PaparazziUAV - User contributions [en]

User/LisaL

2011-07-10T23:58:15Z

Aerodolphin: /* Features */

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

= Description =

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

= Hardware Revision History =

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||???||Initial release of Lisa/L
|}

= Features =

* STM32 microcontroller (CortexM3@72Mhz)
* ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
* 3x 3.3V TTL UART (5V tolerant)
* 1x CAN
* 6x PWM outputs
* ?x R/C receiver PPM frame input
* 2x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 2x [http://en.wikipedia.org/wiki/I2c I2C] bus
* ?x USB (client)
* ? switching power supply
* ? linear regulator
* ?x status LEDs with attached test point
* ? grams (? oz)
* dimensions
* 4 layers PCB design

=Getting started=

* Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation]] ).
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-omap
* Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
* Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
* Flash a test program in the stm32 :
make AIRCRAFT=BOOZ2_A7 test_baro.upload

=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:
cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh

*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#

* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
* Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it

=Use case #1: the fixedwing firmware running in the STM32 only=

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

=Use case #2: the rotorcraft firmware running in the STM32 only=

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

make AIRCRAFT=BOOZ2_A7 ap.upload

=Use case #3: the lisa_passthrough firmware=

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.

= IO =

[[Image:LisaL-V1 1-top-labeled.png|700px]]

[[Image:LisaL-V1 1-back-labeled.png|500px]]

= Spektrum/JR remote receiver connection diagram =

[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]

[[Category:User_Documentation]]

User/LisaL

2011-07-10T23:32:12Z

Aerodolphin: /* Features */

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

= Description =

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

= Hardware Revision History =

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||???||Initial release of Lisa/L
|}

= Features =

* STM32 microcontroller (CortexM3@72Mhz)
* ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
* 3x 3.3V TTL UART (5V tolerant)
* 1x CAN
* ?x PWM outputs
* ?x R/C receiver PPM frame input
* 2x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 2x [http://en.wikipedia.org/wiki/I2c I2C] bus
* ?x USB (client)
* ? switching power supply
* ? linear regulator
* ?x status LEDs with attached test point
* ? grams (? oz)
* dimensions
* 4 layers PCB design

=Getting started=

* Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation]] ).
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-omap
* Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
* Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
* Flash a test program in the stm32 :
make AIRCRAFT=BOOZ2_A7 test_baro.upload

=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:
cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh

*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#

* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
* Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it

=Use case #1: the fixedwing firmware running in the STM32 only=

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

=Use case #2: the rotorcraft firmware running in the STM32 only=

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

make AIRCRAFT=BOOZ2_A7 ap.upload

=Use case #3: the lisa_passthrough firmware=

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.

= IO =

[[Image:LisaL-V1 1-top-labeled.png|700px]]

[[Image:LisaL-V1 1-back-labeled.png|500px]]

= Spektrum/JR remote receiver connection diagram =

[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]

[[Category:User_Documentation]]

User/LisaL

2011-07-10T23:26:23Z

Aerodolphin:

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

= Description =

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

= Hardware Revision History =

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||???||Initial release of Lisa/L
|}

= Features =

* STM32 microcontroller (CortexM3@72Mhz)
* ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
* 3x 3.3V TTL UART (5V tolerant)
* 1x CAN
* ?x PWM outputs
* ?x R/C receiver PPM frame input
* ?x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* ?x [http://en.wikipedia.org/wiki/I2c I2C] bus
* ?x USB (client)
* ? switching power supply
* ? linear regulator
* ?x status LEDs with attached test point
* ? grams (? oz)
* dimensions
* 4 layers PCB design

=Getting started=

* Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation]] ).
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-omap
* Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
* Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
* Flash a test program in the stm32 :
make AIRCRAFT=BOOZ2_A7 test_baro.upload

=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:
cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh

*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#

* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
* Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it

=Use case #1: the fixedwing firmware running in the STM32 only=

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

=Use case #2: the rotorcraft firmware running in the STM32 only=

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

make AIRCRAFT=BOOZ2_A7 ap.upload

=Use case #3: the lisa_passthrough firmware=

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.

= IO =

[[Image:LisaL-V1 1-top-labeled.png|700px]]

[[Image:LisaL-V1 1-back-labeled.png|500px]]

= Spektrum/JR remote receiver connection diagram =

[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]

[[Category:User_Documentation]]

User/LisaL

2011-07-10T22:26:30Z

Aerodolphin: /* Features */

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on STM32 microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi. There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

= Description =

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

= Hardware Revision History =

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||???||Initial release of Lisa/L
|}

= Features =

* STM32 microcontroller (CortexM3@72Mhz)
* ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
* 3x 3.3V TTL UART (5V tolerant)
* 1x CAN
* ?x PWM outputs
* ?x R/C receiver PPM frame input
* ?x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* ?x [http://en.wikipedia.org/wiki/I2c I2C] bus
* ?x USB (client)
* ? switching power supply
* ? linear regulator
* ?x status LEDs with attached test point
* ? grams (? oz)
* dimensions
* 4 layers PCB design

=Getting started=

* Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation]] ).
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-omap
* Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
* Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
* Flash a test program in the stm32 :
make AIRCRAFT=BOOZ2_A7 test_baro.upload

=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:
cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh

*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#

* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
* Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it

=Use case #1: the fixedwing firmware running in the STM32 only=

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

=Use case #2: the rotorcraft firmware running in the STM32 only=

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

make AIRCRAFT=BOOZ2_A7 ap.upload

=Use case #3: the lisa_passthrough firmware=

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.

= IO =

[[Image:LisaL-V1 1-top-labeled.png|700px]]

[[Image:LisaL-V1 1-back-labeled.png|500px]]

= Spektrum/JR remote receiver connection diagram =

[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]

[[Category:User_Documentation]]

User/LisaL

2011-07-10T13:14:19Z

Aerodolphin: Features - to complete

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on STM32 microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi. There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

= Description =

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

= Hardware Revision History =

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||???||Initial release of Lisa/L
|}

= Features =

* MCU
* ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
* ?x 3.3V TTL UART (5V tolerant)
* ?x PWM outputs
* ?x R/C receiver PPM frame input
* ?x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* ?x [http://en.wikipedia.org/wiki/I2c I2C] bus
* ?x USB (client)
* ? switching power supply
* ? linear regulator
* ?x status LEDs with attached test point
* ? grams (? oz)
* dimensions
* 4 layers PCB design

=Getting started=

* Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation]] ).
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-omap
* Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
* Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
* Flash a test program in the stm32 :
make AIRCRAFT=BOOZ2_A7 test_baro.upload

=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:
cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh

*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#

* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
* Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it

=Use case #1: the fixedwing firmware running in the STM32 only=

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

=Use case #2: the rotorcraft firmware running in the STM32 only=

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

make AIRCRAFT=BOOZ2_A7 ap.upload

=Use case #3: the lisa_passthrough firmware=

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.

= IO =

[[Image:LisaL-V1 1-top-labeled.png|700px]]

[[Image:LisaL-V1 1-back-labeled.png|500px]]

= Spektrum/JR remote receiver connection diagram =

[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]

[[Category:User_Documentation]]

User/LisaL

2011-07-10T13:12:07Z

Aerodolphin: /* Getting started */

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on STM32 microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi. There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

= Description =

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

= Hardware Revision History =

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||???||Initial release of Lisa/L
|}

=Getting started=

* Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation]] ).
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-omap
* Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
* Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
* Flash a test program in the stm32 :
make AIRCRAFT=BOOZ2_A7 test_baro.upload

=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:
cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh

*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#

* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
* Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it

=Use case #1: the fixedwing firmware running in the STM32 only=

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

=Use case #2: the rotorcraft firmware running in the STM32 only=

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

make AIRCRAFT=BOOZ2_A7 ap.upload

=Use case #3: the lisa_passthrough firmware=

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.

= IO =

[[Image:LisaL-V1 1-top-labeled.png|700px]]

[[Image:LisaL-V1 1-back-labeled.png|500px]]

= Spektrum/JR remote receiver connection diagram =

[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]

[[Category:User_Documentation]]

User/LisaL

2011-07-10T13:11:41Z

Aerodolphin: Revision History

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on STM32 microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi. There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

= Description =

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

= Hardware Revision History =

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||???||Initial release of Lisa/L
|}

=Getting started=

* Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation]] ).
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-omap
* Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
* Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
* Flash a test program in the stm32 :
make AIRCRAFT=BOOZ2_A7 test_baro.upload

=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:
cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh

*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#

* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
* Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it

=Use case #1: the fixedwing firmware running in the STM32 only=

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

=Use case #2: the rotorcraft firmware running in the STM32 only=

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

make AIRCRAFT=BOOZ2_A7 ap.upload

=Use case #3: the lisa_passthrough firmware=

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.

= IO =

[[Image:LisaL-V1 1-top-labeled.png|700px]]

[[Image:LisaL-V1 1-back-labeled.png|500px]]

= Spektrum/JR remote receiver connection diagram =

[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]

[[Category:User_Documentation]]

User/LisaL

2011-07-10T13:10:30Z

Aerodolphin: Added Description

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on STM32 microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi. There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

= Description =

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

=Getting started=

* Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation]] ).
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-omap
* Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
* Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
* Flash a test program in the stm32 :
make AIRCRAFT=BOOZ2_A7 test_baro.upload

=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:
cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh

*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#

* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
* Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it

=Use case #1: the fixedwing firmware running in the STM32 only=

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

=Use case #2: the rotorcraft firmware running in the STM32 only=

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

make AIRCRAFT=BOOZ2_A7 ap.upload

=Use case #3: the lisa_passthrough firmware=

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.

= IO =

[[Image:LisaL-V1 1-top-labeled.png|700px]]

[[Image:LisaL-V1 1-back-labeled.png|500px]]

= Spektrum/JR remote receiver connection diagram =

[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]

[[Category:User_Documentation]]

Lisa

2011-01-12T22:37:09Z

Aerodolphin: /* Other Additional Boards */

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

The first members of the family are:

*Lisa/L, a design where the STM32 is associated to a gumstix [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html Overo].
*Lisa/M, a design focusing on cost and simplicity.

=Lisa/L=

== Description ==

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

== Documentation ==

The documentation about Lisa/L has been split in two: You can have a look at the [[User/LisaL]] user manual or the [[Dev/LisaL]] developer manual or look at pictures on the [[LisaL_Gallery]] gallery page.

= Lisa/M =

== Description ==
Lisa/M is a 50*25mm single processor board, with 7 full size servo connectors. This board is about the size of a conventional RC receiver and features a footprint for an aspirin IMU and an affordable barometer. Intended usages range from a CAN servo driver to a full blown autopilot or a flybarless heli controller.

[[Image:lisa_m_top_small.png|360px]] [[Image:lisa_m_bot_small.png|360px]] [[Image:aspirin_small.png|360px]]

== Documentation ==
Lisa/M is only at the stage of prototype. Documentation will follow as soon as the board reaches production stage.

= Lisa/S =

Lisa/S is only a project at the moment. The focus for this design is size, weight and power consumption. The intent is to produce an autopilot suited for the smallest airframes.
For now just a CAD rendering to wet your appetite.
[[Image:lisa_s_cad.png|360px]]

= Other Additional Boards =

'''SWITCH BOARD'''

It will be very useful to have a board with 4 MOSFET switches communicating with Lisa autopilot with CAN.
With this board will be possible to turn on & off de power for onboard equipment like video cameras, video transmitters, etc.

I think a Tension of 5V - 12V and current of 1A máximum should be sufficient to almost onboard equipment.

Here is the schematic for the switch board. Please comments are welcome. I'm currently designing the PCB.

[[Media:SWITCH_BOARD_SCHEMATIC.pdf|Switch Board Schematic (pdf file‎]]

Anyone interested in develop this board?

My e-mail is: azoreanuav(at)gmail(dot)com

Lisa

2011-01-12T22:34:17Z

Aerodolphin: /* Other Additional Boards */ Schematic is available. Please comment!

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

The first members of the family are:

*Lisa/L, a design where the STM32 is associated to a gumstix [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html Overo].
*Lisa/M, a design focusing on cost and simplicity.

=Lisa/L=

== Description ==

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

== Documentation ==

The documentation about Lisa/L has been split in two: You can have a look at the [[User/LisaL]] user manual or the [[Dev/LisaL]] developer manual or look at pictures on the [[LisaL_Gallery]] gallery page.

= Lisa/M =

== Description ==
Lisa/M is a 50*25mm single processor board, with 7 full size servo connectors. This board is about the size of a conventional RC receiver and features a footprint for an aspirin IMU and an affordable barometer. Intended usages range from a CAN servo driver to a full blown autopilot or a flybarless heli controller.

[[Image:lisa_m_top_small.png|360px]] [[Image:lisa_m_bot_small.png|360px]] [[Image:aspirin_small.png|360px]]

== Documentation ==
Lisa/M is only at the stage of prototype. Documentation will follow as soon as the board reaches production stage.

= Lisa/S =

Lisa/S is only a project at the moment. The focus for this design is size, weight and power consumption. The intent is to produce an autopilot suited for the smallest airframes.
For now just a CAD rendering to wet your appetite.
[[Image:lisa_s_cad.png|360px]]

= Other Additional Boards =

'''SWITCH BOARD'''

It will be very useful to have a board with 4 MOSFET switches communicating with Lisa autopilot with CAN.
With this board will be possible to turn on & off de power for onboard equipment like video cameras, video transmitters, etc.

I think a Tension of 5V - 12V and current of 1A máximum should be sufficient to almost onboard equipment.

Here is the schematic for the switch board. Please comments are welcome. I'm currently designing the PCB.

[[Media:SWITCH_BOARD_SCHEMATIC.pdf‎]]

Anyone interested in develop this board?

My e-mail is: azoreanuav(at)gmail(dot)com

File:SWITCH BOARD SCHEMATIC.pdf

2011-01-12T22:32:07Z

Aerodolphin:

Lisa

2011-01-12T22:31:17Z

Aerodolphin: /* Other Additional Boards */

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

The first members of the family are:

*Lisa/L, a design where the STM32 is associated to a gumstix [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html Overo].
*Lisa/M, a design focusing on cost and simplicity.

=Lisa/L=

== Description ==

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

== Documentation ==

The documentation about Lisa/L has been split in two: You can have a look at the [[User/LisaL]] user manual or the [[Dev/LisaL]] developer manual or look at pictures on the [[LisaL_Gallery]] gallery page.

= Lisa/M =

== Description ==
Lisa/M is a 50*25mm single processor board, with 7 full size servo connectors. This board is about the size of a conventional RC receiver and features a footprint for an aspirin IMU and an affordable barometer. Intended usages range from a CAN servo driver to a full blown autopilot or a flybarless heli controller.

[[Image:lisa_m_top_small.png|360px]] [[Image:lisa_m_bot_small.png|360px]] [[Image:aspirin_small.png|360px]]

== Documentation ==
Lisa/M is only at the stage of prototype. Documentation will follow as soon as the board reaches production stage.

= Lisa/S =

Lisa/S is only a project at the moment. The focus for this design is size, weight and power consumption. The intent is to produce an autopilot suited for the smallest airframes.
For now just a CAD rendering to wet your appetite.
[[Image:lisa_s_cad.png|360px]]

= Other Additional Boards =

'''SWITCH BOARD'''

It will be very useful to have a board with 4 MOSFET switches communicating with Lisa autopilot with CAN.
With this board will be possible to turn on & off de power for onboard equipment like video cameras, video transmitters, etc.

I think a Tension of 5V - 12V and current of 1A máximum should be sufficient to almost onboard equipment.

Anyone interested in develop this board?

