-none-eabi gdb-arm-none-eabi

ARM gcc-arm-embedded tarball

Another way is to download and unpack the tarball and add it to your PATH:

  • Download gcc-arm-none-eabi-*-*-linux.tar.bz2 from External Downloads section of ARM gcc-arm-embedded project
  • Unpack it to a directory of your choice
  • Add the bin folder in to your PATH

e.g.:

cd ~
wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q2-update/+download/gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
sudo tar -vjxf gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2 -C /opt
rm -r gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
exportline="PATH=$PATH:/opt/gcc-arm-none-eabi-4_7-2013q2/bin"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
source ~/.profile

The file .profile will be sourced in every bash after logging out and in again. Until then,

source ~/.profile

can be used for every bash individually.

If you can not access your toolchain with PATH working, look a the Installation/Linux#Troubleshooting.

Old toolchain for Paparazzi v4.x and earlier

For Paparazzi v4.x and earlier you need to install the paparazzi-arm-multilib package. It has support for both ARM7 (i.e. Tiny,TWOG,YAPA autopilot boards) as well as STM32F1 (i.e. LISA boards).
This toolchain does not properly support STM32F4 based autopilots!!

You can install it explicitly with:

sudo apt-get install paparazzi-arm-multilib

Optional Packages

The packages lpc21isp and openocd are normally automatically installed as they are recommended packages of paparazzi-dev, if not you can manually install them via:

sudo apt-get install lpc21isp openocd

lpc21isp is needed to serially flash the LPC2148 based autopilots (e.g. bootloader for tiny, twog, umarim), openocd is for flashing via JTAG (e.g. for Lisa boards) and debugging.

Installing and running Paparazzi

Please see Getting the Source Code on the general Installation page for details on downloading the Paparazzi source code, compiling and running it.

Udev rules

Add the appropriate Udev rule (available in fhe file 50-paparazzi.rules) to the USB handler. Simply copy as root conf/system/udev/rules/50-paparazzi.rules to /etc/udev/rules.d/, e.g in a terminal:

cd <your paparazzi directory>
sudo cp conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules

See the Udev page for more details.

Troubleshooting

No access rights for USB devices

Some Linux distributions, don't allow standard (non admin) users to directly access the USB bus by default. On recent Ubuntu/Debian versions the first/main user is already a member of the plugdev group which should be sufficient for most cases.
If you have problems, make yourself a member of the plugdev and dialout groups:

sudo adduser <your login> plugdev
sudo adduser <your login> dialout

Logout and login again.

arm-none-eabi-gcc: Command not found

Appeared on Debian Wheezy 7 (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)
If this error occurs, maybe the ia32-libs are missing.

Enable multiarch and install ia32-libs:

dpkg --add-architecture i386
apt-get update
apt-get install ia32-libs

arm-linux-gnueabi-gcc cross-compiler not found

Ubuntu

apt-get install gcc-arm-linux-gnueabi

Debian

Starting with jessie, there were some changes to the way cross-compilers are set up. To make it work you will have to add armel architecture and pick up some crossbuild tools.

First edit your /etc/apt/sources.list and add the following line, to enable the emdebian repo:

deb http://emdebian.org/tools/debian/ jessie main

Run the following command in your terminal to add the keys for it

curl http://emdebian.org/tools/debian/emdebian-toolchain-archive.key | sudo apt-key add -

Then you could add armel architecture and fetch the missing cross-compiler packages

dpkg --add-architecture armel
apt-get update
apt-get install crossbuild-essential-armel

You could find out more about cross-toolchains in jessie on debian wiki page.

Note that some of your repos might not mirror embedded architectures, which would give you an error when you try to update the sources. In that case you will have to specify which architecture you do want from them by editing the corresponding entry in your sources.list file, in a way described here. Like in this example with the crunchbang repo you could specify it by adding [arch=amd64,i386] to the line, so you only enable amd64 and i386 architectures:

deb [arch=amd64,i386] http://packages.crunchbang.org/waldorf waldorf main

arm-none-eabi-gdb: error with libncurses.so.5

Appeared on Xubuntu 14.04 LTS (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)
Terminal output: arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory

If this error occurs, maybe lib32ncurses5 is missing.
Found on launchpad q&a

FTDI serial adapter not working on old Ubuntu version

On older Linux distributions (not needed for lucid and later), the Braille TTY driver interferes with FTDI USB Serial adapters. If somehow your FTDI serial adapter does not work, remove the package via:

sudo apt-get remove brltty

Code not starting on autopilot after changing gcc

If you changed the toolchain (e.g. installed a new one for having FPU-Support for the F4), you need to run

make clean && make

in sw/ext in order to rebuild the libs. Otherwise the embedded code can behave strange (most likely not start)