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== Airframe file and brief presentation of the build system == ...the build system to generate one header and one makefile ( var/my_vehicle/airframe.h and var/my_vehicle/Makefile.ac ).

.... For fixed wing IMU like Asprin or ppzimu you'll want to use the settings file:tuning_ins.xml. ...xml" settings file. Then your radio XML file and then lastly the Telemetry file: default_fixedwing_ins.xml

airframe="airframes/twinstar1.xml" airframe="airframes/plaster1.xml"

...witchable modes in your [[Rotorcraft_Configuration#XML_Parameters|airframe file]]. Moreover, the mode associated to AUTO2 can be changed in the Settings ta The '''MANUAL''' flight mode is for directly controling your airframe by your transmitter.

...ile. It describes the sub-configuration files that are responsible for the airframe, the RC transmitter (radio), the telemetry messages/rate, the settings poss There is an example configuration file conf/conf.xml.sumo that you can rename to conf/conf.xml and start with. It

...ld everything. The second Paparazzi autopilot was received and an airframe file has been started for the new plane. (Nick)

airframe file: <!DOCTYPE airframe SYSTEM "../../airframe.dtd">

This module allow to control a camera mounted on the rotorcraft type airframe. The tilt motion can be controlled with a servo, while the pan motion is co Most of the parameters are set from your airframe file with a CAM section. The possible options are described in the generated doc

*vi opens the .list file to edit in the /conf directory, there is one xml (controlpanel.xml) file that launches the required programs for the paparazzi. (you can edit it wi

=Airframe= ...er make four (4x) an airframe configuration, you can use the same airframe file for all since AC_ID makes the difference

The airframe file needs to be altered to use the right serial ports. You usually want to use the ap build target. However, the default airframe files need to be tweaked for your modem baud rates and tiny model.

...o <tt>code_unit</tt> and then written to the <tt>generated/airframe.h</tt> file ...macros and converts it to the correct unit when reading from the airframe file. When saving the new value it will be correctly written without that macro.

...le every time new data is available, set SENSOR_SYNC_SEND in your airframe file. If you omit SENSOR_SYNC_SEND from your airframe file, you will still get the data, but at 1/10 of the available rate.

airframe file: telemetry file:

...hat the gyro board can be physically interfaced with the PPZ, the airframe file must be updated. Add the following lines to the Makefile portion of the airframe file to include the gyro code:

Either arrow can be forward. Follow Wiki airframe configuration file ...file. For more information look in ( ~/paparazzi3/sw/airborne/infrared.c ) file on your system.

To use the temperature sensor add the module to your airframe file. ...t when new data is received, it does not have to be added to the telemetry file.

[[File:tudelft_logo.jpg|left|120px|link=http://mavlab.lr.tudelft.nl/en/]] [[File:1bitsquared_logo.png|left|120px|link=http://1bitsquared.com]]

Settings file ==Airframe Adjustments==

To use the temperature sensor add the module to your airframe file. ...t when new data is received, it does not have to be added to the telemetry file.

Settings file == Airframe Adjustments ==

...uration#Firmware_and_Hardware_definitions|firmware section of the airframe file]]. ...is possible to safely replace ''subsystem'' by ''module'' in your airframe file. The roadmap of Paparazzi is to convert existing subsystems to [[modules]].

...and click upload. The configuration can be found as LOGGER in the example file conf/conf.xml.sumo ...ght need to reflash the logger in case you accidently overwrite it with an airframe configuration. That should not happen again as the USB connectors are clear

=== In the airframe file === ...ew module for an aircraft, add a section '''modules''' in his airframe xml file :

** flight description (present textfield at file upload or summary page or both?) *** list of airframe files extracted from logs (stored as files or in git or something?)

