PaparazziUAV - User contributions [en]

GCS Configuration

2013-05-01T20:48:15Z

Agressiva: /* Configuration Options */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>GCS</categorytree>
__TOC__

== Paparazzi Center ==
The paparazzi center is launched with the following command:
<tt>./sw/supervision/paparazzicenter</tt>
and is used to launch individual portions of the GCS (''Programs'') or the entire GCS (''Sessions'') with the modem and map settings defined in <tt>/conf/control_panel.xml</tt>

===Configuration Options===

Here are the different Configuration Options for launching the GCS. They are a bit crude since they are simply pasted here from the code but give a good overview. 
"-auto_ortho", Arg.Set auto_ortho, "IGN tiles path";
"-b", Arg.String (fun x -> ivy_bus := x),(sprintf "<ivy bus> Default is %s" !ivy_bus);
"-center", Arg.Set_string center, "Initial map center (e.g. 'WGS84 43.605 1.443')";
"-center_ac", Arg.Set auto_center_new_ac, "Centers the map on any new A/C";
"-edit", Arg.Unit (fun () -> edit := true; layout_file := "editor.xml"), "Flight plan editor";
"-fullscreen", Arg.Set fullscreen, "Fullscreen window";
"-maps_fill", Arg.Set GM.auto, "maps auto fill";
"-ign", Arg.String (fun s -> ign:=true; IGN.data_path := s), "IGN tiles path";
"-lambertIIe", Arg.Unit (fun () -> projection:=G.LambertIIe),"Switch to LambertIIe projection";
"-layout", Arg.Set_string layout_file, (sprintf "<XML layout specification> GUI layout. Default: %s" !layout_file);
"-m", Arg.String (fun x -> map_files := x :: !map_files), "Map XML description file";
"-maximize", Arg.Set maximize, "Maximize window";
"-mercator", Arg.Unit (fun () -> projection:=G.Mercator),"Switch to (Google Maps) Mercator projection, default";
"-mplayer", Arg.Set_string mplayer, "Launch mplayer with the given argument as X plugin";
"-no_alarm", Arg.Set no_alarm, "Disables alarm page";
"-maps_no_http", Arg.Unit (fun () -> Gm.set_policy Gm.NoHttp), "Switch off Maps downloading - only cache!";
"-ortho", Arg.Set_string get_bdortho, "IGN tiles path";
"-osm", Arg.Unit (fun () -> Gm.set_maps_source Gm.OSM), "Use OpenStreetMap database (default is Google)";
"-ms", Arg.Unit (fun () -> Gm.set_maps_source Gm.MS), "Use Microsoft maps database (default is Google)";
"-particules", Arg.Set display_particules, "Display particules";
"-plugin", Arg.Set_string plugin_window, "External X application (launched with the id of the plugin window as argument)";
"-ref", Arg.Set_string geo_ref, "Geographic ref (e.g. 'WGS84 43.605 1.443')";
"-[[speech]]", Arg.Set Speech.active, "Enable vocal messages";
"-[[Maps#SRTM_Data|srtm]]", Arg.Set srtm, "Enable SRTM elevation display";
"-track_size", Arg.Set_int Live.track_size, (sprintf "Default track length (%d)" !Live.track_size);
"-utm", Arg.Unit (fun () -> projection:=G.UTM),"Switch to UTM local projection";
"-wid", Arg.String (fun s -> wid := Some (Int32.of_string s)), "<window id> Id of an existing window to be attached to";
"-maps_zoom" specify max map zoom level - default tp 18, max 22.* Lower resolution are displayed behind higher resolution.
"-zoom", Arg.Set_float zoom, "Initial zoom";
"-auto_hide_fp", Arg.Unit (fun () -> Live.auto_hide_fp true; hide_fp := true), "Automatically hide flight plans of unselected aircraft";

