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, OCAML, and Perl compilers as well as some XML and Ivy handlers.
- 1 Setting your Environment Variables
- 2 Installation on Debian
- 3 Launching the Software
- 4 Recompiling
- 5 Manual Installation of Individual Packages
- 6 Software Updates
- 7 LiveCd
Setting your Environment Variables
Before launching the GCS or compiling anything 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:
export PAPARAZZI_HOME=/home/your_username/paparazzi3 export PAPARAZZI_SRC=/home/your_username/paparazzi3
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:
Installation on Debian
Paparazzi is packaged for Debian as well as all of its dependencies. The repository hosted at ENAC holds their latest version.
Installation from the Command Line
Just add the following line(s) to your repository list (/etc/apt/sources.list). Note: etch users must include both sarge and etch lines.
deb http://www.recherche.enac.fr/paparazzi/debian sarge main #if needed deb http://www.recherche.enac.fr/paparazzi/debian etch main
Then, update your sources and install the precompiled binaries as well as the dependencies needed for recompiling:
apt-get update apt-get install paparazzi-bin apt-get install paparazzi-base apt-get install paparazzi-dev apt-get install paparazzi-arm7
Installation thru Synaptic Package Manager
- Launch Synaptic Package Manager (Applications/System Tools Menu)
- In Settings/Repositories, add a new repository on URI = http://www.recherche.enac.fr/paparazzi/debian, Distribution = sarge, Section = main
- Users of current linux versions must also add http://www.recherche.enac.fr/paparazzi/debian, Distribution = etch, Section = main (both Sarge and Etch are needed)
- Search for paparazzi-bin, paparazzi-base, paparazzi-dev, and paparazzi-arm7 packages (use the Search button)
- Mark them for installation (right-click on package names)
- Left-click on Apply
Users of older AVR based boards will also need the paparazzi-avr package.
Installing the Source Code
After the dependency packages are installed the complete source code should be downloaded from the CVS. See the project page at Savannah for more details. From /home/your_username/ type:
cvs -z3 -d:pserver:firstname.lastname@example.org:/sources/paparazzi co paparazzi3
This will download all of the code and install it into /home/your_username/paparazzi3/
If you cannot use the CVS install, occasionally updated tarballs can also be fetched from the Downloads page.
For USB download as non root you need permission to access the "raw" USB bus. You should be member of the dialout group and tell the system to allow access by copying a recent version of the file "10-paparazzi.rules" as root from $PAPARAZZI_HOME/conf/system/udev/rules/ to /etc/udev/rules.d
Extra for Ubuntu 7.04
The Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:
sudo apt-get remove brltty
Launching the Software
Make sure your environment variables are set correctly and launch the software from /home/your_username/paparazzi3/ with:
After any CVS update or source code modification the code can be recompiled from /home/your_username/paparazzi3/ with the following command:
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:
make clean make
See the Compiling page for more info.
Manual Installation of Individual Packages
Users of Ubuntu or 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 debian/control file and may help users of other distributions.
wget http://www.recherche.enac.fr/paparazzi/debian/dists/sarge/main/binary-i386/libsubject-perl_2.00_all.deb wget http://www.recherche.enac.fr/paparazzi/debian/dists/etch/main/binary-i386/xml-light-ocaml_2.1-2_i386.deb wget http://www.tls.cena.fr/products/ivy/download/packages/ivy-perl_4.21_all.deb wget http://www.tls.cena.fr/products/ivy/download/packages/ivy-c_3.9.2-1_i386.deb wget http://www.tls.cena.fr/products/ivy/download/packages/ivy-c-dev_3.9.2-1_i386.deb wget http://www.recherche.enac.fr/paparazzi/debian/dists/etch/main/binary-i386/ivy-ocaml_1.1-2_i386.deb wget http://www.recherche.enac.fr/paparazzi/debian/dists/etch/main/binary-i386/paparazzi-base_3.1-2_i386.deb wget http://www.recherche.enac.fr/paparazzi/debian/dists/etch/main/binary-i386/paparazzi-bin_3.1-2_i386.deb wget http://www.recherche.enac.fr/paparazzi/debian/dists/etch/main/binary-i386/paparazzi-dev_3.1-2_i386.deb sudo dpkg -i libsubject-perl_2.00_all.deb sudo dpkg -i xml-light-ocaml_2.1-2_i386.deb sudo dpkg -i ivy-ocaml_1.1-2_i386.deb sudo dpkg -i ivy-perl_4.21_all.deb sudo apt-get install perl-tk sudo apt-get -f install sudo dpkg -i paparazzi-base_3.1-2_i386.deb sudo dpkg -i paparazzi-bin_3.1-2_i386.deb sudo dpkg -i paparazzi-dev_3.1-2_i386.deb mkdir -p $USER/paparazzi3/conf/ paparazzi
Then follow the source install installation instructions above with cvs and after building the cvs paparazzi execute the ./paparazzi in the cvs distribution to get paparazzi-center as above. Note: compiling and loading the AP will fail on ubuntu unless you have installed an arm-elf-gcc cross tool chain. NEW Paparazzi users who are also new to Debian, may prefer the Ubuntu distribution (based on Debian) as it allows an easier entry to paparazzi goodness then a "pure" debian distribution for the novice while allowing access to all of Debian's wizardry as you become more experienced.
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.
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.
To download and automatically merge any updated source files, run the following command from your Paparazzi directory
cvs update -d
where the -d is needed to get any new directories.
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.
To update your Linux distribution as well as any dependencies of Paparazzi (seldom necessary), run the following as root:
apt-get update apt get upgrade
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.
The CD image is available from the Downloads page.
The Paparazzi demo is launchable on the Live CD from the Paparazzi icon.
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 (knoppix.img).
- 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 knoppix-installer command. Be sure to backup the hard disk before trying ...