The HobbyKing Bixler is a very inexpensive airframe with very easy flight characteristics and reasonable payload capacity. Its == Airframe configuration ==

= Not Really a File System = [[File:NrafsOverview.png]]

=== Airframe configuration === ...ly do by adding to your firmware section the following instructions (in an airframe based on ardrone2_raw.xml for instance):

...the sensors data in the log file set the SENSOR_SYNC_SEND in your airframe file. Every time new data is available it will be sent directly. For pressure re Unfortunately only the raw values are written to the log file (to be changed), they need to be multiplied by the coefficient given in con

...the sensors data in the log file set the SENSOR_SYNC_SEND in your airframe file. Every time new data is available it will be sent directly. ...lues (d1/d2) and the corrected ones (pressure/temp) are written to the log file.

...located in <tt>conf/settings/</tt>. A <tt>dl_setting</tt> element in this file associates [[GCS#Settings|buttons or sliders in the GCS interface]] to auto .../tt> element allows to specify the corresponding parameter in the airframe file in order to save a tuned value:

...of <code>name="setup"</code>. If it doesn't already exist in your airframe file, just add it. ...ollowing command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:

...ilot formal description, included to the [[Airframe_Configuration|airframe file]] and leading to code generation. ...ption is done in a XML file, and when adding the autopilot to the airframe file, C code will be automatically generated and integrated to the airborne code

[[File:PPRZ_Twoga_Logga_SD_Logger.jpg|200px|thumb|left| Twoga Logga resting after ...ile system. The telemetry data is converted to the standard .data and .log file with a Paparazzi tool. Logging can be started again through a long press of

...the sensors data in the log file set the SENSOR_SYNC_SEND in your airframe file. Every time new data is available it will be sent directly. Sample log file lines

[[File:LisaSD.jpeg|thumbnail|Lisa/SD module]] [[File:Microsd_pinout.png|left|microSD pinout ([http://elasticsheep.com/2010/01/re

...the sensors data in the log file set the SENSOR_SYNC_SEND in your airframe file. Every time new data is available it will be sent directly. Sample log file lines

...plane is facing north when the sensor is at 45 degrees (equals a 1 in the airframe config) the thermopile's do not point north south east and west but rather These are set in the AUTO1 section of the airframe file and are the maximum allowed pitch and roll in auto1 mode.. These are by def

...gle.com/p/ardu-imu/wiki/HomePage?tm=6 ArduIMU+ V2 (flat)] into an existing Airframe/Paparazzi-Code. #There is an other airframe/main-AP we wrote which uses a magnetometer for yaw-drift compensation. We h

...zontal field of view and vertical field of view can be set in the airframe file:

...is 10 pulses) and a decoded servo #1. Use RC_FUTABA in your airframe conf file if you see a signal like this (pulses go "high"). ...rent transmitters, choose one that mostly resembles yours. Then adjust the file so it is tailored to your situation. Here, also no trim should be used. Giv

=== Airframe configuration === ...he following to the end of the "VERTICAL CONTROL" section of your airframe file:

...w "xml only airframes" syntax. Just want to quickly convert your tiny/twog airframe then go [[User/AirborneCodeReorg#In_Brief|here (Brief)]] ...i needs significant reorganization. To make this possible without breaking airframe files, the 'subsystem' idea introduced in booz is now generalized to all ai

And you need to add a <tt><makefile></tt> section to your airframe file and add the correct flags to point to the include files and libraries, depe * If you get an error like "undefined reference to `pcre_compile'", edit file conf/Makefile.jsbsim, look for the line that begins with LDFLAGS and add -l

...information on the Firmware, Subsystems and Modules can be found on the [[Airframe Configuration]] page. ...is possible to safely replace ''subsystem'' by ''module'' in your airframe file. The following describes the original description of the legacy subsystems.

To use the temperature sensor add the module to your airframe file. ...t when new data is received, it does not have to be added to the telemetry file.

...oby.h'. This file is included by adding the following line to the airframe file: ...ding on which propellers are mounted where, you need to edit your airframe file (in the supervision section). Our mapping looked like this:

[[File:MessagesGen.png|600px|Communication messages generation from XML class file When '''alt_unit_coef''' is not specified, the system goes to the file <tt>conf/units.xml</tt> to try to find the conversion factor.