My e-mail is: azoreanuav(at)gmail(dot)com

Software Wish List

2011-01-10T11:07:39Z

Aerodolphin: /* Ground Station Suggestions */

{|
|-valign="top"
|__TOC__
|Please use the [[Talk:Software_Wish_List|Discussion]] tab at the top of the page, as appropriate
|}
== Introduction ==

After you played around with the GCS, the Airborne code, tested it and used all it's possibilities, sometimes you get this feeling... "''I would like to have '''more'''!''". The first thing to do is to ask in the mailinglist if it is already possible. The next great thing would be to create what you think is lacking and give it back to the community so it could be part of the project in the future. If you are not that gifted yet, you could present your ideas here. Other enthusiastic Paparazzi developers could read this and think: "''YEAH, now that is a really cool idea and I will start working on it right away!''". Therefore, since everyone can improve a part of the project, note here what you would like to see added or improved in the software.

== Ground Station Suggestions ==

# Integration with modue for OpenJAUS, see for already available code http://code.google.com/p/openjaus/ [[User:OpenUAS|(Suggested by OpenUAS)]]
# Support for stanag 4586 compliance, see http://www.innuvativesystems.com/stanag_4586_primer.html [[User:OpenUAS|(Suggested by OpenUAS)]]
# Support for standard map files like GeoTiff, .tab and .map. Using the .xml method manually is rather time consuming and frustrating when you already have standard georeferenced images.
# Divide the flight plan into 3 separate files [[User:Jeremy|(Suggested by Jeremy)]]
#* Takeoff/Landing - flight plan blocks describing the complex routines and using altitudes and waypoints from the ''User'' file
#* Generic - a file that users should never need to edit, containing circles, rectangles, figure-8's, and surveys that appear on command when GCS buttons are pressed. Altitude/locations could be relative to the ''User'' file
#* User - Here we can specify fixed or dynamic ''Home'' point and add complex routines or simply save certain basic routines.
#*('''NOTE:''' All of this is already possible, investigate time in discovering what paparazzi already can do now e.g. see [http://paparazzi.enac.fr/wiki/Flight_Plans#Procedures Flight Plan Procedures])
# The possibility to use multiple ground modem connected to a single ground station. The RSSI could be use to dynamically choose which currently has the best signal. This would allow the use of different antennas on each of the modems or have antenna pointing in different directions(?Possibly more hardware related)
# PFD - the horizon and the sky shouldn't move only the main line. Because we are on the '''ground''' and we really need to see the roll angle of the UAS and not the real PFD like on a real airplane. And we could also see, the pitch angle, to see if the UAS is climbing or going down. Another way this could be done is to use a 3D model of the plane like procerus does on there ap. For those unfamiliar with this it is like you are in the view point of like 5m behind the plane. This might give the user just enough of a model to help fly back under manual control or at least have a better understanding of the orientation. This idea is good one but it should not replace the current pfd but rather be an option to use in the gcs. ('''NOTE:''' Already possible, via [http://paparazzi.enac.fr/wiki/GCS#Papgets Papgets] it is possible to add all kinds of such types of information. Also for a 3D plane view this is already possible, just bind you output to [http://paparazzi.enac.fr/wiki/Simulation#View_the_simulation_in_Flight_Gear FlightGear])
# Language packs for the GCS - English, French, German, Italian, Spanish, Portuguese, ... (azoreanuav(at)gmail.comI would like to make the portuguese pack, but I neet help how to do it.)
# Flashing via modems - ('''NOTE:''' Already [http://lists.gnu.org/archive/html/paparazzi-devel/2010-06/msg00138.html possible])

== Airborne Software Suggestions ==

Add your ideas here what you would like to see added or improved in the airborne software

=== Stability ===
* Auto-tuning of gains
*: It would make paparazzi very user friendly if the airframe could tune itself. It should be possible to set the gains on the ground to some generic value and let the autopilot do the tuning in the air. The autopilot would give step functions on different inputs (actuators, target values) and measure the response of the airframe. One at a time, of course. Based on this response measurement the autopilot can tune the control gains itself. For safety reasons this auto-tuning function would run only on safe flight altitude.

=== Navigation ===
* Flight plan stage sensing
*: Carrot should continue past the waypoint toward the next point, but the point should not be officially acknowledged until the plane has passed it. This way we can have smooth, intelligent navigation while still considering waypoint triggers such as still-photo, sensor drop, or throttle off.
'''NOTE:''' Can already be done by setting the approaching_time attribute. This value helps to decide when the target is reached. It can be set to 0 to go over the target waypoint. see [http://paparazzi.enac.fr/wiki/Flight_Plans#Go Flightplan documentation]

=== Other ===
# '''Revised autopilot modes''' [[User:Jeremy|(Jeremy)]]
#* I propose a restructuring of the modes as follows - create 3 top-level modes: '''Man, Stab,'''and '''Auto''', each with an appended autonomous sub-mode (i.e. '''Man'''/''Climb'', '''Stab'''/''Kill'', '''Auto'''/''Landing'', etc.) This will give the operator much more information and a much better indication of what the plane will do when switched to autonomous mode in a concise manner. Furthermore, I see an advantage in having simple behaviors like ''Climb, Landing'', etc. be defined as sub-modes so that operator is always alerted of changes such as ''Descent'' or can easily configure trim, gains, and payload options in the airframe file (i.e. if mode = ''Landing'' then retract camera, turn off video system, use landing trim, etc.)
#* ''Sub-modes''
#* ''Ground'' - The default boot mode. In this mode the throttle is locked at 0% or not armed at all (no PWM signal), stability is disabled (servos locked in neutral position), and video power is off, but flight plan blocks are processed. This will improve safety and aid in lost plane retreival as the servos, and video will not drain the battery if landing detection is implemented. ''Ground'' mode should exit '''only''' if ''Takeoff'' is manually triggered.
#* ''Takeoff'' - 3 possible triggers: GCS button, GPIO button, or R/C throttle. Checks for error modes and desired climb, then arms/unlocks throttle, initates "Takeoff" flight plan block, and instantly deroutes to ''Climb'' mode. Deroutes to ''Descent'' mode without unlocking throttle if not OK. ''Takeoff'' could simply be a flag rather than a "mode".
#* ''Climb'' - Triggered anytime "aggressive climb" is active
#* ''Descent'' - Triggered anytime "aggressive descent" is active
#* ''Nav'' - Normal level flight
#* ''Landing'' - Same as ''Nav'' but using the "Landing" flight plan block and any airframe gains/trims/payload options as defined in airframe.xml
#* ''Kill'' - Triggered manually - locks throttle at 0% and uses pitch/roll settings from Airframe.xml.
# ''Error sub-modes''
#* ''No GPS'' - A temporary mode using pitch/roll settings from airframe.xml
#* ''Home'' - Triggered by distance in '''Auto''' mode or by distance/RC loss in '''Stab''' mode (after ''n'' seconds, as defined in airframe.xml). Exits upon manual block/mode change requests from the GCS and cannot be re-initiated for 30 seconds.
# '''Continually broadcast last known location'''
#* AP should continue to broadcast the last known GPS coordinate in the event of GPS loss. (i.e. upside-down crashed plane should continue to send last known position in case it was out of data range prior to the crash.)
#* ('''NOTE:''' Possible by adding for example a module that ''grabs'' current coordinates at e.g. .1 Hz and if in flightplan <while cond="!GpsFixValid()"/> send whatever you want)
# '''Ability to upload waypoints in flight'''
#* I know this has been discussed a few times but it would be nice to at least have the option to upload waypoints and blocks and be able to change blocks in flight. This is risky but most Autopilot's do have this feature now and it would be nice if the user could make this decision.
#* ('''NOTE:''' A possible current solution is by adding duplicate waypoints very close and if needed move these while in flight.)
# '''Radio Control of UAS through Data Link'''
#* This simply means that instead of hacking an RC receiver to output it to the autopilot board why not hook your RC transmitter up through your computer and use the data link for RC. This would be nice especially with all the new RC range issues the 2 layer tiny 2.11 has brought on. Also it would be nice because RC interference would be eliminated. Please comment on this and tell me what you think
#* ('''NOTE:''' Already possible)
#* ('''Response:''' Sort of possible. The only work that has been done in this direction is by Martin and was done with a Joystick which only worked in Auto1 mode (setting the set points for the AP). This is not a full solution. What i am proposing is that the RC Radio is plugged into the GCS directly and then sends the command (PPM) signals directly to the AP. This would allow for the user to control the aircraft in manual and AUTO1. Consult any commercial AP and you will notice that this is the one glaring feature which is missing from PPRZ. In addition adding this feature would allow for longer range FPV flying. Please correct me (with links) if i am wrong.

# '''Precision Surveying'''
#* It would be nice to have a survey function that could survey a sector and also be told what coordinates to begin the survey on. Another useful feature would be to have the plane sense when it is done surveying the whole area so it could move to the next block. I know that the entering the survey can be done in a roundabout method by defining a waypoint at the entry point and then going to it but defining it in the survey function would allow for more precise survey since that first sweep would already be defined and then would not be affected by if the plane went into the survey function at weird spot or something.
#* ('''NOTE:''' Already possible, see the [http://paparazzi.enac.fr/wiki/Advanced_Navigation_Routines '''Polygon Survey'''] and use it smartly

== Current Code and Build ==

If you have any suggestions to improve the current:

* Sourcecode
* Build process
* Code repository
* Tools used

...give your suggestions here. Better still, start working on what you can, and add your information to the Wiki and start a discussion in the mailing list.

=== IVY ===
# Make Paparazzi compatible with IVY-C from SVN at this moment 3.11
# Make Paparazzi compile and compatible with with IVY-Ocaml library from SVN at this moment 1.1.11

Software Wish List

2011-01-10T11:06:24Z

Aerodolphin: /* Ground Station Suggestions */

{|
|-valign="top"
|__TOC__
|Please use the [[Talk:Software_Wish_List|Discussion]] tab at the top of the page, as appropriate
|}
== Introduction ==

After you played around with the GCS, the Airborne code, tested it and used all it's possibilities, sometimes you get this feeling... "''I would like to have '''more'''!''". The first thing to do is to ask in the mailinglist if it is already possible. The next great thing would be to create what you think is lacking and give it back to the community so it could be part of the project in the future. If you are not that gifted yet, you could present your ideas here. Other enthusiastic Paparazzi developers could read this and think: "''YEAH, now that is a really cool idea and I will start working on it right away!''". Therefore, since everyone can improve a part of the project, note here what you would like to see added or improved in the software.

== Ground Station Suggestions ==

# Integration with modue for OpenJAUS, see for already available code http://code.google.com/p/openjaus/ [[User:OpenUAS|(Suggested by OpenUAS)]]
# Support for stanag 4586 compliance, see http://www.innuvativesystems.com/stanag_4586_primer.html [[User:OpenUAS|(Suggested by OpenUAS)]]
# Support for standard map files like GeoTiff, .tab and .map. Using the .xml method manually is rather time consuming and frustrating when you already have standard georeferenced images.
# Divide the flight plan into 3 separate files [[User:Jeremy|(Suggested by Jeremy)]]
#* Takeoff/Landing - flight plan blocks describing the complex routines and using altitudes and waypoints from the ''User'' file
#* Generic - a file that users should never need to edit, containing circles, rectangles, figure-8's, and surveys that appear on command when GCS buttons are pressed. Altitude/locations could be relative to the ''User'' file
#* User - Here we can specify fixed or dynamic ''Home'' point and add complex routines or simply save certain basic routines.
#*('''NOTE:''' All of this is already possible, investigate time in discovering what paparazzi already can do now e.g. see [http://paparazzi.enac.fr/wiki/Flight_Plans#Procedures Flight Plan Procedures])
# The possibility to use multiple ground modem connected to a single ground station. The RSSI could be use to dynamically choose which currently has the best signal. This would allow the use of different antennas on each of the modems or have antenna pointing in different directions(?Possibly more hardware related)
# PFD - the horizon and the sky shouldn't move only the main line. Because we are on the '''ground''' and we really need to see the roll angle of the UAS and not the real PFD like on a real airplane. And we could also see, the pitch angle, to see if the UAS is climbing or going down. Another way this could be done is to use a 3D model of the plane like procerus does on there ap. For those unfamiliar with this it is like you are in the view point of like 5m behind the plane. This might give the user just enough of a model to help fly back under manual control or at least have a better understanding of the orientation. This idea is good one but it should not replace the current pfd but rather be an option to use in the gcs. ('''NOTE:''' Already possible, via [http://paparazzi.enac.fr/wiki/GCS#Papgets Papgets] it is possible to add all kinds of such types of information. Also for a 3D plane view this is already possible, just bind you output to [http://paparazzi.enac.fr/wiki/Simulation#View_the_simulation_in_Flight_Gear FlightGear])
# Language packs for the GCS - English, French, German, Italian, Spanish, Portuguese, ... (I would like to make the portuguese pack, but I neet help how to do it)
# Flashing via modems - ('''NOTE:''' Already [http://lists.gnu.org/archive/html/paparazzi-devel/2010-06/msg00138.html possible])

== Airborne Software Suggestions ==

Add your ideas here what you would like to see added or improved in the airborne software

=== Stability ===
* Auto-tuning of gains
*: It would make paparazzi very user friendly if the airframe could tune itself. It should be possible to set the gains on the ground to some generic value and let the autopilot do the tuning in the air. The autopilot would give step functions on different inputs (actuators, target values) and measure the response of the airframe. One at a time, of course. Based on this response measurement the autopilot can tune the control gains itself. For safety reasons this auto-tuning function would run only on safe flight altitude.