[[File:Sitl.png|550px|thumb|right|Software-in-the-loop (SITL) autopilot testing bl [[File:Hitl.png|600px|thumb|right|Hardware-in-the-loop (HITL) autopilot testing bl

<div style="float: right; width: 45%; overflow: hidden">[[File:Pixhawk 1 v2.4.jpg|thumb|Pixhawk 1 v2.4]]</div> .../paparazzi/paparazzi/blob/master/conf/airframes/tudelft/iris_indi.xml Iris airframe] )

...'). Most of these can be used, all caps, in the [[Airframe Configuration]] file in order to define the default values of these variables. If you see all ca ...lpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in <tt>var/<AIRCRAFT_NAME>/<TARGET>/generated/flight_plan.h</tt>.

...borne/modules/loggers/high_speed_logger_direct_memory.c. At the top of the file you will have a section containing all the parameters that you can change. ...o load the module "'''high_speed_logger_direct_memory'''" in your airframe file. You might want to be certain of the frequency at which the module is calle

...e world (see conf/simulator/gazebo/worlds/ardrone.world or any other world file you might find there). ===Airframe===

Now create a new A/C with the logger airframe. Although they will not be used, you still need to supply dummy files for F Renaming produced file ...

[[File:Iris.jpg|thumb|The 3DR Iris+ with 3DR radio and 3DR RC receiver]] In order to use the <i>RC direct mode</i>, a change is required in the airframe xml configuration. Comment or temporarily remove the following line:

Now you only have to declare a servo in your airframe.xml that you e.g. in my airframe file I have:

*you want to use the exact same airframe file as in a [[TWOG]]

== Airframe integration == Following code needs to be added to the airframe conf:

...nt and the period of each message as defined in your [[Telemetry|telemetry file]], e.g. <tt>conf/telemetry/default.xml</tt>. Those wishing to experiment w Simply choose the <tt>transparent_usb</tt> telemetry type in your airframe file:

...there are several hyperparameters that can be set. These can be set in the file: PAPARAZZI_HOME/sw/tools/rl_obstacle_avoidance/rl_obstacle_avoidance_critic === Airframe file ===

* Build and test an airframe you wish to simulate as usual on the local machine, and test it quickly by ...w about the freshly compiled airframe. So, copy the <tt>conf/conf.xml</tt> file from the local machine to the BBB, and also the whole <tt>var/</tt> folder

[[File:Win+papa.jpg|250px|thumb|right]] [[File:Installing.png|450px]]

(gdb) file – load an executable file #: On LPC target build your ap file with debug options. See https://github.com/elemhsb/paparazzi/blob/v4.0/conf

...map/data downloaded to ground station/groundbot via xbee or wifi or what? file transfer or socket? raw data options? | 2 || start flying mentor airframe || Maiden manual flight accomplished. autonomous flying now working || x ||

...before you go fly like configuring your XML definition file detailing your airframe configuration. There is help here for that: [[Airframe_Configuration]] ...omatically set in your shell by adding the following lines to your .bashrc file:

...default installation of paparazzi, and can be easily found in the default airframe paparazzi center dropdown as "Bumblebee_Quad".<br/> * What do the Airframe, Flight Plan, Settings, Radio and Telemetry xml files do?

..."myuserid_minimal_telemetry_messages.xml" and make a symbolic link to this file via "cd ~/paparazzi/conf/ && mv -v message.xml org.messages.xml && ln -s ./ ...shed ''message.h'' is generated in the ''~/paparazzi/var'' directory. This file will then be compiled and linked into your autopilot airborne executable.

[[File:ECU beta project poster 2017.jpg|500px|thumb|right|ECU beta project poster] [[File:Vms_ecu_car.JPG|250px|thumb|right|ECU installed in the race car]]

...lt show a list of log file in date order, where the last one is mostly the file you need for the calculation process. # Rotate your IMU/airframe into different attitudes to record relevant measurements for each axis.

* RC BAD AND AUTOPILOT DATA TIMEOUT: failsafe command values from airframe configuration XML<br/>(do not omit to fill in useful failsafe values in the ...plan.h'') from the ''max_dist_from_home'' attribute of the flight plan xml file.

== Airframe Setup == Firstly you should choose correct airframe. If you're novice to copters quadrotor will be a good choice for several re

* The battery pig tale to the motor adaptor kit PCB [[File:Soldering.JPG|thumb|none|Soldering]] ...PCB with the Lisa/S PCB using the 2 mm toothpicks and solder the 6 pads [[File:Solder_Adaptor_to_LisaS.jpg|thumb|none|Soldering the motor adaptor to the L

..._UCENTER as TRUE in your [[Airframe_Configuration|airframe configuration]] file. See the example below for more details. ...[[Modules|module]] to the "modules" section in your aircraft configuration file:

File:Turntable rig.JPG|Turntable rig </airframe>

...lp of one XML file, located in the <tt>conf/telemetry</tt> directory. This file is referenced by <tt>conf/conf.xml</tt> and must follow the Where id="54" has to be unique. To find an new ID to use there is a script file located at ${PAPARAZZI_HOME}/sw/tools/find_free_msg_id.out (yes it is reall

[[File:Dual linear servos.jpg]] [[File:Dual_pulse.png]]

:and '''save the iso-file''' [http://www.recherche.enac.fr/paparazzi/paparazzix/paparazziX_Mas2008.is :The file called [http://www.recherche.enac.fr/paparazzi/paparazzix/paparazziX_Mas200

...es functions in the flight plan. By adding a navigation capability to your airframe. The flight plan now has extra functionality that can be used. ...you need to change the navigation subsystem type to extra in your airframe file. The navigation extra subsystem includes extra navigation routines like OSA

To make this the default flash method add this in the airframe file firmware section: $ ./stm32_mem.py blackmagic-XXXX.bin (this is the .bin file you downloaded in previous step)

== Example Airframe Section == Below you can see an example of how INDI can be configured in the airframe file:

=Airframe file= Multiple targets in one airframe file: AP, FPV race, ACRO

generated var/FJ1/airframe.h * airframe configuration file ( airframe.xml ) which "compiled" to C files and Makefile

sudo apt-get install medit gtkterm git-core ssh apt-file vim ...erl libxml-twig-perl libdigest-hmac-perl libdigest-sha1-perl libdigest-md5-file-perl

In the default value that an Elle0 airframe file will assume is the before mentioned 10k Ohm - 2.2k Ohm voltage divider. To ...V. Also you will have to adjust the multiplication factor in your airframe file.

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]] [[File:rvpic.png|thumb|right|Return vehicle prototype]]

...guration file and contains all the hardware and software settings for your airframe. It describes what hardware you have and which firmware, sensors, algorithm ...yourairframe>.xml</tt> and always begins with a <!DOCTYPE airframe SYSTEM "airframe.dtd"> line and should look like this

...m/how/ See How It Flies, by John S. Denker] is very beneficial to get your airframe tuned well. ...operly aligned and that [[Tuning#Trim|your trim values are in the airframe file and not the RC-transmitter]]

[[File:Copilot.png|1000px|thumb|center|System diagram showing the autopilot, missi ...Installation]]. Then select ''Minion Lia'' airframe. You can use any other airframe too, just make sure you are using the [https://github.com/paparazzi/paparaz

...nificant source is rotating machinery, i.e. the primary powerplants in the airframe. * Flutter or resonance in flight surfaces and airframe

[[File:Parrot_blaze_overview.jpg|300px|frameless|thumb|none|Parrot Blaze]] * Swing [[File:SWING.png|400px|frameless|thumb|right|Parrot Swing]]

...ge the look and add functionality. One only need to change a configuration file. For example, the look when using the configuration GCS setting for Paparaz * '''Realtime''' Airframe '''in Air tuning''' and calibration