=== Navigation ===
* Flight plan stage sensing
*: Carrot should continue past the waypoint toward the next point, but the point should not be officially acknowledged until the plane has passed it. This way we can have smooth, intelligent navigation while still considering waypoint triggers such as still-photo, sensor drop, or throttle off.
'''NOTE:''' Can already be done by setting the approaching_time attribute. This value helps to decide when the target is reached. It can be set to 0 to go over the target waypoint. see [http://paparazzi.enac.fr/wiki/Flight_Plans#Go Flightplan documentation]

=== Other ===
# '''Revised autopilot modes''' [[User:Jeremy|(Jeremy)]]
#* I propose a restructuring of the modes as follows - create 3 top-level modes: '''Man, Stab,'''and '''Auto''', each with an appended autonomous sub-mode (i.e. '''Man'''/''Climb'', '''Stab'''/''Kill'', '''Auto'''/''Landing'', etc.) This will give the operator much more information and a much better indication of what the plane will do when switched to autonomous mode in a concise manner. Furthermore, I see an advantage in having simple behaviors like ''Climb, Landing'', etc. be defined as sub-modes so that operator is always alerted of changes such as ''Descent'' or can easily configure trim, gains, and payload options in the airframe file (i.e. if mode = ''Landing'' then retract camera, turn off video system, use landing trim, etc.)
#* ''Sub-modes''
#* ''Ground'' - The default boot mode. In this mode the throttle is locked at 0% or not armed at all (no PWM signal), stability is disabled (servos locked in neutral position), and video power is off, but flight plan blocks are processed. This will improve safety and aid in lost plane retreival as the servos, and video will not drain the battery if landing detection is implemented. ''Ground'' mode should exit '''only''' if ''Takeoff'' is manually triggered.
#* ''Takeoff'' - 3 possible triggers: GCS button, GPIO button, or R/C throttle. Checks for error modes and desired climb, then arms/unlocks throttle, initates "Takeoff" flight plan block, and instantly deroutes to ''Climb'' mode. Deroutes to ''Descent'' mode without unlocking throttle if not OK. ''Takeoff'' could simply be a flag rather than a "mode".
#* ''Climb'' - Triggered anytime "aggressive climb" is active
#* ''Descent'' - Triggered anytime "aggressive descent" is active
#* ''Nav'' - Normal level flight
#* ''Landing'' - Same as ''Nav'' but using the "Landing" flight plan block and any airframe gains/trims/payload options as defined in airframe.xml
#* ''Kill'' - Triggered manually - locks throttle at 0% and uses pitch/roll settings from Airframe.xml.
# ''Error sub-modes''
#* ''No GPS'' - A temporary mode using pitch/roll settings from airframe.xml
#* ''Home'' - Triggered by distance in '''Auto''' mode or by distance/RC loss in '''Stab''' mode (after ''n'' seconds, as defined in airframe.xml). Exits upon manual block/mode change requests from the GCS and cannot be re-initiated for 30 seconds.
# '''Continually broadcast last known location'''
#* AP should continue to broadcast the last known GPS coordinate in the event of GPS loss. (i.e. upside-down crashed plane should continue to send last known position in case it was out of data range prior to the crash.)
#* ('''NOTE:''' Possible by adding for example a module that ''grabs'' current coordinates at e.g. .1 Hz and if in flightplan <while cond="!GpsFixValid()"/> send whatever you want)
# '''Ability to upload waypoints in flight'''
#* I know this has been discussed a few times but it would be nice to at least have the option to upload waypoints and blocks and be able to change blocks in flight. This is risky but most Autopilot's do have this feature now and it would be nice if the user could make this decision.
#* ('''NOTE:''' A possible current solution is by adding duplicate waypoints very close and if needed move these while in flight.)
# '''Radio Control of UAS through Data Link'''
#* This simply means that instead of hacking an RC receiver to output it to the autopilot board why not hook your RC transmitter up through your computer and use the data link for RC. This would be nice especially with all the new RC range issues the 2 layer tiny 2.11 has brought on. Also it would be nice because RC interference would be eliminated. Please comment on this and tell me what you think
#* ('''NOTE:''' Already possible)
#* ('''Response:''' Sort of possible. The only work that has been done in this direction is by Martin and was done with a Joystick which only worked in Auto1 mode (setting the set points for the AP). This is not a full solution. What i am proposing is that the RC Radio is plugged into the GCS directly and then sends the command (PPM) signals directly to the AP. This would allow for the user to control the aircraft in manual and AUTO1. Consult any commercial AP and you will notice that this is the one glaring feature which is missing from PPRZ. In addition adding this feature would allow for longer range FPV flying. Please correct me (with links) if i am wrong.

# '''Precision Surveying'''
#* It would be nice to have a survey function that could survey a sector and also be told what coordinates to begin the survey on. Another useful feature would be to have the plane sense when it is done surveying the whole area so it could move to the next block. I know that the entering the survey can be done in a roundabout method by defining a waypoint at the entry point and then going to it but defining it in the survey function would allow for more precise survey since that first sweep would already be defined and then would not be affected by if the plane went into the survey function at weird spot or something.
#* ('''NOTE:''' Already possible, see the [http://paparazzi.enac.fr/wiki/Advanced_Navigation_Routines '''Polygon Survey'''] and use it smartly

== Current Code and Build ==

If you have any suggestions to improve the current:

* Sourcecode
* Build process
* Code repository
* Tools used

...give your suggestions here. Better still, start working on what you can, and add your information to the Wiki and start a discussion in the mailing list.

=== IVY ===
# Make Paparazzi compatible with IVY-C from SVN at this moment 3.11
# Make Paparazzi compile and compatible with with IVY-Ocaml library from SVN at this moment 1.1.11

Lisa

2011-01-05T14:30:38Z

Aerodolphin: /* Other Additional Boards */

Lisa

2011-01-05T14:25:13Z

Aerodolphin: /* Lisa/S */

Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

The first members of the family are:

*Lisa/L, a design where the STM32 is associated to a gumstix [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html Overo].
*Lisa/M, a design focusing on cost and simplicity.

=Lisa/L=

== Description ==

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

== Documentation ==

The documentation about Lisa/L has been split in two: You can have a look at the [[User/LisaL]] user manual or the [[Dev/LisaL]] developer manual or look at pictures on the [[LisaL_Gallery]] gallery page.

= Lisa/M =

== Description ==
Lisa/M is a 50*25mm single processor board, with 7 full size servo connectors. This board is about the size of a conventional RC receiver and features a footprint for an aspirin IMU and an affordable barometer. Intended usages range from a CAN servo driver to a full blown autopilot or a flybarless heli controller.

[[Image:lisa_m_top_small.png|360px]] [[Image:lisa_m_bot_small.png|360px]] [[Image:aspirin_small.png|360px]]

== Documentation ==
Lisa/M is only at the stage of prototype. Documentation will follow as soon as the board reaches production stage.

= Lisa/S =

Lisa/S is only a project at the moment. The focus for this design is size, weight and power consumption. The intent is to produce an autopilot suited for the smallest airframes.
For now just a CAD rendering to wet your appetite.
[[Image:lisa_s_cad.png|360px]]

= Other Additional Boards =

'''SWITCH BOARD'''

It will be very useful to have a board with 4 MOSFET switches communicating with Lisa autopilot with CAN.
So, wth this board will be possible to turn on & off de power for onboard equipment like video cameras, video transmitters, etc.

I think a Tension of 5V - 12V and current of 1A máximum should be sufficient to almost onboard equipment.

Anyone interested in do this work?

Booz/IMU

2011-01-05T11:35:43Z

Aerodolphin: /* Schematic & PCB files */

{|
| [[Image:booz_imu_1_assembled_3d.jpg|thumb|center|240px|alt=3d_rendering|3d rendering|3d rendering]]
|}

== Bill Of Material ==
===Main===
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''Qty''!!width="150pt"|''Schematic part name''!!width="150pt"|''Value''!!width="100pt"|''Description''!!''Package''!!''Manufacturer''!!''Manufacturer part #''!!''Digikey part#''!!width="100pt"|''Mouser part#''
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Resistors''
|-
|4||R8*, R9, R10, R15||0R||RES 0.0 OHM 1/10W 5% 0603 SMD||0603||Vishay/Dale||CRCW06030000Z0EA||541-0.0GCT-ND
||71-CRCW0603-0-E3
|-
|1||R16||4.7k||RES 4.70K OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW06034K70FKEA||541-4.70KHCT-ND
||71-CRCW0603-4.7K-E3
|-
|3||R3, R5, R11||10.0K||RES 10.0K OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW060310K0FKEA||541-10.0KHCT-ND
||71-CRCW0603-10K-E3
|-
|2||R6,R7||12.0K||RES 12.0K OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW060312K0FKEA||541-12.0KHCT-ND
||71-CRCW0603-12K-E3
|-
|1||R4*||39k||RES 39.0K OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW060339K0FKEA||541-39.0KHCT-ND
||71-CRCW0603-39K-E3
|-
|2||R1, R2||43R||RES 43.0 OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW060343R0FKEA||541-43.0HCT-ND
||71-CRCW0603-43-E3
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Capacitors
|-
|2||C22, C24||2.2uF/Low ESR||CAP CER 2.2UF 10V X7R 0603||0603||Murata Electronics North America||GRM188R71A225KE15D||490-4520-1-ND
||81-GRM188R71A225KE15
|-
|5||C1, C16, C21, C25, C26||4.7µF||CAP CER 4.7UF 10V X7R 0805||0805||Taiyo Yuden||GRM188R71A225KE15D||587-1442-1-ND
||NA
|-
|2||C4, C15||10nF||CAP 10000PF 16V CERM X7R 0603||0603||Panasonic - ECG||ECJ-1VB1C103K||PCC1750CT-ND
||NA
|-
|3||C5, C8, C13||22nF||CAP CERM 22000PF 5% 50V X7R 0603||0603||AVX Corporation||06035C223JAT2A||478-3722-1-ND
||581-06035C223JAT2A
|-
|1||C12||47nF||CAP CERM 47000PF 5% 25V X7R 0603||0603||AVX Corporation||06033C473JAT2A||478-3716-1-ND
||581-06035C223JAT2A
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''ICs
|-
|1||25LC040ST||EEPROM/Do not place||25LC040ST||NA||||NA||NA
||NA
|-
|1||U$2||ADXL320||IC ACCELEROMETER DUAL-AX 16LFCSP||16-LFCSP||Analog Devices Inc||ADXL320JCP||ADXL320JCP-ND||NA
|-
|1||GYRO_Z||ADXR||IC SENSOR GYRO 6MV 300D/S ||32-CBGA||Analog Devices Inc||ADXRS610BBGZ-RL||ADXRS610BBGZ-RLCT-ND||NA
|-
|1||REG3V3||LM3480||IC VREG LDO 100MA 3.3V SOT23 ||SOT-23-3||National Semiconductor||LM3480IM3-3.3/NOPB||LM3480IM3-3.3CT-ND||NA
|-
|1||REF4096||REF4096||IC REF LDO PREC 4.1V SOT23-5 ||SOT23-5||National Semiconductor||LM4132EMF-4.1/NOPB||LM4132EMF-4.1CT-ND||NA
|-
|1||IC3, REG5VA||LP2992||IC REG LDO MICRPWR 250MA SOT23-5 ||SOT23-5||National Semiconductor||LP2992AIM5-5.0/NOPB||LP2992AIM5-5.0CT-ND||NA
|-
|1||22pin ADC1||MAX1168||IC ADC 16BIT 200KSPS 24-QSOP ||24-QSOP||Maxim Integrated Products||MAX1168BCEG+||MAX1168BCEG+-ND||NA
|-
|1||MAG Sensor||MS2100||IC SmartSens MS2100 2-axis sensor||20 pads (QFN)||PNI Corp||MS2100||NA||NA
|}

===XZ Board===
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''Qty''!!width="150pt"|''Schematic part name''!!width="150pt"|''Value''!!width="100pt"|''Description''!!''Package''!!''Manufacturer''!!''Manufacturer part #''!!''Digikey part#''!!width="100pt"|''Mouser part#''
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Resistors''
|-
|1||R1||0/DNP||RES 0.0 OHM 1/10W 5% 0603 SMD||0603||Vishay/Dale||CRCW06030000Z0EA||541-0.0GCT-ND
||71-CRCW0603-0-E3
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Capacitors
|-
|3||C15, C16, C21||22nF||CAP CER 2.2UF 10V X7R 0603||0603||Murata Electronics North America||06035C223JAT2A||490-4520-1-ND
||581-06035C223JAT2A
|-
|1||C20||47nF||CAP CERM 47000PF 5% 25V X7R 0603||0603||AVX Corporation||06033C473JAT2A||478-3716-1-ND
||581-06033C473J
|-
|1||C17, C18, C19||100nF||CAP CERAMIC .100UF 50V X7R 0603||0603||Kemet||C0603C104K5RACTU||399-5089-1-ND
||80-C0603C104K5R
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''ICs
|-
|1||GYRO_X||ADXRS610||IC SENSOR GYRO 6MV 300D/S 32CBGA||32-CBGA||Analog Devices Inc||ADXRS610BBGZ-RL||ADXRS610BBGZ-RLCT-ND||NA
|}
===YZ Board===
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''Qty''!!width="150pt"|''Schematic part name''!!width="150pt"|''Value''!!width="100pt"|''Description''!!''Package''!!''Manufacturer''!!''Manufacturer part #''!!''Digikey part#''!!width="100pt"|''Mouser part#''
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Resistors''
|-
|1||R1||0/DNP||RES 0.0 OHM 1/10W 5% 0603 SMD||0603||Vishay/Dale||CRCW06030000Z0EA||541-0.0GCT-ND
||71-CRCW0603-0-E3
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Capacitors
|-
|3||C15, C16, C21||22nF||CAP CER 2.2UF 10V X7R 0603||0603||AVX Corporation||06035C223JAT2A||478-3722-1-ND
||581-06035C223JAT2A
|-
|1||C20||47nF||CAP CERM 47000PF 5% 25V X7R 0603||0603||AVX Corporation||06033C473JAT2A||478-3716-1-ND
||581-06033C473J
|-
|1||C17, C18, C19, C23, C33, C34||100nF||CAP CERAMIC .100UF 50V X7R 0603||0603||Kemet||C0603C104K5RACTU||399-5089-1-ND
||581-06033C473J
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''ICs
|-
|1||U2||ADXL320||IC ACCELEROMETER DUAL-AX 16LFCSP||16-LFCSP||Analog Devices Inc||ADXL320JCP||ADXL320JCP-ND||NA
|-
|1||GYRO_X||ADXRS610||IC SENSOR GYRO 6MV 300D/S 32CBGA||32-CBGA||Analog Devices Inc||ADXRS610BBGZ-RL||ADXRS610BBGZ-RLCT-ND||NA
|-
|1||MAG Sensor||sens-xy||IC SmartSens sens-xy 1-axis sensor||SMT||PNI Corp||sens-xy||NA||NA
|}

Notes:
* Do not place R8*, R4*

===Downloads===

'''PCB Board'''
:*download ''[[Media:Booz_imu_brd.zip|Booz IMU .brd Eagle file]]''
'''Schematic'''
:*download ''[[Media:Booz_imu_sch.zip|Booz IMU .sch Eagle file]]''
'''Bill of Material'''
:*download ''[[Media:BOM_LIST.txt|Booz IMU .txt file]]''

File:Booz imu sch.zip

2011-01-05T11:31:23Z

Aerodolphin:

File:Booz imu brd.zip

2011-01-05T11:31:10Z

Aerodolphin:

File:BOM LIST.txt

2011-01-05T11:30:44Z

Aerodolphin:

Tiny v3 Work Log

2011-01-04T14:27:11Z

Aerodolphin:

= WORK LOG =

== 03-01-2010 - Rui Costa ==

- Made some 3D components step files and some PCB footprints.

[[Image:Step_files.jpg]]

Tiny v3

2011-01-04T14:25:43Z

Aerodolphin: /* Work Log */

Tiny v3

2011-01-04T14:16:56Z

Aerodolphin: /* WORK LOG */

Booz/IMU

2011-01-04T14:14:45Z

Aerodolphin: /* YZ Board */ More information requested.