This XML file, usually located in the <tt>conf/radios</tt> directory, contains a descript ...d by the autopilot to compute a normalized input from the PPM signal (this file is preprocessed and the produced code is included in the airborne code). No

# In the Paparazzi center choose "Xvert" in the airframe dropdown menu [[File:Xvertboardtop.png|thumb|Top view XVert board]]

The left part of the configuration page is an editor for the [[Conf.xml]] file. A new aircraft can be added from the A/C menu. The current aircraft can be ...neously selected for the '''Settings''' attribute (use the CRTL key in the file selector)

...the left aileron servo. Left side is left is as seen from the back of the airframe. And to pin S5 we connect the right aileron cable ...ver comes in very handy. One must realize without a receiver an well tuned airframe can fly very well, however for initial tests adding a receiver makes life s

...tter is essential to have it all working as it should. The setting in this file a direcly related to the settings in your physical RC transmitter. ...radio parameters for Lisa/M or Lisa/L ap in ~/paparazzi/conf/airframes.xml file. Check 'esden' directory as a possible rotorcraft example. Refer to ~/papar

Add the '''nps''' target to your [[Airframe_Configuration|airframe]] with the fdm you want to use: You can also take a look at the example airframe [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples

...eason, you must add the following to the firmware section of your airframe file:

...the fixedwing firmware</b></span> in the [[Airframe_Configuration|airframe file]]. ...nels of the RC transmitter (defined in the [[Radio_Control|Radio Control]] file) to the <tt>commands</tt> defined above:

[[File:tudelft_logo.jpg|left|150px|link=http://tudelft.nl/en/]] [[File:1bitsquared_logo.png|left|150px|link=http://1bitsquared.com]]

Airframe XML configuration file: Telemetry XML configuration file (optional):

...we can't change anything in the airborne code without breaking everybody's airframe | airframe.xml

...g the complex routines and using altitudes and waypoints from the ''User'' file ...buttons are pressed. Altitude/locations could be relative to the ''User'' file

[[File:tcas_nego.png]] Add a Configuration block like this in all your airframe configuration XML document

...tloader''' and is used for [[Lisa/M v2.0]] to be able to simply upload new airframe an flightplans to the autopilotboard. [[File:Luftboot.gif|320px]]

...o properly support hybrid aircraft. The hardware required for each type of airframe is essentially the same, and software uses many of the same elements with s === The Airframe ===

...to "programs" section of 'path_to_paparazzi_folder/conf/control_panel.xml' file. ...''This option will work only if an airspeed sensor is defined in airframe file.''

sudo apt-get install libxpm-dev swig libxmu-dev libxt-dev apt-file libxt6 libxt-dev pax tar tcl-dev tk-dev libbz2-dev freeglut3-dev qtcreator ...er works perfectly on my karmic pc and I noticed that there a firmware bin file was being requested, i copied it over to the gumstix in /lib/firmware but s

[[File:Alpha_ESC.jpg|frameless|Left|Alpha ESC]] An example to ad to your airframe:

...efined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the ne ...ider adding the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] to your airframe instead. If automatic configuration does not work for you please make an is

...ation. It handles flight monitoring, firmware loading & configuration, log file replays and video display. It is approximately a 15MB download, and also ru ==== Airframe configuration====

[[file:PPRZ_Environment_settings_Gaia_GUI_up.png]] ...e a the failsafe roll, pitch and throttle settings defined in the airframe file. Note that in a real flight, an aircraft without GPS won't be able to send

...alid GPS heading. If you happen to have a 3axis magnetometer build in your airframe for getting the heading values, maintaining a certain GPS speed for getting ....xml module], e.g. put these lines in the modules section of your airframe file:

* hi-cap power designed to give enough time to cleanly save buffer and close file(s) when power outage detected ...ia:Apogee_v100_BoM.zip|Download Apogee v1.00 Bill of Material (zipped .xls file)]]'''''

The formal description of the flight plan file is given in the [http://en.wikipedia.org/wiki/Document_Type_Definition '''D ...tt>NOT</tt> in this example. In regular language one would describe "If my airframe is NOT inside the MyBigGarden sector anymore then deroute it to the standby

[[File:Pprz communication agents.gif]] ...RZLINK. When using with Paparazzi, it is also possible to use an temporary file placed in the ''conf'' folder. If not present, the default set is used.