{|
| [[Image:booz_imu_1_assembled_3d.jpg|thumb|center|240px|alt=3d_rendering|3d rendering|3d rendering]]
|}

== Bill Of Material ==
===Main===
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''Qty''!!width="150pt"|''Schematic part name''!!width="150pt"|''Value''!!width="100pt"|''Description''!!''Package''!!''Manufacturer''!!''Manufacturer part #''!!''Digikey part#''!!width="100pt"|''Mouser part#''
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Resistors''
|-
|4||R8*, R9, R10, R15||0R||RES 0.0 OHM 1/10W 5% 0603 SMD||0603||Vishay/Dale||CRCW06030000Z0EA||541-0.0GCT-ND
||71-CRCW0603-0-E3
|-
|1||R16||4.7k||RES 4.70K OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW06034K70FKEA||541-4.70KHCT-ND
||71-CRCW0603-4.7K-E3
|-
|3||R3, R5, R11||10.0K||RES 10.0K OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW060310K0FKEA||541-10.0KHCT-ND
||71-CRCW0603-10K-E3
|-
|2||R6,R7||12.0K||RES 12.0K OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW060312K0FKEA||541-12.0KHCT-ND
||71-CRCW0603-12K-E3
|-
|1||R4*||39k||RES 39.0K OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW060339K0FKEA||541-39.0KHCT-ND
||71-CRCW0603-39K-E3
|-
|2||R1, R2||43R||RES 43.0 OHM 1/10W 1% 0603 SMD||0603||Vishay/Dale||CRCW060343R0FKEA||541-43.0HCT-ND
||71-CRCW0603-43-E3
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Capacitors
|-
|2||C22, C24||2.2uF/Low ESR||CAP CER 2.2UF 10V X7R 0603||0603||Murata Electronics North America||GRM188R71A225KE15D||490-4520-1-ND
||81-GRM188R71A225KE15
|-
|5||C1, C16, C21, C25, C26||4.7µF||CAP CER 4.7UF 10V X7R 0805||0805||Taiyo Yuden||GRM188R71A225KE15D||587-1442-1-ND
||NA
|-
|2||C4, C15||10nF||CAP 10000PF 16V CERM X7R 0603||0603||Panasonic - ECG||ECJ-1VB1C103K||PCC1750CT-ND
||NA
|-
|3||C5, C8, C13||22nF||CAP CERM 22000PF 5% 50V X7R 0603||0603||AVX Corporation||06035C223JAT2A||478-3722-1-ND
||581-06035C223JAT2A
|-
|1||C12||47nF||CAP CERM 47000PF 5% 25V X7R 0603||0603||AVX Corporation||06033C473JAT2A||478-3716-1-ND
||581-06035C223JAT2A
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''ICs
|-
|1||25LC040ST||EEPROM/Do not place||25LC040ST||NA||||NA||NA
||NA
|-
|1||U$2||ADXL320||IC ACCELEROMETER DUAL-AX 16LFCSP||16-LFCSP||Analog Devices Inc||ADXL320JCP||ADXL320JCP-ND||NA
|-
|1||GYRO_Z||ADXR||IC SENSOR GYRO 6MV 300D/S ||32-CBGA||Analog Devices Inc||ADXRS610BBGZ-RL||ADXRS610BBGZ-RLCT-ND||NA
|-
|1||REG3V3||LM3480||IC VREG LDO 100MA 3.3V SOT23 ||SOT-23-3||National Semiconductor||LM3480IM3-3.3/NOPB||LM3480IM3-3.3CT-ND||NA
|-
|1||REF4096||REF4096||IC REF LDO PREC 4.1V SOT23-5 ||SOT23-5||National Semiconductor||LM4132EMF-4.1/NOPB||LM4132EMF-4.1CT-ND||NA
|-
|1||IC3, REG5VA||LP2992||IC REG LDO MICRPWR 250MA SOT23-5 ||SOT23-5||National Semiconductor||LP2992AIM5-5.0/NOPB||LP2992AIM5-5.0CT-ND||NA
|-
|1||22pin ADC1||MAX1168||IC ADC 16BIT 200KSPS 24-QSOP ||24-QSOP||Maxim Integrated Products||MAX1168BCEG+||MAX1168BCEG+-ND||NA
|-
|1||MAG Sensor||MS2100||IC SmartSens MS2100 2-axis sensor||20 pads (QFN)||PNI Corp||MS2100||NA||NA
|}

===XZ Board===
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''Qty''!!width="150pt"|''Schematic part name''!!width="150pt"|''Value''!!width="100pt"|''Description''!!''Package''!!''Manufacturer''!!''Manufacturer part #''!!''Digikey part#''!!width="100pt"|''Mouser part#''
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Resistors''
|-
|1||R1||0/DNP||RES 0.0 OHM 1/10W 5% 0603 SMD||0603||Vishay/Dale||CRCW06030000Z0EA||541-0.0GCT-ND
||71-CRCW0603-0-E3
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Capacitors
|-
|3||C15, C16, C21||22nF||CAP CER 2.2UF 10V X7R 0603||0603||Murata Electronics North America||06035C223JAT2A||490-4520-1-ND
||581-06035C223JAT2A
|-
|1||C20||47nF||CAP CERM 47000PF 5% 25V X7R 0603||0603||AVX Corporation||06033C473JAT2A||478-3716-1-ND
||581-06033C473J
|-
|1||C17, C18, C19||100nF||CAP CERAMIC .100UF 50V X7R 0603||0603||Kemet||C0603C104K5RACTU||399-5089-1-ND
||80-C0603C104K5R
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''ICs
|-
|1||GYRO_X||ADXRS610||IC SENSOR GYRO 6MV 300D/S 32CBGA||32-CBGA||Analog Devices Inc||ADXRS610BBGZ-RL||ADXRS610BBGZ-RLCT-ND||NA
|}
===YZ Board===
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''Qty''!!width="150pt"|''Schematic part name''!!width="150pt"|''Value''!!width="100pt"|''Description''!!''Package''!!''Manufacturer''!!''Manufacturer part #''!!''Digikey part#''!!width="100pt"|''Mouser part#''
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Resistors''
|-
|1||R1||0/DNP||RES 0.0 OHM 1/10W 5% 0603 SMD||0603||Vishay/Dale||CRCW06030000Z0EA||541-0.0GCT-ND
||71-CRCW0603-0-E3
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Capacitors
|-
|3||C15, C16, C21||22nF||CAP CER 2.2UF 10V X7R 0603||0603||AVX Corporation||06035C223JAT2A||478-3722-1-ND
||581-06035C223JAT2A
|-
|1||C20||47nF||CAP CERM 47000PF 5% 25V X7R 0603||0603||AVX Corporation||06033C473JAT2A||478-3716-1-ND
||581-06033C473J
|-
|1||C17, C18, C19, C23, C33, C34||100nF||CAP CERAMIC .100UF 50V X7R 0603||0603||Kemet||C0603C104K5RACTU||399-5089-1-ND
||581-06033C473J
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''ICs
|-
|1||U2||ADXL320||IC ACCELEROMETER DUAL-AX 16LFCSP||16-LFCSP||Analog Devices Inc||ADXL320JCP||ADXL320JCP-ND||NA
|-
|1||GYRO_X||ADXRS610||IC SENSOR GYRO 6MV 300D/S 32CBGA||32-CBGA||Analog Devices Inc||ADXRS610BBGZ-RL||ADXRS610BBGZ-RLCT-ND||NA
|-
|1||MAG Sensor||sens-xy||IC SmartSens sens-xy 1-axis sensor||SMT||PNI Corp||sens-xy||NA||NA
|}

Notes:
* Do not place R8*, R4*

===Schematic & PCB files===

The authors can insert more information about this IMU? Schematics, PCB file, Excel BOM, etc?

Tiny v3

2011-01-04T01:50:16Z

Aerodolphin: /* WORK LOG */

File:Step files.jpg

2011-01-04T01:48:48Z

Aerodolphin: STEP files for Altium Designer.

STEP files for Altium Designer.

Tiny v3

2011-01-04T01:45:45Z

Aerodolphin: /* WORK LOG */

Tiny v3

2011-01-04T01:44:19Z

Aerodolphin: /* Work Team */

Tiny v3

2011-01-03T12:29:35Z

Aerodolphin: /* New features Wish List For The New Paparazzi Board */

Tiny v3

2011-01-03T10:19:35Z

Aerodolphin: /* New features Wish List For The New Paparazzi Board */

Tiny v3

2011-01-03T10:18:38Z

Aerodolphin: /* New features Wish List For The New Paparazzi Board */

Users

2010-12-31T03:13:58Z

Aerodolphin: /* Wiki pages */ My own user link.

Please add yourself to this list if you wish to share who you are and what you are doing with Paparazzi

==Need help adding your information?==
To have your information added by another paparazzi user, please send me an [http://www.rcgroups.com/forums/showpost.php?p=6575288&postcount=1 EMAIL] at with the
following:

*Name
*Email
*Location
*Hardware
*Join date
*Current activities / project status

== Wiki pages ==
add a link to your users wiki page.

[http://paparazzi.enac.fr/wiki/User:Dconger Dconger]

[http://paparazzi.enac.fr/wiki/User:MarcusWolschon MarcusWolschon]

[http://paparazzi.enac.fr/wiki/User:Alfamyke Alfamyke]

[http://paparazzi.enac.fr/wiki/User:Danstah Danstah]

[http://paparazzi.enac.fr/wiki/User:Martinmm Martinmm]

[http://paparazzi.enac.fr/wiki/User:John_Burt John Burt]

[http://paparazzi.enac.fr/wiki/User:SilaS SilaS]

[http://paparazzi.enac.fr/wiki/User:Mecevans Mecevans]

[http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU-FCUAV]

[http://paparazzi.enac.fr/wiki/User:GPH Pierre-Selim]

[http://paparazzi.enac.fr/wiki/User:Martinpi martinpi]

[http://paparazzi.enac.fr/wiki/User:VAMK VAMK]

[http://paparazzi.enac.fr/wiki/User:EldenC Elden_Crom]

[http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison]

[http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider]

[http://paparazzi.enac.fr/wiki/User:Marc Marc]

[http://paparazzi.enac.fr/wiki/User:Bu5hm4nn Bu5hm4nn]

[http://paparazzi.enac.fr/wiki/User:HWal HWal]

[http://paparazzi.enac.fr/wiki/User:Aerodolphin Rui Costa]

==Asia==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"

| [mailto:wangcfan@163.com Wangcfan]|| China || Tiny2.11 ||| 2008 || The beginning, is now in learning phase;Learning in Tiny2.11 using the method of IMU!
|- style="background:bisque; color:black"

| [mailto:mnwxiaobao@gmail.com MNW]|| China || Tiny2.11 ||| 2009 || Just starting,having troubles with parts.
|- style="background:bisque; color:black"
| [mailto:shubhamearly@gmail.com Shubham]|| India || Tiny2.11 ||| 2009 || Writing the configuration code for airframe
|- style="background:bisque; color:black"
| [mailto:mundhra@gmail.com M Mundhra] || India || Tiny 1.3 ||| 2007 || Gain tuning on a flying wing configuration airframe
|- style="background:bisque; color:black"
| [mailto:ngkiangloong_at_hopetechnik.com Jianlun]|| Singapore || TWOG V1 ||| 2008 || trying to get TWOG onto an EasyStar. very much a newbie!
|- style="background:bisque; color:black"
| [mailto:praxmail@gmail.com prashanth] || India || Tiny 2.11 ||| 2008 || 6 autonomous flights till now, currently build a new wing like funjet
|- style="background:bisque; color:black"
| [mailto:spencerpangborn@gmail.com spencer] || Taipei, Taiwan || none ||| 2009 || research for now, hope to take aerial photos of Taipei City soon
|}

==Europe==
{| class="wikitable" style="text-align:center;background:black; color:blue"

! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
|Austria

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Martinpi Martin Piehslinger] || Vienna, Austria || Tiny 2.11 || 2008 || just starting

|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz, Austria || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.

|- style="background:bisque; color:black"
|France

|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.

|- style="background:bisque; color:black"
| [mailto:pvol_at_club.fr Philippe Volivert] || Paris, France || TWOG 2.12, EasyGlider, MPX3030 ||| July 2009 || Working on pan/tilt/roll camera

|- style="background:bisque; color:black"
| [mailto:thibaut.bergal@estaca.eu ESTACA Modélisme] || Paris, France || TWOG 2.11, Swift 2, MC22 ||| January 2010 || Starting

|- style="background:bisque; color:black"
| [mailto:limaiem@gmail.com Imed Limaiem] || Paris, France || TWOG 2.11, EPP-CF FPV ||| January 2010 || flight test; Town pollution measurement;

|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
| Toulouse
| Tiny v2.11 || Nov. 2008 || GWS Slow Stick flying in AUTO2 reliably. Starting on stabilized video and payload drops Skype: pauldanielcox Gtalk: [use email]

|- style="background:bisque; color:black"
|Germany

|- style="background:bisque; color:black"
| [mailto:maik.hoepfel_at_web.de Maik Hoepfel] || Berlin, Germany || TWOG, Borjet Maja, Futaba 9C 35 Mhz ||| August 2009 || Have flown different airframes and am flying a Borjet Maja right now; built a more rugged case and connecting board for PPRZ; taking surveying pictures

|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues

|- style="background:bisque; color:black"
| [[User:Flixr|Felix Ruess]] || Munich, Germany || Booz2 quadrotor ||| 2008 || flying, but a lot to improve ;-)

|- style="background:bisque; color:black"
| [[User:TheJJ|Jonas Jelten]] || Augsburg, Germany || just our airframe ||| 2010 || "P-Seminar" for the new G8 at our Gymnasium ([http://www.solarflugzeug.de.tc solarflugzeug.de.tc])

|- style="background:bisque; color:black"
| [[User:Christoph|Christoph Niemann]] || Bremen, Germany || Reely Condor with TWOG and Sparkfun Razor-IMU ||| 2010 || Several successful AUTO2-Flights.

|- style="background:bisque; color:black"
| Portugal

|- style="background:bisque; color:black"
| [mailto:azoreanuav_at_gmail.com Rui Costa] || Azores, Portugal || Outrunner Twinstar II with Tiny 2.11, Aerocomm datalink, 1W video tx ||| 2008 || Only ground test and software configuration.

|- style="background:bisque; color:black"
| [mailto:muralha_at_gmail.com Nuno Guedes] || Lamego, Portugal || Tiny 2.11 || 2008 || Starting

|- style="background:bisque; color:black"
|Switzerland

|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny v2.11, TWOG v1, EeePC as GCS, Multiplex FunJet & EasyStar ||| 2008 || Many successful flights.

|- style="background:bisque; color:black"
| [mailto:spam1_at_marzer.com CedricM] || Geneva, Switzerland || Tiny 2.11, Multiplex FunJet with video camera ||| 2008 || Many successful flights working on an osd module and weather probes.

|- style="background:bisque; color:black"
| [mailto:reto.buettner_at_gmail.com RetoB] || Meilen, Switzerland || TWOG, Tiny 2.11, AeroMaster, E-Hawk, Y-UAV, EzOSD, Scherrer UHF ||| 2010 || Many successful flights. See [http://www.aerovista.ch/news.html www.aerovista.ch] and [http://www.y-uav.com www.y-uav.com] for current status.

|- style="background:bisque; color:black"
| [mailto:schmiemi_at_students.zhaw.ch EmilioS] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Borjet Maja, UMARS||| 2010 || Many successful flights. See [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html UMARS] for current status.

|- style="background:bisque; color:black"
| [mailto:enso@zhaw.ch Oliver Ensslin] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Kyosho Calmato, UMARS||| 2010 || Still struggling to get in the air with Calmato. Successful flights with Maya. Now with the new reorganized code.

|- style="background:bisque; color:black"
| [mailto:samuelbryner_gmx.ch Samuel B.] || Winterthur, Switzerland || Tiny 2.11, Multiplex Easyglider ||| 2010 || Just starting. No flight so far :/

|- style="background:bisque; color:black"
| [mailto:rmaurer@sunrise.ch RetoM] || Bottighofen, Switzerland || Tiny 2.11, Multiplex Mentor ||| 2010 || Just started .... no flight so far, maiden flight planned for March 2011.

|- style="background:bisque; color:black"
| UK

|- style="background:bisque; color:black"
| [mailto:et@onyxnet.co.uk Alan K] || Middlesbrough, England || Tiny 2.11 & MaxStream ||| 2008 || Just starting.

|- style="background:bisque; color:black"
| [[User:G R|Gareth R]] || Sheffield, UK || Tiny 2.11, video, bunch of helicopters, Multiplex Mentor, Multiplex Funjet, Multiplex Fox, GWS Formosa ||| 2008 || Came 4th in EMAV09 (although won the Golden Balls award for courage in the face of adversity and exceptional partying). Many AUTO2 flights with a camera and XBee868s. Current main airframe is a GWS Formosa (they are so cheap!).

|- style="background:bisque; color:black"
| Other

|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3,2.11, Twog 1.0 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV. Successfull. Now using it on large gliders and jets.

|- style="background:bisque; color:black"
| [[ email = hendrix at vivodinet dot gr| Chris Efstathiou]] || Piraeus Hellas || tiny 2.11 on a Mpx EasyGlider, TWOG 1.3 on a Boomerang turbine jet ||| 2008 || The Easyglider is fully operational, still working on the jet which had his first flight with the TWOG at 25/1/2009

|- style="background:bisque; color:black"
| [[User:openuas|OpenUAS]] || Amsterdam, The Netherlands || TWOG, Tiny and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed integration

|- style="background:bisque; color:black"
| [mailto:sanarlab@yandex.ru Andrew Saenko] || Russia, St-Petersburg || Tiny 1.13, Tiny 2.11, two own hardware designs, 5 kg aerial photo plane, 2.5 kg survelliance uav, Easystar ||| 2007 || Use modified autopilot and GCS in professional tasks, add self desidned IMU

|- style="background:bisque; color:black"
| [mailto:chebuzz_at_gmail.com David "Buzz" Carlson] || Cyprus || Tiny 2.11, Lynx EDF & GWS SloStick, 9XTend datalink ||| 2008 || Quite a few AUTO2 flights. Plane currently grounded due to a TX run-in with a 1 year-old. Currently working on getting new TX and completing CBP store setup.

|- style="background:bisque; color:black"
| [mailto:kostalexis@ece.upatras.gr AneMos-Group] || Patras, Greece || Tiny 2.11, Quadrotor VTOL ||| 2008 || Working on IMU, Trying to implement Constrained Control for the quadrotor trajectory flight

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:VAMK Allan Ojala (VAMK)] || Vaasa, Finland || TWOG, with AC4790 radio and LEA-5H GPS ||| 2009 || Ditched the SIG Kadet. Built a new big plane TaigaCam. Self-build model made out of EPP and a plastic tube.

|- style="background:bisque; color:black"
| [mailto:alexandru.panait@ral.ro Phineas] || Bucharest, Romania || Tiny2.11 (PPZUAV) ||| November 2009 || Just started to set-up

|- style="background:bisque; color:black"
| [mailto:lukeiron@hotmail.com Luke] || Torino, Italy || TWOG ||| December 2009 || Close to mount the AP on my Mentor
|

|- style="background:bisque; color:black"
| [mailto:helgewal@gmail.com Helge] || Bergen, Norway || TWOG ||| 2009 || First Auto2 flight with Twinstar2 in October 2010
|}

==North America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Mcurrie Matthew Currie] || Nanaimo, BC Canada || Tiny 13 v1.1 (Self-built) ||| November 2006 || Funjet + XBee

|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] [http://paparazzi.enac.fr/wiki/User:John_Burt wiki page]|| Portland, Oregon || Tiny v2.11 + LEA-4H (PPZUAV), Multiplex Cularis/Easystar, 9Xtend modem, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Initial flight tests w/ Easystar in AUTO1 & AUTO2.

|- style="background:bisque; color:black"
| [mailto:ogar0007@umn.edu Pat O'Gara] || St. Paul, MN || Tiny 2.11 and TWOG (PPZUAV) |||Oct. 2008 || Completed and flown FunJet and Minimag in Auto 2. Currently rebuilding MiniMag as an improved development platform.

|- style="background:bisque; color:black"
| [mailto:kochesj@gvsu.edu John Koches] || Muskegon, Michigan || Tiny 2.11 (PPZUAV) ||| 2007 || currently flying a 48 inch zagi, 80 inch under construction.

|- style="background:bisque; color:black"
| [mailto:Stdeguir@gmail.com Steve Deguir] || New York,New York || Tiny2.11+LEA-5H (PPZUAV), XbeePro 2.4, Berg4L, JR FMA ||| Feb 2009 ||

|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.

|- style="background:bisque; color:black"
| [mailto:mecevans@gmail.com Michael Evans] || Seaside(Monterey Bay), California || Tiny2.11 (PPZUAV) ||| Feb 2009 ||http://www.rcgroups.com/forums/showthread.php?t=1000937.

|- style="background:bisque; color:black"
| USU AggieAir Remote Sensing || Logan, UT || TWOG (PPZUAV) ||| January 2009 || Building 72" Flying Wings which will be used for remote sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://www.engr.usu.edu/wiki/index.php/OSAM USU OSAM-UAV] || Logan, UT || TWOG (PPZUAV) ||| June 2007 || 2x72" 5x48" 1x60" Flying Wings. Research backyard for AggieAir Remote Sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU Fuel Cell UAV] || Fort Collins, Co || Tiny 2.11 + LEA-5H (PPZUAV), 2.4Ghz XBPro ||| Mar 2009 || Maiden flight complete Feb 28. New Airframe in development.

|- style="background:bisque; color:black"
| [mailto:armz12@gmail.com Armen Gharibans] || La Jolla, California || Tiny2.11 (PPZUAV) ||| March 2009 || UCSD Project with Multiplex Mentor. Completed August 2, 2009. Several Successful Auto2 Flights. A LOT of help from David Conger.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:EldenC Elden Crom] || Tucson, AZ || Twog 1.0 ||| July 2009 || Multiplex Twinstar, XBee Pro. Several Successful Auto2 Flights. Working toward precise Auto-Takeoff and Auto-Land

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider] || Tucson, AZ || None, will use TWOG 1.0 ||| December 2009 || Super Dimona, Aerocomm. No Flight test. Working toward setting waypoints within Paparazzi code

|- style="background:bisque; color:black"
| [Reegan] || Lubbock, TX || Planning on Tiny 2.11 (PPZUAV), 900mhz XBPro |||Dec. 2009 || Gaining info to begin a collegiate project

|- style="background:bisque; color:black"
| Team UAV UALR Caleb Tenberge || Little Rock, AR || Using TWOG 1.0 ||| Feb 2010 || Using a Telemaster, we are learning the GCS and building our plane.

|- style="background:bisque; color:black"
| [mailto:changho.nam@asu.edu Arizona State University POLY - Capstone Team: Development of UAV /w surveillance System] || Mesa, AZ || Using TINY 2.1 - 2.4GHz Modem, CCD Camera /w 900 MHz Video Transmitter ||| March 2010 || 4-lbs Flying Wings. We made successful autonomous flights.

|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==Central America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:joschau@comcast.net Joekadet] || David Panama' || Tiny v2.11/LEA-4P, RF Modems XBee Pro 2.4 GHz (PPZUAV). Multiplex Mentor ||| 2008 || Seven flights now. Flights 6 & 7 in Auto2. Now only a matter of fine tuning.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==South America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:gustavoviolato@gmail.com Gustavo Violato] || São José dos Campos, Brasil || Tiny v2.11/LEA-4P, Modem XBee Pro 2.4 GHz Swift II ||| 2009 || Flying autonomously and enjoying it. Planning to use the system for flight test data acquisition and aircraft parameter recognition.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==Australia==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| [mailto:reubenb87@gmail.com Reuben Brown]|| Gawler, SA || Tiny v2.11 ||| May 2009 || Getting the autopilot set up
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison] || Neutral Bay, NSW || Tiny v2.11, Vertical + Horizontal IR sensors, XBee PRO modems, Futaba T6EXAP TX, Futaba R136F RX, Funjet, MacBook laptop ||| August 2008 || Several flights in Auto1
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rufus Chris Gough] || Canberra || TWOG v2.11, EZ* || September 09 || not yet airborn
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Adam.A Adam Amos] || Sydney, NSW || TWOG, IMU, BORJET MAJA || March 2010 || see [http://www.rescuerobotics.com.au www.rescuerobotics.com.au] for current status
|}

==Africa==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:w1_th@yahoo.com W1th] || South Africa KZN || TWOG V1 ,LEA-5H GPS , RF Modems XBee Pro 868 (CheBuzz) ||| July 2009 || Got TWOG,GPS etc interfacing with Laptop and working , Have not done anything to it recently but...Made a website [http://sites.google.com/site/scarfclub/paparazi-uav SCARF Paparazzi-UAV] of my struggle ...
|- style="background:bisque; color:black"
| [mailto:willie.smit@nwu.ac.za Willie Smit] || South Africa NW || Tiny v2.11, LEA-4P GPS, RF Modems XBee Pro ||| April 2010 || We are currently doing test flights. Also doing research on obstacle avoidance.
|- style="background:bisque; color:black"
|}

User:Aerodolphin

2010-12-31T03:12:58Z

Aerodolphin:

I'm designing a new paparazzi board (Tiny v3) and an UAV for surveilance. Will have a MTOW of 16Kg and a wingspan of 3,5m. Will be capable to carry a payload of 5Kg during 2 hours.

More informations soon...

Tiny v3

2010-12-31T03:01:54Z

Aerodolphin: /* Block Architecture */

Tiny v3

2010-12-31T03:01:37Z

Aerodolphin: /* Bill Of Material */

Tiny v3

2010-12-31T03:01:18Z

Aerodolphin: /* Hardware Source Files */

Tiny v3

2010-12-31T03:01:07Z

Aerodolphin: /* HB_Autopilot Solution */

Tiny v3

2010-12-31T03:00:56Z

Aerodolphin: /* Authors */

== New features Wish List For The New Paparazzi Board ==

* 4 layer PCB for EMI improvement;
* External GPS;
* External IMU (Booz IMU);
* Pressure sensors for altitude and speed determination (like Lisa/L. I will need some help on the software stuff);
* External/Internal power source for servos and datalink selected with a jumper;
* Micro SD Card Data Logger(Implementation of the paparazzi data logger);
* JTAG debugging port (will need some help here, who can help?);

More ideias of improvement are welcome.

== HB_Autopilot Solution ==

We decided to work with HB_Autopilot hardware that was built in Bremen for quadcopters. Our intention is to use this hardware and some part of the code to be the base to build the new tiny v3 autopilot with all the listed features for a fixed wing aircraft or with a switch to work with quadcopters or helicopters or fixed wing capability.

'''Source:''' http://www.akaflieg.hs-bremen.de
'''Andreas Dei Report:'''

== Block Architecture ==
[[Image:Block_Schematic.jpg]]

== Hardware Source Files==

Hardware- and software- files can be found here:
https://www.akaflieg.hs-bremen.de/trac/akaflieg/wiki/airborne/hw/autopilot

* Download ''[[Media:Schematics.pdf|Schematics (.pdf file)]] file ERROR!! Unable to download''
* Download ''[[Media:PCB Layouts.pdf| PCB Layouts (.pdf file)]]file ERROR!! Unable to download''
* Download ''[[Media:hw.rar|Eagle Files (.rar file)]]file ERROR!! Unable to download''

== Bill Of Material ==

Soon available... For now you can see the BOM from Hardware Source Files.

== Work Team ==

We will need a lot of help on this project. Any help and suggestions will be very much appreciated.
Let's make a small team to work on this new paparazzi board.

Please insert in this list your name and contact if you would like to be part of the team:

* Akira Devereaux (California) => atdever@gmail.com Can rapid prototype www.scicontech.com
* Rui Costa (from Portugal) => azoreanuav(at)gmail.com
* Mike Nickelson (Boston, MA, USA) => michael.nickelson(at)gmail.com
* Spencer Pangborn (Taipei, Taiwan) => spencerpangborn(at)gmail.com (I may be able to help with 4 layer PCB printing here in Taiwan.)
* Paul Cox (Toulouse, France) => pauldanielcox at gmail (schematics, layout, proto, debug, etc)
* Diego J. Stefanello (Santa Maria, Brazil) => diegostefanello(at)gmail.com (Schematics, layout, degub, etc)
* Wayne Garris (Seattle ,WA ,USA => wayneg(at)invitroaviation.com (avionics , nav,kalman filters,IMU)
* Wang Yao (Wuhan China)=>wzxwyvippt@126.com
* Ross Man ( from Hong Kong ) => ross(at)hongkongapple.com
* wangcfan(Baotou China))=>wangcfan(AT)163.com(Chinese fans, please join the QQ Group: 2816619)
* Ernani Reis (São José dos Campos, Brazil) => esreis(a t)sousa(dot)reis(dot)nom(dot)br (pneumatic sensors acquisition)

Tiny v3

2010-12-31T03:00:46Z

Aerodolphin: /* HB_Autopilot Images */

== New features Wish List For The New Paparazzi Board ==

* 4 layer PCB for EMI improvement;
* External GPS;
* External IMU (Booz IMU);
* Pressure sensors for altitude and speed determination (like Lisa/L. I will need some help on the software stuff);
* External/Internal power source for servos and datalink selected with a jumper;
* Micro SD Card Data Logger(Implementation of the paparazzi data logger);
* JTAG debugging port (will need some help here, who can help?);

More ideias of improvement are welcome.

== HB_Autopilot Solution ==

We decided to work with HB_Autopilot hardware that was built in Bremen for quadcopters. Our intention is to use this hardware and some part of the code to be the base to build the new tiny v3 autopilot with all the listed features for a fixed wing aircraft or with a switch to work with quadcopters or helicopters or fixed wing capability.

'''Source:''' http://www.akaflieg.hs-bremen.de
'''Andreas Dei Report:'''

== Authors ==

'''Team staff:'''
Heinrich Warmers hwarmers at hs-bremen.de
Oliver Riesener oliver.riesener at hs-bremen.de

'''Student work:'''
Andreas Dei andreas.dei at gmx.de
Thu Nguyen
Christoph Niemann
Henning Sauerland
Malte Lorbach
Arthur Neumann
Johannes Behn

'''Authors of external sources:'''
Killagreg
R O SoftWare
Michael Walter
Ralf Corsepius
KEIL ELEKTRONIK GmbH

== Block Architecture ==
[[Image:Block_Schematic.jpg]]

== Hardware Source Files==

Hardware- and software- files can be found here:
https://www.akaflieg.hs-bremen.de/trac/akaflieg/wiki/airborne/hw/autopilot

* Download ''[[Media:Schematics.pdf|Schematics (.pdf file)]] file ERROR!! Unable to download''
* Download ''[[Media:PCB Layouts.pdf| PCB Layouts (.pdf file)]]file ERROR!! Unable to download''
* Download ''[[Media:hw.rar|Eagle Files (.rar file)]]file ERROR!! Unable to download''

== Bill Of Material ==

Soon available... For now you can see the BOM from Hardware Source Files.

== Work Team ==

We will need a lot of help on this project. Any help and suggestions will be very much appreciated.
Let's make a small team to work on this new paparazzi board.

Please insert in this list your name and contact if you would like to be part of the team:

* Akira Devereaux (California) => atdever@gmail.com Can rapid prototype www.scicontech.com
* Rui Costa (from Portugal) => azoreanuav(at)gmail.com
* Mike Nickelson (Boston, MA, USA) => michael.nickelson(at)gmail.com
* Spencer Pangborn (Taipei, Taiwan) => spencerpangborn(at)gmail.com (I may be able to help with 4 layer PCB printing here in Taiwan.)
* Paul Cox (Toulouse, France) => pauldanielcox at gmail (schematics, layout, proto, debug, etc)
* Diego J. Stefanello (Santa Maria, Brazil) => diegostefanello(at)gmail.com (Schematics, layout, degub, etc)
* Wayne Garris (Seattle ,WA ,USA => wayneg(at)invitroaviation.com (avionics , nav,kalman filters,IMU)
* Wang Yao (Wuhan China)=>wzxwyvippt@126.com
* Ross Man ( from Hong Kong ) => ross(at)hongkongapple.com
* wangcfan(Baotou China))=>wangcfan(AT)163.com(Chinese fans, please join the QQ Group: 2816619)
* Ernani Reis (São José dos Campos, Brazil) => esreis(a t)sousa(dot)reis(dot)nom(dot)br (pneumatic sensors acquisition)

Tiny v3

2010-12-31T03:00:37Z

Aerodolphin: /* Detailed Images */

== New features Wish List For The New Paparazzi Board ==

* 4 layer PCB for EMI improvement;
* External GPS;
* External IMU (Booz IMU);
* Pressure sensors for altitude and speed determination (like Lisa/L. I will need some help on the software stuff);
* External/Internal power source for servos and datalink selected with a jumper;
* Micro SD Card Data Logger(Implementation of the paparazzi data logger);
* JTAG debugging port (will need some help here, who can help?);

More ideias of improvement are welcome.