...he rotorcraft firmware</b></span> in the [[Airframe_Configuration|airframe file]]. ...to max speed set with REF_MAX_SPEED in the GUIDANCE_H section of airframe file.

'''''Download Lisa/L Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/L#Downloads|Downloads]]'' In the target section of the airframe file.

Lastly, enter the results into your airframe file as H_X, H_Y, and H_Z: This way, wherever you fly on the planet, no need to update your airframe file every time.

...ors are strongly suggested.'' See the [[Gallery|User's Gallery]] for some airframe examples. ...trol climb rate by default. You can fit an airspeed sensor and adjust your airframe configuration to maintain airspeed instead.

[[File:redundant_session.png|alt=Agents in Redundant Link Session|700px|thumb|cent [[File:redundant_link_gcs.png|alt=Changes to the GCS when redundant links are used

[[File:gvfGif.gif|center]] [[File:GVF.png|center]]

...ur modems will likely result in poor throughput and data loss between your airframe and your ground control station. If this is the case you may see errors on Even with the xbee868.xml telemetry file, XBee868s will not last over 6 minutes. There is a special 868 build flag (

...7 and 8 just set the <define name="USE_SERVOS_7AND8"/> in your airframe file and you are good to go. For this to work one must make sure to have the lat [[File:LisaM_V2_0_wiring_quadrocopter_spektrum_bec_pwmesc.png|700px]]

# In the Paparazzi center choose "Bebop" Or "Bebop2" in the airframe dropdown menu * Photo file format: RAW, DNG

Airframe in the svn currently running on lisa/L ...airframe for an hexarotor using mikrokopter controller and booz2_a7 is an airframe for an asctec using asctec controllers.

app_server.c:42:10: fatal error: 'libxml/xmlreader.h' file not found ...ivers for lisas programming interface. Windows and Mac OS X don't use this file so they can only use vendor id and product id.

...with a receiver can be used. This is essential for testing and tuning your airframe. For this to work the received steering commands have to leave the receiver ...s as well on LPC and STM based boards. Note that for a configuration radio file on should choose an own one '''not spektrum''' regardless that the connecti

A sample airframe illustrating all calibration issues and reading and merging the sensor at 1 airframe: PPZUAV/fixedwing/tiny_imu.xml

To provide more flexible airframe installation, EMI trouble resolution, and GPS hardware optimization, the "T ...load ''[[Media:Twog_v1.00_BOM.zip|Twog v1.00 Bill Of Material (zipped .xls file)]]''

* hi-cap power designed to give enough time to cleanly save buffer and close file(s) when power outage detected ...ip |Download Chimera v1.00 Bill of Material (zipped LibreOffice Calc & PDF file)]]'''''

...figuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages. With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not

[[File:Ardrone2_snow.gif|320pxleft|AR.Drine 2.0]] [[File:800px-Parrot_AR.Drone_2.JPG|thumb|300px|Parrot's AR Drone 2]] [[File:ARdrone_exploded.jpg|thumb|300px|Exploded view of the AR Drone 2.]]

...ball] or [https://github.com/paparazzi/paparazzi/zipball/v4.2.0_stable Zip file] of the <tt>v4.2.0_stable</tt> source code. ...arball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.

...servos consuming a lot of current. If you use four or more of them on your airframe it is recommended to supply them separately. ...load ''[[Media:Tiny_v2-11_BOM.zip|Tiny v2.11 Bill Of Material (zipped .xls file)]]''

'''''Download Lisa/M v1.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]'' ...y through hole picoblade USB connector for easier routing of USB inside an airframe