== HB_Autopilot Solution ==

We decided to work with HB_Autopilot hardware that was built in Bremen for quadcopters. Our intention is to use this hardware and some part of the code to be the base to build the new tiny v3 autopilot with all the listed features for a fixed wing aircraft or with a switch to work with quadcopters or helicopters or fixed wing capability.

'''Source:''' http://www.akaflieg.hs-bremen.de
'''Andreas Dei Report:'''

== Authors ==

'''Team staff:'''
Heinrich Warmers hwarmers at hs-bremen.de
Oliver Riesener oliver.riesener at hs-bremen.de

'''Student work:'''
Andreas Dei andreas.dei at gmx.de
Thu Nguyen
Christoph Niemann
Henning Sauerland
Malte Lorbach
Arthur Neumann
Johannes Behn

'''Authors of external sources:'''
Killagreg
R O SoftWare
Michael Walter
Ralf Corsepius
KEIL ELEKTRONIK GmbH

== HB_Autopilot Images ==
<gallery>
Image:hb_ap01.jpg|PCB mockup
Image:hb_ap02.jpg|PCB mockup
Image:hb_ap03.jpg|Top HB_Autopilot
Image:hb_ap04.jpg|Bottom HB_Autopilot
</gallery>

== Block Architecture ==
[[Image:Block_Schematic.jpg]]

== Hardware Source Files==

Hardware- and software- files can be found here:
https://www.akaflieg.hs-bremen.de/trac/akaflieg/wiki/airborne/hw/autopilot

* Download ''[[Media:Schematics.pdf|Schematics (.pdf file)]] file ERROR!! Unable to download''
* Download ''[[Media:PCB Layouts.pdf| PCB Layouts (.pdf file)]]file ERROR!! Unable to download''
* Download ''[[Media:hw.rar|Eagle Files (.rar file)]]file ERROR!! Unable to download''

== Bill Of Material ==

Soon available... For now you can see the BOM from Hardware Source Files.

== Work Team ==

We will need a lot of help on this project. Any help and suggestions will be very much appreciated.
Let's make a small team to work on this new paparazzi board.

Please insert in this list your name and contact if you would like to be part of the team:

* Akira Devereaux (California) => atdever@gmail.com Can rapid prototype www.scicontech.com
* Rui Costa (from Portugal) => azoreanuav(at)gmail.com
* Mike Nickelson (Boston, MA, USA) => michael.nickelson(at)gmail.com
* Spencer Pangborn (Taipei, Taiwan) => spencerpangborn(at)gmail.com (I may be able to help with 4 layer PCB printing here in Taiwan.)
* Paul Cox (Toulouse, France) => pauldanielcox at gmail (schematics, layout, proto, debug, etc)
* Diego J. Stefanello (Santa Maria, Brazil) => diegostefanello(at)gmail.com (Schematics, layout, degub, etc)
* Wayne Garris (Seattle ,WA ,USA => wayneg(at)invitroaviation.com (avionics , nav,kalman filters,IMU)
* Wang Yao (Wuhan China)=>wzxwyvippt@126.com
* Ross Man ( from Hong Kong ) => ross(at)hongkongapple.com
* wangcfan(Baotou China))=>wangcfan(AT)163.com(Chinese fans, please join the QQ Group: 2816619)
* Ernani Reis (São José dos Campos, Brazil) => esreis(a t)sousa(dot)reis(dot)nom(dot)br (pneumatic sensors acquisition)

Tiny v3

2010-12-31T03:00:08Z

Aerodolphin: /* New features Wish List For The New Paparazzi Board */

== New features Wish List For The New Paparazzi Board ==

* 4 layer PCB for EMI improvement;
* External GPS;
* External IMU (Booz IMU);
* Pressure sensors for altitude and speed determination (like Lisa/L. I will need some help on the software stuff);
* External/Internal power source for servos and datalink selected with a jumper;
* Micro SD Card Data Logger(Implementation of the paparazzi data logger);
* JTAG debugging port (will need some help here, who can help?);

More ideias of improvement are welcome.

== HB_Autopilot Solution ==

We decided to work with HB_Autopilot hardware that was built in Bremen for quadcopters. Our intention is to use this hardware and some part of the code to be the base to build the new tiny v3 autopilot with all the listed features for a fixed wing aircraft or with a switch to work with quadcopters or helicopters or fixed wing capability.

'''Source:''' http://www.akaflieg.hs-bremen.de
'''Andreas Dei Report:'''

== Authors ==

'''Team staff:'''
Heinrich Warmers hwarmers at hs-bremen.de
Oliver Riesener oliver.riesener at hs-bremen.de

'''Student work:'''
Andreas Dei andreas.dei at gmx.de
Thu Nguyen
Christoph Niemann
Henning Sauerland
Malte Lorbach
Arthur Neumann
Johannes Behn

'''Authors of external sources:'''
Killagreg
R O SoftWare
Michael Walter
Ralf Corsepius
KEIL ELEKTRONIK GmbH

== HB_Autopilot Images ==
<gallery>
Image:hb_ap01.jpg|PCB mockup
Image:hb_ap02.jpg|PCB mockup
Image:hb_ap03.jpg|Top HB_Autopilot
Image:hb_ap04.jpg|Bottom HB_Autopilot
</gallery>

== Detailed Images ==
<gallery>
Image:mcu_up.jpg|MCU Top
Image:mcu_down.jpg|MCU Bottom
Image:imu_up.jpg|IMU Top
Image:imu_down.jpg|IMU Bottom
Image:imu_sensors.jpg|IMU Sensors
</gallery>

== Block Architecture ==
[[Image:Block_Schematic.jpg]]

== Hardware Source Files==

Hardware- and software- files can be found here:
https://www.akaflieg.hs-bremen.de/trac/akaflieg/wiki/airborne/hw/autopilot

* Download ''[[Media:Schematics.pdf|Schematics (.pdf file)]] file ERROR!! Unable to download''
* Download ''[[Media:PCB Layouts.pdf| PCB Layouts (.pdf file)]]file ERROR!! Unable to download''
* Download ''[[Media:hw.rar|Eagle Files (.rar file)]]file ERROR!! Unable to download''

== Bill Of Material ==

Soon available... For now you can see the BOM from Hardware Source Files.

== Work Team ==

We will need a lot of help on this project. Any help and suggestions will be very much appreciated.
Let's make a small team to work on this new paparazzi board.

Please insert in this list your name and contact if you would like to be part of the team:

* Akira Devereaux (California) => atdever@gmail.com Can rapid prototype www.scicontech.com
* Rui Costa (from Portugal) => azoreanuav(at)gmail.com
* Mike Nickelson (Boston, MA, USA) => michael.nickelson(at)gmail.com
* Spencer Pangborn (Taipei, Taiwan) => spencerpangborn(at)gmail.com (I may be able to help with 4 layer PCB printing here in Taiwan.)
* Paul Cox (Toulouse, France) => pauldanielcox at gmail (schematics, layout, proto, debug, etc)
* Diego J. Stefanello (Santa Maria, Brazil) => diegostefanello(at)gmail.com (Schematics, layout, degub, etc)
* Wayne Garris (Seattle ,WA ,USA => wayneg(at)invitroaviation.com (avionics , nav,kalman filters,IMU)
* Wang Yao (Wuhan China)=>wzxwyvippt@126.com
* Ross Man ( from Hong Kong ) => ross(at)hongkongapple.com
* wangcfan(Baotou China))=>wangcfan(AT)163.com(Chinese fans, please join the QQ Group: 2816619)
* Ernani Reis (São José dos Campos, Brazil) => esreis(a t)sousa(dot)reis(dot)nom(dot)br (pneumatic sensors acquisition)

Links

2010-12-31T02:48:45Z

Aerodolphin: /* The Project Page */ SVN repository Link

== The Project Page ==

The Paparazzi project is hosted at [https://savannah.nongnu.org/projects/paparazzi/ Savannah] where the SVN repository [http://svn.savannah.nongnu.org/viewvc/?root=paparazzi] is available.

== The IRC Chat Channel ==

Network: Freenode
Network Host: irc.freenode.net
Channel: #paparazzi

* Web Based: You can use a [http://embed.mibbit.com/?server=irc.freenode.net&channel=%23paparazzi&noServerNotices=true web-based IRC portal] that makes it easy for people to jump in from any computer. Simply enter a unique ''nickname'', and '''say hello''' to the team!
* Client Software: Download one of the many freeware/shareware IRC clients and put [irc://irc.freenode.net/#paparazzi #paparazzi] at the top of your favorites list!
*: [http://www.mirc.com mIRC] (Windows)
*: [http://www.xchat.org Xchat]

== Paparazzi Users Forum ==

If the mailing list would not be sufficient, a new Paparazzi specific forum will be available in the end of August 2010 to be found at http://www.openuas.org/forum/ . If you would like to have beta access send a mail to openuas at gmail (anda dottyhere) com

== Paparazzi Youtube and Other Video Site Links ==

http://www.youtube.com/user/USUOSAM

http://www.youtube.com/user/aerovistapunktch

http://www.youtube.com/user/PPZUAV

== Paparazzi teams/users/contributors ==

http://www.caughey.com/uavblog/news.php?id=1

http://www.miraterre.com/index.html

http://mecano.gme.usherb.ca/~vamudes/

http://pfump.org

http://www.ismo.hs-bremen.de/dokuwiki/doku.php?id=elem:projekte:intro#semesterprojekte (German)

http://www.akaflieg.hs-bremen.de/

http://www.engr.usu.edu/wiki/index.php/OSAM

http://www.techhopups.com/

http://pixhawk.ethz.ch

http://www.rcgroups.com/forums/showthread.php?t=851820

http://www.rcgroups.com/forums/showthread.php?t=1000937

http://www.mannberg.co.uk/paparazzi/

http://www.rcgroups.com/forums/showthread.php?t=1183008

http://www.openuas.org/

http://vrhome.net/vassilis/category/paparazzi/

http://y-uav.com

== WikiNode ==

Related wiki are, as always, listed on the [[WikiNode]].

Links

2010-12-31T02:48:08Z

Aerodolphin: /* The Project Page */

== The Project Page ==

The Paparazzi project is hosted at [https://savannah.nongnu.org/projects/paparazzi/ Savannah] where the SVN repository is available.
[http://svn.savannah.nongnu.org/viewvc/?root=paparazzi]

== The IRC Chat Channel ==

Network: Freenode
Network Host: irc.freenode.net
Channel: #paparazzi

* Web Based: You can use a [http://embed.mibbit.com/?server=irc.freenode.net&channel=%23paparazzi&noServerNotices=true web-based IRC portal] that makes it easy for people to jump in from any computer. Simply enter a unique ''nickname'', and '''say hello''' to the team!
* Client Software: Download one of the many freeware/shareware IRC clients and put [irc://irc.freenode.net/#paparazzi #paparazzi] at the top of your favorites list!
*: [http://www.mirc.com mIRC] (Windows)
*: [http://www.xchat.org Xchat]

== Paparazzi Users Forum ==

If the mailing list would not be sufficient, a new Paparazzi specific forum will be available in the end of August 2010 to be found at http://www.openuas.org/forum/ . If you would like to have beta access send a mail to openuas at gmail (anda dottyhere) com

== Paparazzi Youtube and Other Video Site Links ==

http://www.youtube.com/user/USUOSAM

http://www.youtube.com/user/aerovistapunktch

http://www.youtube.com/user/PPZUAV

== Paparazzi teams/users/contributors ==

http://www.caughey.com/uavblog/news.php?id=1

http://www.miraterre.com/index.html

http://mecano.gme.usherb.ca/~vamudes/

http://pfump.org

http://www.ismo.hs-bremen.de/dokuwiki/doku.php?id=elem:projekte:intro#semesterprojekte (German)

http://www.akaflieg.hs-bremen.de/

http://www.engr.usu.edu/wiki/index.php/OSAM

http://www.techhopups.com/

http://pixhawk.ethz.ch

http://www.rcgroups.com/forums/showthread.php?t=851820

http://www.rcgroups.com/forums/showthread.php?t=1000937

http://www.mannberg.co.uk/paparazzi/

http://www.rcgroups.com/forums/showthread.php?t=1183008

http://www.openuas.org/

http://vrhome.net/vassilis/category/paparazzi/

http://y-uav.com

== WikiNode ==

Related wiki are, as always, listed on the [[WikiNode]].

Sensors/GPS

2010-12-21T16:03:25Z

Aerodolphin: /* Paparazzi Stand-alone GPS Receivers */

{| align=right
|-
| __TOC__
|}

==Overview==
[[Image:U-blox_color_warm_60.gif|100px]]

Paparazzi autopilots are designed around the popular [http://www.u-blox.com u-blox] brand of receivers.

*Features:
**Small size
**Excellent performance
**4Hz position update rate

The '''[[Tiny]]''' features an onboard LEA series GPS receiver and patch antenna, while '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. Both modules have proven reliable and robust.

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/gps_ubx.c</tt>. Other GPS brands would require a similar parsing file to be written for NMEA or other proprietary protocols.

==GPS Receivers==

===u-Blox LEA Series Receivers===
[[Image:Lea big.jpg|100px|thumb|right|u-blox LEA]]
The '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4 and 5 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4 and LEA-5 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S models as the special boot configuration code required for these models is already written.

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position [http://paparazzi.enac.fr/wiki_images/Gps_rx_noise.pdf noise] figure
[[Image:Lea5htiny13.jpg|thumb|center|250px|LEA-4P installed on the Tiny]]
 

===Paparazzi Stand-alone GPS Receivers===
<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi CVS provides a design for an external GPS board (required for TWOG and Classix Autopilots).
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See "Getting Hardware" for sources of assembled boards.

The Paparazzi design in http://svn.savannah.nongnu.org/viewvc/paparazzi-hardware/trunk/sensors/gps_13/?root=paparazzi. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.

==== Wiring Diagram ====
[[Image:TWOG to GPS.jpg|thumb|left]]
 

----

===3rd Party u-blox reference design boards:===

[[Image:LEA5HExternalModulePinout.jpg|100px|thumb|right|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have either LEA-4P or LEA-5H (typically) and several interfaces. Often a larger antenna as well.


If this needs fixing don't be shy, fix away.

 

===NAVILOCK NL-507ETTL===
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

===SPK GS406===
[[Image:GS406.jpg|thumb|left|SPK GS406 with LEA-5]]
[http://www.sparkfun.com/commerce/product_info.php?products_id=8889 Sparkfun] sells a nice small module featuring the newer 5-series receiver and the highly rated Sarantel antenna for about $90. The design is based around the active version of the Sarantel instead of the more appropriate passive model and there's some potentially tricky soldering involved to get around the ribbon cable but the price is great for this hardware.

[http://store.diydrones.com/ProductDetails.asp?ProductCode=BR-0008-01 DIYDrones] has build a adapter board for this GPS module. It looks like a great solution to use this GPS module with Paparazzi.
 

===u-Blox C04-5H Reference Design===
[[Image:abavimage.jpg|100px|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.u-blox.com/products/c04_5h.html http://www.u-blox.com/products/c04_5h.html] for more info.
 

====Connecting external receivers to Classix, 1.2.1, Lite, and RoboStix boards====

The u-blox receivers require 3.3v power and all current models have 5V tolerant data lines. The best way to connect to the SAM-LS is to remove the bottom case and solder the 4 wires directly to the TIM-LL module (GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) check the TIM-LL datasheet for pinout diagrams.[http://www.u-blox.com/products/Data_Sheets/TIM-LL_Data_Sheet(GPS.G3-MS3-04035).pdf] The Classix and Lite boards feature a 3.3V regulator to power the GPS.
To open the casing on a SAM-LS, remove the bottom of the casing by pulling gently, then work around popping off the solder joints (they are fairly weak) by pressing a small screwdriver against each tab in turn until it pops off. You should then be able to access the GPS chip directly.

===Sourcing from u-blox===

u-blox keeps tight control over the distribution of their products. They must be obtained DIRECTLY from their own reseller offices. These offices may not be available in your area, for example Canada does not have a reseller. Sample quantities can be obtained from uBlox but overnight or 2 day shipping is required which drives the cost up considerably. While it is a large hassle obtaining these devices, it is undoubtedly worth it.

Talking with ublox sale for two years, Confirmed, that Order is possiable Directly from ublox, by knowing what project it was for & how was it to be use. After long reply waiting time, the answer was: - YES, but at least 2K-3K in volume, otherwise they're not interested. Like to share the order ? It is 500pcs/Roll.

===Other potential source of u-blox GPS===

There seems to be a few alternative source of u-blox GPS out there. They are considerably cheaper then the samples u-blox offers (at least in america). We didn't buy from these sources yet. Do not take this as a recommandation, we do not know the level of service they offer, etc.

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error )
*http://www.expedienttech.com/product.htm ( Singapore )

==GPS configuration using U-Center==

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[Compiling#USB_flashing|install the UART tunnel]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with the $20 [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate.
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [http://paparazzi.enac.fr/wiki_images/Tiny_LEA-5H-v5.zip LEA-5H (For Use w/ Firmware V5 ONLY!)]

===Manual Configuration===
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
6. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
7. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
8. UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
9. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

1. Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
2. Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction.
Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
6. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
7. UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
(add the flag -DGPS_USE_LATLONG in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]]) also make sure you set tiny_2_1_1.h if you have the latest boards Tiny/TinyWOG)
8. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH. Additionally, add the flag -DGPS_USE_LATLONG in the makefile section of the airframe xml file.

===Reset to Default Settings===
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===DGPS (Differential GPS)===
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions] though only WAAS and EGNOS are officially operational. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

====WAAS issues====
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to completely disable WAAS.

====EGNOS issues====
EGNOS officially became operational on 1 October 2009. ESA claims that it can determine position to within 2 metres compared with about 20 metres for GPS alone. Note that the service is currently provided only in western Europe. For further information see [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

According to the [http://ec.europa.eu/transport/egnos/programme/doc/2009_egnos_sdd_os_v1.pdf EC] the EGNOS transmission will keep the "Do not use" type0/2 flag until it is certified for safety of life operations in (hopfefully) mid 2010. So you will have to enable the "Allow test mode use (Msg 0)" switch in the u-center under UBX-CFG-SBAS together with the correction to try EGNOS.

The [http://www.u-blox.com/en/faq.html u-blox FAQ] states the following:
* "Do you see issues with EGNOS?"
*:"Yes. The data transmitted by EGNOS in the past were usually good and valuable although sometimes unreliable, e.g. when system tests were performed. u-blox does not guarantee performance and status of EGNOS system. For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

===Troubleshooting===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H:
Invalid_argument("Latlong.of_utm")

Solution: Add the flag -DGPS_USE_LATLONG to your airframe file.

===Further Reading===

The u-blox [http://www.u-blox.com/customersupport/antaris4_doc.html System Integration Manual] covers a lot of GPS theory as well as product specific topics.

== Antenna options for the Tiny and Paparazzi GPS units ==

The '''[[Tiny|Tiny 1.1]]''' features a 28mm square ground plane intended to be centered below the [[#Sangshin_13mm_Patch|Sangshin 13mm patch antenna]]. Much better performance has been seen with the 18mm antennas and an augmented ground plane. The ground plane is a critical part of the antenna affecting not only the gain and polarization characteristics but also the center frequency of the system. Users are advised to expand the ground plane to approximately 36mm square, centered on the ceramic portion of the antenna (not the pin). This can be done with copper foil soldered to the vias of the existing ground plane.
[[image:gps_antenna_comparison.jpg|thumb|500px|left|SAM-LS 25mm / Emtac 20mm / Emtac 18mm / Sangshin 18mm / Sangshin 13mm / Sarantel P2]]
 

=== Sangshin 18mm Patch ===
[[image:Sangshin_18mm.jpg|thumb|Sangshin 18mm x 4mm 1580Mhz]]
The Sangshin KSA-ST1580MS18 antenna has proven to offer the best performance of the currently available options. These are available from any Sanshin distributor such as [http://www.rfmw.com rfmw] ([http://www.rfmw.com/PortalProductDetail.aspx?ProdId=232436&fmt=1 here]) and cost approximately $6.50/ea. in small quantities.

 

=== EMTAC 18mm Patch ===
[[image:Emtac_18mm.jpg|thumb|Emtac 18mm x 4mm 1580Mhz]]
Offering identical performance to the Sangshin in a less attractive package is the Emtac 18mm antenna. The part number for the standard 1580MHz 18x18x4mm is ANA1580T18D40 and is not listed on their website. Other frequencies are available on a special order basis and the 1584Mhz has proven to outperform all other frequencies when used with a 36mm ground plane and no radome. The use of a radome (any material covering the antenna) or a larger ground plane should theoretically favor even higher frequencies.

'''Availability'''

* [http://www.transplantgps.com/modules.html TransplantGPS] in MN, USA. The 1580Mhz models are usually available at a cost of $3.55ea but there may be a minimum order requirement of ~$50 USD.

=== Sangshin 13mm Patch ===

[[image:Sangshin_13mm_onboard.jpg|thumb|Sangshin 13mm x 4mm 1580Mhz]]
Part of interest: '''[http://www.sangshinec.com/eng/patch_spec.htm KSA-ST1580MS13]'''

The Tiny 0.99 (not 0.9) and 1.1 were designed around this antenna but users are advised to install 18mm units for better performance.

Size: 13 x 13 mm 
Center Frequency: 1580 MHz 
Bandwidth: 5 MHz 
@Fo: -15 dB 
GAIN (dBi): 0 dBi 
Ground Plane: 50 x 50 mm 

'''Available From'''

[http://www.systroninc.com/ Systronic INC.] - Alberta, Canada
 

=== Emtac 20mm Patch ===

[[image:Salvaged_20mm_onboard.jpg|thumb|Emtac 20mm x 4mm]]
The Tiny 0.9 was designed around this 1583Mhz antenna and performed extremely well. Emtac has replaced this with an 18mm model that they claim offers even better performance.

* Obsolete
 

=== Spectrum Control Patch ===

[[image:PDC_Tiny21_S1.jpg|thumb|Spectrum Control 25mm]]
25mm patch testing on Tiny v2.1. Manufacturer Part Number [http://www.specemc.com/docs/antenna_catalog.pdf PA251575008SALF]. These are available from Mouser for about $3: [http://www.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMukjKvgqb7HxzmcutVCLrkxFUj/3HCdKwE%3d 657-PA251575008SALF]

 

=== Sarantel GeoHelix-P2 ===

[[image:Geohelix-p2.jpg|thumb|Sarantel Geohelix P-2 1575Mhz]]

This antenna is popular among UAV designers due to it's natural rejection of other radio frequencies such as those originating from the modem or video system as well as it's improved rejection of signals reflected from the ground. U-blox recommends this antenna and features it in their [http://www.u-blox.com/news/sarantel.html reference design]. Frequency and polarization are not dependent upon ground plane geometry so this antenna is sold only in the true GPS frequency of 1575Mhz.
The geometry makes this antenna very inconvenient to mount, especially in an airplane. Some very non-scientific testing has been done with one of these antennas connected to a Tiny with a short length of 50 Ohm coax above a 120mm square of ungrounded aluminum foil and performance was adequate. The helical design should theoretically outperform a patch in the air, but not on the ground, so any organized comparison will be difficult. Possibly the most important aspect of this antenna is it's natural RFI filtering, which should be evaluated further.

* [http://www.sarantel.com/products/geohelix-p2 GeoHelix-P2] Passive GPS Antenna [[http://www.sarantel.com/downloads/specifications/geohelix-p2.pdf datasheet]]

'''Availability'''

* Sarantel @ cost of approx $18 USD each (active versions available for ~$40)

Sensors/GPS

2010-12-21T15:46:24Z

Aerodolphin: /* Paparazzi Stand-alone GPS Receivers */

{| align=right
|-
| __TOC__
|}

==Overview==
[[Image:U-blox_color_warm_60.gif|100px]]

Paparazzi autopilots are designed around the popular [http://www.u-blox.com u-blox] brand of receivers.

*Features:
**Small size
**Excellent performance
**4Hz position update rate

The '''[[Tiny]]''' features an onboard LEA series GPS receiver and patch antenna, while '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. Both modules have proven reliable and robust.

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/gps_ubx.c</tt>. Other GPS brands would require a similar parsing file to be written for NMEA or other proprietary protocols.

==GPS Receivers==

===u-Blox LEA Series Receivers===
[[Image:Lea big.jpg|100px|thumb|right|u-blox LEA]]
The '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4 and 5 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4 and LEA-5 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S models as the special boot configuration code required for these models is already written.

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position [http://paparazzi.enac.fr/wiki_images/Gps_rx_noise.pdf noise] figure
[[Image:Lea5htiny13.jpg|thumb|center|250px|LEA-4P installed on the Tiny]]
 

===Paparazzi Stand-alone GPS Receivers===
<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi CVS provides a design for an external GPS board (required for TWOG and Classix Autopilots).
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See "Getting Hardware" for sources of assembled boards.

The Paparazzi design in http://svn.savannah.nongnu.org/viewvc/paparazzi-hardware/trunk/booz/?root=paparazzi / booz_gps_no_ami_mag files. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.

==== Wiring Diagram ====
[[Image:TWOG to GPS.jpg|thumb|left]]
 

----

===3rd Party u-blox reference design boards:===

[[Image:LEA5HExternalModulePinout.jpg|100px|thumb|right|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have either LEA-4P or LEA-5H (typically) and several interfaces. Often a larger antenna as well.


If this needs fixing don't be shy, fix away.

 

===NAVILOCK NL-507ETTL===
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

===SPK GS406===
[[Image:GS406.jpg|thumb|left|SPK GS406 with LEA-5]]
[http://www.sparkfun.com/commerce/product_info.php?products_id=8889 Sparkfun] sells a nice small module featuring the newer 5-series receiver and the highly rated Sarantel antenna for about $90. The design is based around the active version of the Sarantel instead of the more appropriate passive model and there's some potentially tricky soldering involved to get around the ribbon cable but the price is great for this hardware.

[http://store.diydrones.com/ProductDetails.asp?ProductCode=BR-0008-01 DIYDrones] has build a adapter board for this GPS module. It looks like a great solution to use this GPS module with Paparazzi.
 

===u-Blox C04-5H Reference Design===
[[Image:abavimage.jpg|100px|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.u-blox.com/products/c04_5h.html http://www.u-blox.com/products/c04_5h.html] for more info.
 

====Connecting external receivers to Classix, 1.2.1, Lite, and RoboStix boards====

The u-blox receivers require 3.3v power and all current models have 5V tolerant data lines. The best way to connect to the SAM-LS is to remove the bottom case and solder the 4 wires directly to the TIM-LL module (GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) check the TIM-LL datasheet for pinout diagrams.[http://www.u-blox.com/products/Data_Sheets/TIM-LL_Data_Sheet(GPS.G3-MS3-04035).pdf] The Classix and Lite boards feature a 3.3V regulator to power the GPS.
To open the casing on a SAM-LS, remove the bottom of the casing by pulling gently, then work around popping off the solder joints (they are fairly weak) by pressing a small screwdriver against each tab in turn until it pops off. You should then be able to access the GPS chip directly.

===Sourcing from u-blox===

u-blox keeps tight control over the distribution of their products. They must be obtained DIRECTLY from their own reseller offices. These offices may not be available in your area, for example Canada does not have a reseller. Sample quantities can be obtained from uBlox but overnight or 2 day shipping is required which drives the cost up considerably. While it is a large hassle obtaining these devices, it is undoubtedly worth it.

Talking with ublox sale for two years, Confirmed, that Order is possiable Directly from ublox, by knowing what project it was for & how was it to be use. After long reply waiting time, the answer was: - YES, but at least 2K-3K in volume, otherwise they're not interested. Like to share the order ? It is 500pcs/Roll.

===Other potential source of u-blox GPS===

There seems to be a few alternative source of u-blox GPS out there. They are considerably cheaper then the samples u-blox offers (at least in america). We didn't buy from these sources yet. Do not take this as a recommandation, we do not know the level of service they offer, etc.

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error )
*http://www.expedienttech.com/product.htm ( Singapore )

==GPS configuration using U-Center==

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[Compiling#USB_flashing|install the UART tunnel]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with the $20 [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate.
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [http://paparazzi.enac.fr/wiki_images/Tiny_LEA-5H-v5.zip LEA-5H (For Use w/ Firmware V5 ONLY!)]

===Manual Configuration===
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
6. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
7. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
8. UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
9. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

1. Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
2. Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction.
Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
6. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
7. UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
(add the flag -DGPS_USE_LATLONG in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]]) also make sure you set tiny_2_1_1.h if you have the latest boards Tiny/TinyWOG)
8. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH. Additionally, add the flag -DGPS_USE_LATLONG in the makefile section of the airframe xml file.

===Reset to Default Settings===
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===DGPS (Differential GPS)===
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions] though only WAAS and EGNOS are officially operational. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

====WAAS issues====
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to completely disable WAAS.

====EGNOS issues====
EGNOS officially became operational on 1 October 2009. ESA claims that it can determine position to within 2 metres compared with about 20 metres for GPS alone. Note that the service is currently provided only in western Europe. For further information see [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

According to the [http://ec.europa.eu/transport/egnos/programme/doc/2009_egnos_sdd_os_v1.pdf EC] the EGNOS transmission will keep the "Do not use" type0/2 flag until it is certified for safety of life operations in (hopfefully) mid 2010. So you will have to enable the "Allow test mode use (Msg 0)" switch in the u-center under UBX-CFG-SBAS together with the correction to try EGNOS.

The [http://www.u-blox.com/en/faq.html u-blox FAQ] states the following:
* "Do you see issues with EGNOS?"
*:"Yes. The data transmitted by EGNOS in the past were usually good and valuable although sometimes unreliable, e.g. when system tests were performed. u-blox does not guarantee performance and status of EGNOS system. For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

===Troubleshooting===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H:
Invalid_argument("Latlong.of_utm")

Solution: Add the flag -DGPS_USE_LATLONG to your airframe file.

===Further Reading===

The u-blox [http://www.u-blox.com/customersupport/antaris4_doc.html System Integration Manual] covers a lot of GPS theory as well as product specific topics.

== Antenna options for the Tiny and Paparazzi GPS units ==

The '''[[Tiny|Tiny 1.1]]''' features a 28mm square ground plane intended to be centered below the [[#Sangshin_13mm_Patch|Sangshin 13mm patch antenna]]. Much better performance has been seen with the 18mm antennas and an augmented ground plane. The ground plane is a critical part of the antenna affecting not only the gain and polarization characteristics but also the center frequency of the system. Users are advised to expand the ground plane to approximately 36mm square, centered on the ceramic portion of the antenna (not the pin). This can be done with copper foil soldered to the vias of the existing ground plane.
[[image:gps_antenna_comparison.jpg|thumb|500px|left|SAM-LS 25mm / Emtac 20mm / Emtac 18mm / Sangshin 18mm / Sangshin 13mm / Sarantel P2]]
 

=== Sangshin 18mm Patch ===
[[image:Sangshin_18mm.jpg|thumb|Sangshin 18mm x 4mm 1580Mhz]]
The Sangshin KSA-ST1580MS18 antenna has proven to offer the best performance of the currently available options. These are available from any Sanshin distributor such as [http://www.rfmw.com rfmw] ([http://www.rfmw.com/PortalProductDetail.aspx?ProdId=232436&fmt=1 here]) and cost approximately $6.50/ea. in small quantities.

 

=== EMTAC 18mm Patch ===
[[image:Emtac_18mm.jpg|thumb|Emtac 18mm x 4mm 1580Mhz]]
Offering identical performance to the Sangshin in a less attractive package is the Emtac 18mm antenna. The part number for the standard 1580MHz 18x18x4mm is ANA1580T18D40 and is not listed on their website. Other frequencies are available on a special order basis and the 1584Mhz has proven to outperform all other frequencies when used with a 36mm ground plane and no radome. The use of a radome (any material covering the antenna) or a larger ground plane should theoretically favor even higher frequencies.

'''Availability'''

* [http://www.transplantgps.com/modules.html TransplantGPS] in MN, USA. The 1580Mhz models are usually available at a cost of $3.55ea but there may be a minimum order requirement of ~$50 USD.

=== Sangshin 13mm Patch ===

[[image:Sangshin_13mm_onboard.jpg|thumb|Sangshin 13mm x 4mm 1580Mhz]]
Part of interest: '''[http://www.sangshinec.com/eng/patch_spec.htm KSA-ST1580MS13]'''

The Tiny 0.99 (not 0.9) and 1.1 were designed around this antenna but users are advised to install 18mm units for better performance.

Size: 13 x 13 mm 
Center Frequency: 1580 MHz 
Bandwidth: 5 MHz 
@Fo: -15 dB 
GAIN (dBi): 0 dBi 
Ground Plane: 50 x 50 mm 

'''Available From'''

[http://www.systroninc.com/ Systronic INC.] - Alberta, Canada
 

=== Emtac 20mm Patch ===

[[image:Salvaged_20mm_onboard.jpg|thumb|Emtac 20mm x 4mm]]
The Tiny 0.9 was designed around this 1583Mhz antenna and performed extremely well. Emtac has replaced this with an 18mm model that they claim offers even better performance.

* Obsolete
 

=== Spectrum Control Patch ===

[[image:PDC_Tiny21_S1.jpg|thumb|Spectrum Control 25mm]]
25mm patch testing on Tiny v2.1. Manufacturer Part Number [http://www.specemc.com/docs/antenna_catalog.pdf PA251575008SALF]. These are available from Mouser for about $3: [http://www.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMukjKvgqb7HxzmcutVCLrkxFUj/3HCdKwE%3d 657-PA251575008SALF]

 

=== Sarantel GeoHelix-P2 ===

[[image:Geohelix-p2.jpg|thumb|Sarantel Geohelix P-2 1575Mhz]]

This antenna is popular among UAV designers due to it's natural rejection of other radio frequencies such as those originating from the modem or video system as well as it's improved rejection of signals reflected from the ground. U-blox recommends this antenna and features it in their [http://www.u-blox.com/news/sarantel.html reference design]. Frequency and polarization are not dependent upon ground plane geometry so this antenna is sold only in the true GPS frequency of 1575Mhz.
The geometry makes this antenna very inconvenient to mount, especially in an airplane. Some very non-scientific testing has been done with one of these antennas connected to a Tiny with a short length of 50 Ohm coax above a 120mm square of ungrounded aluminum foil and performance was adequate. The helical design should theoretically outperform a patch in the air, but not on the ground, so any organized comparison will be difficult. Possibly the most important aspect of this antenna is it's natural RFI filtering, which should be evaluated further.

* [http://www.sarantel.com/products/geohelix-p2 GeoHelix-P2] Passive GPS Antenna [[http://www.sarantel.com/downloads/specifications/geohelix-p2.pdf datasheet]]

'''Availability'''

* Sarantel @ cost of approx $18 USD each (active versions available for ~$40)

Inertial Measurement Units

2010-08-24T13:31:33Z

Aerodolphin: Add commercial available IMU's

== Overview ==

Work is underway to use Kalman code from the Booz project with the Tiny autopilots. The first IMU have been assembled and are being calibrated. Look for updates soon.

The IMU will communicate over SPI with the TWOG/Tiny2.11

[[Image:IMU001.jpg|240px]]

== Commercial Available IMU's ==

IMU's available that can be used with paparazzi UAV autopilots. Please share here on wiki your IMU paparazzi autopilot integration projects.

=== MicroStrain 3DM-GX2 ===
Oficial website [http://www.microstrain.com/3dm-gx2.aspx].

More info soon.

=== Xsens MTi ===
Oficial website[http://www.xsens.com/en/general/mti].

More info soon.

=== Xsens MTi-G (with GPS) ===
Oficial website [http://www.xsens.com/en/general/mti-g].

More info soon.

=== Vector-Nav VN-100 ===
Oficial website [http://www.vectornav.com/vn-100-features].

More infos soon.

Tiny v3

2009-08-18T08:13:03Z

Aerodolphin: /* Bill Of Material */

== New features Wish List For The New Paparazzi Board ==

* 4 layer PCB for EMI improvement;
* External GPS;
* External IMU;
* Pressure sensors for altitude and speed determination (will need some help on the software, who can help?);
* PPM encoder included;
* ATMEGA 328 for freeze detection and MCU reset (will need some help here, who can help?);
* External/Internal power source for servos and datalink selected with a jumper;
* Micro SD Card (will need some help here, who can help?);
* JTAG debugging port (will need some help here, who can help?);

More ideias of improvement are welcome.

== HB_Autopilot Solution ==

We decided to work with HB_Autopilot hardware that was built in Bremen for quadcopters. Our intention is to use this hardware and some part of the code to be the base to build the new tiny v3 autopilot with all the listed features for a fixed wing aircraft or with a switch to work with quadcopters or helicopters or fixed wing capability.

'''Source:''' http://www.akaflieg.hs-bremen.de
'''Andreas Dei Report:'''

== Authors ==

'''Team staff:'''
Heinrich Warmers hwarmers at hs-bremen.de
Oliver Riesener oliver.riesener at hs-bremen.de

'''Student work:'''
Andreas Dei andreas.dei at gmx.de
Thu Nguyen
Christoph Niemann
Henning Sauerland
Malte Lorbach
Arthur Neumann
Johannes Behn

'''Authors of external sources:'''
Killagreg
R O SoftWare
Michael Walter
Ralf Corsepius
KEIL ELEKTRONIK GmbH

== HB_Autopilot Images ==
<gallery>
Image:hb_ap01.jpg|PCB mockup
Image:hb_ap02.jpg|PCB mockup
Image:hb_ap03.jpg|Top HB_Autopilot
Image:hb_ap04.jpg|Bottom HB_Autopilot
</gallery>

== Detailed Images ==
<gallery>
Image:mcu_up.jpg|MCU Top
Image:mcu_down.jpg|MCU Bottom
Image:imu_up.jpg|IMU Top
Image:imu_down.jpg|IMU Bottom
Image:imu_sensors.jpg|IMU Sensors
</gallery>

== Block Architecture ==
[[Image:Block_Schematic.jpg]]

== Hardware Source Files==
* Download ''[[Media:Schematics.pdf|Schematics (.pdf file)]]''
* Download ''[[Media:PCB Layouts.pdf| PCB Layouts (.pdf file)]]''
* Download ''[[Media:hw.rar|Eagle Files (.rar file)]]''

== Bill Of Material ==

Soon available... For now you can see the BOM from Hardware Source Files.

== Work Team ==

We will need a lot of help on this project. Any help and sugestions will be very much appreciated.
Let's make a small team to work on this new paparazzi board.

Please insert in this list your name and contact if you would like to be part of the team:

* Rui Costa (from Portugal) => azoreanuav(at)gmail.com

Tiny v3

2009-08-18T08:12:53Z

Aerodolphin: /* Hardware Source Files */

== New features Wish List For The New Paparazzi Board ==

* 4 layer PCB for EMI improvement;
* External GPS;
* External IMU;
* Pressure sensors for altitude and speed determination (will need some help on the software, who can help?);
* PPM encoder included;
* ATMEGA 328 for freeze detection and MCU reset (will need some help here, who can help?);
* External/Internal power source for servos and datalink selected with a jumper;
* Micro SD Card (will need some help here, who can help?);
* JTAG debugging port (will need some help here, who can help?);

More ideias of improvement are welcome.

== HB_Autopilot Solution ==

We decided to work with HB_Autopilot hardware that was built in Bremen for quadcopters. Our intention is to use this hardware and some part of the code to be the base to build the new tiny v3 autopilot with all the listed features for a fixed wing aircraft or with a switch to work with quadcopters or helicopters or fixed wing capability.

'''Source:''' http://www.akaflieg.hs-bremen.de
'''Andreas Dei Report:'''

== Authors ==

'''Team staff:'''
Heinrich Warmers hwarmers at hs-bremen.de
Oliver Riesener oliver.riesener at hs-bremen.de

'''Student work:'''
Andreas Dei andreas.dei at gmx.de
Thu Nguyen
Christoph Niemann
Henning Sauerland
Malte Lorbach
Arthur Neumann
Johannes Behn

'''Authors of external sources:'''
Killagreg
R O SoftWare
Michael Walter
Ralf Corsepius
KEIL ELEKTRONIK GmbH

== HB_Autopilot Images ==
<gallery>
Image:hb_ap01.jpg|PCB mockup
Image:hb_ap02.jpg|PCB mockup
Image:hb_ap03.jpg|Top HB_Autopilot
Image:hb_ap04.jpg|Bottom HB_Autopilot
</gallery>

== Detailed Images ==
<gallery>
Image:mcu_up.jpg|MCU Top
Image:mcu_down.jpg|MCU Bottom
Image:imu_up.jpg|IMU Top
Image:imu_down.jpg|IMU Bottom
Image:imu_sensors.jpg|IMU Sensors
</gallery>

== Block Architecture ==
[[Image:Block_Schematic.jpg]]

== Hardware Source Files==
* Download ''[[Media:Schematics.pdf|Schematics (.pdf file)]]''
* Download ''[[Media:PCB Layouts.pdf| PCB Layouts (.pdf file)]]''
* Download ''[[Media:hw.rar|Eagle Files (.rar file)]]''

=== Bill Of Material ===

Soon available... For now you can see the BOM from Hardware Source Files.

== Work Team ==

We will need a lot of help on this project. Any help and sugestions will be very much appreciated.
Let's make a small team to work on this new paparazzi board.

Please insert in this list your name and contact if you would like to be part of the team:

* Rui Costa (from Portugal) => azoreanuav(at)gmail.com

Tiny v3

2009-08-18T00:06:51Z

Aerodolphin: /* Tiny v3 Team */

== New features Wish List For The New Paparazzi Board ==

* 4 layer PCB for EMI improvement;
* External GPS;
* External IMU;
* Pressure sensors for altitude and speed determination (will need some help on the software, who can help?);
* PPM encoder included;
* ATMEGA 328 for freeze detection and MCU reset (will need some help here, who can help?);
* External/Internal power source for servos and datalink selected with a jumper;
* Micro SD Card (will need some help here, who can help?);
* JTAG debugging port (will need some help here, who can help?);

More ideias of improvement are welcome.

== HB_Autopilot Solution ==

We decided to work with HB_Autopilot hardware that was built in Bremen for quadcopters. Our intention is to use this hardware and some part of the code to be the base to build the new tiny v3 autopilot with all the listed features for a fixed wing aircraft or with a switch to work with quadcopters or helicopters or fixed wing capability.

'''Source:''' http://www.akaflieg.hs-bremen.de
'''Andreas Dei Report:'''

== Authors ==

'''Team staff:'''
Heinrich Warmers hwarmers at hs-bremen.de
Oliver Riesener oliver.riesener at hs-bremen.de

'''Student work:'''
Andreas Dei andreas.dei at gmx.de
Thu Nguyen
Christoph Niemann
Henning Sauerland
Malte Lorbach
Arthur Neumann
Johannes Behn

'''Authors of external sources:'''
Killagreg
R O SoftWare
Michael Walter
Ralf Corsepius
KEIL ELEKTRONIK GmbH

== HB_Autopilot Images ==
<gallery>
Image:hb_ap01.jpg|PCB mockup
Image:hb_ap02.jpg|PCB mockup
Image:hb_ap03.jpg|Top HB_Autopilot
Image:hb_ap04.jpg|Bottom HB_Autopilot
</gallery>

== Detailed Images ==
<gallery>
Image:mcu_up.jpg|MCU Top
Image:mcu_down.jpg|MCU Bottom
Image:imu_up.jpg|IMU Top
Image:imu_down.jpg|IMU Bottom
Image:imu_sensors.jpg|IMU Sensors
</gallery>

== Block Architecture ==
[[Image:Block_Schematic.jpg]]

=== Hardware Source Files===
* Download ''[[Media:Schematics.pdf|Schematics (.pdf file)]]''
* Download ''[[Media:PCB Layouts.pdf| PCB Layouts (.pdf file)]]''
* Download ''[[Media:hw.rar|Eagle Files (.rar file)]]''

=== Bill Of Material ===

Soon available... For now you can see the BOM from Hardware Source Files.

== Work Team ==

We will need a lot of help on this project. Any help and sugestions will be very much appreciated.
Let's make a small team to work on this new paparazzi board.

Please insert in this list your name and contact if you would like to be part of the team:

* Rui Costa (from Portugal) => azoreanuav(at)gmail.com

Tiny v3

2009-08-17T23:57:14Z

Aerodolphin: /* HB_Autopilot Solution */

== New features Wish List For The New Paparazzi Board ==

* 4 layer PCB for EMI improvement;
* External GPS;
* External IMU;
* Pressure sensors for altitude and speed determination (will need some help on the software, who can help?);
* PPM encoder included;
* ATMEGA 328 for freeze detection and MCU reset (will need some help here, who can help?);
* External/Internal power source for servos and datalink selected with a jumper;
* Micro SD Card (will need some help here, who can help?);
* JTAG debugging port (will need some help here, who can help?);

More ideias of improvement are welcome.

== HB_Autopilot Solution ==

We decided to work with HB_Autopilot hardware that was built in Bremen for quadcopters. Our intention is to use this hardware and some part of the code to be the base to build the new tiny v3 autopilot with all the listed features for a fixed wing aircraft or with a switch to work with quadcopters or helicopters or fixed wing capability.

'''Source:''' http://www.akaflieg.hs-bremen.de
'''Andreas Dei Report:'''

== Authors ==

'''Team staff:'''
Heinrich Warmers hwarmers at hs-bremen.de
Oliver Riesener oliver.riesener at hs-bremen.de

'''Student work:'''
Andreas Dei andreas.dei at gmx.de
Thu Nguyen
Christoph Niemann
Henning Sauerland
Malte Lorbach
Arthur Neumann
Johannes Behn

'''Authors of external sources:'''
Killagreg
R O SoftWare
Michael Walter
Ralf Corsepius
KEIL ELEKTRONIK GmbH

== HB_Autopilot Images ==
<gallery>
Image:hb_ap01.jpg|PCB mockup
Image:hb_ap02.jpg|PCB mockup
Image:hb_ap03.jpg|Top HB_Autopilot
Image:hb_ap04.jpg|Bottom HB_Autopilot
</gallery>

== Tiny v3 Team ==

We will need a lot of help on this project. Any help and sugestions will be very much appreciated.
Let's make a small team to work on this new paparazzi board.

Please insert in this list your name and contact if you would like to be part of the team:

* Rui Costa (from Portugal) => azoreanuav(at)gmail.com