=== Video plugin ===

The <tt>-mplayer</tt> option of GCS allows to the user to display a video stream in a window of the GCS. The video window can also be exchanged with the map by clicking anywhere inside the frame.
Use the following line in your <tt>/conf/control_panel.xml</tt> to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video</tt>
A useful example follows:
If you have an Avermedia DVB-T usb tuner like the Aver-Tv Hybrid Volar HX (Avermedia finally released Ubuntu Linux drivers)
then in order to use the usb tuner as video input to the GCS you have to complete the following steps:

First download and install the drivers and check that the Usb tuner works well by opening a console window
and typing:

'''mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:noaudio'''

Of course you must connect a video signal to the composite input first.
Then close the console and remove the Usb tuner.
Now it is time to configure the control_panel.xml file by editing the GCS command line.
Locate the line in the "control_panel.xml" usually located in /Your Paparazzi directory/conf/ (mine is in "/paparazzi/conf/")
that looks similar to the below line:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml">'''

Then edit it so it looks like this:

'''<program name="GCS" command="sw/ground_segment/cockpit/gcs -layout horizontal.xml -mplayer 'tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=1:device=/dev/video1:alsa:adevice=hw.2,0:amode=1:audiorate=48000:forceaudio:volume=100:immediatemode=0'">'''

The above line is one complete and uninterrupted line but it is just too long to show it in one line here.
(There is a space after the"-tv" like this "-mplayer 'tv:// -tv driver=v4l2:...." but nowhere else after that).
This will load the mplayer, select the composite video input of the tuner and enable the sound input.
Please remember to change the "NTSC" with "PAL" if you do not use the NTSC video system (if your airborne camera is PAL for example).
Read the mplayer documentation so you can tweak the resolution etc. later to suit your particular setup.
The resolution above is set to 320x240 here but you can set it to 640x480 by replacing the numbers in the command line above.

Finally you have to add the plugin widget to your GCS layout configuration file.
If you noticed the GCS command line in the "control_panel.xml" file, a part of it reads "-layout horizontal.xml"
so our configuration file is the "horizontal.xml" which is located always in "/Your Paparazzi directory/conf/gcs/"
(mine is in "/paparazzi/conf/gcs/").
Open the file and add or uncomment the below line (in "horizontal.xml" the plugin widget is there but commented out):

'''<widget NAME="plugin" SIZE="300"/>'''

Now the file should look like this:

'''
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="375">
<widget size="200" name="strips"/>
</rows>
<widget size="400" name="aircraft"/>
<widget name="alarms"/>
<widget NAME="plugin" SIZE="300"/>
</columns>
</rows>
'''

All the above work fine in Ubuntu 10.04 LTS but probably the same method should work fine on different versions too.

== Layout ==
The layout of the different components (map, strips, ...) of the gcs is configurable through a ''style'' XML file located in <tt>conf/gcs/</tt>. The specification is done via a combination of rows and columns. The default layout is given in the <tt>horizontal.xml</tt> file:
<tt><!DOCTYPE layout SYSTEM "layout.dtd">
<layout width="1024" height="768">
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="350">
<widget size="120" name="strips"/>
<widget name="alarms"/>
</rows>
<widget size="400" name="aircraft"/>
<widget size="00" name="plugin"/>
</columns>
</rows>
</layout></tt>

Default size ('''1024x768''') of the whole window is specified in the root of the tree. The window is then divided in two rows:
* the <tt>map2d</tt> with a requested height of '''500'''
* a set of columns containing
** a set of rows of width '''350''' divided into
**: the '''strips''' frame of height '''120'''
**: the '''alarms''' frame
** the notebook frame ('''aircraft''') of width '''400'''
** the video plugin frame

This second example (<tt>left_col.xml</tt>) sets the map and the notebook on the right and the other frames in a left column:
<tt><!DOCTYPE layout SYSTEM "layout.dtd">
<layout width="1024" height="768">
<columns>
<rows size="360">
<widget size="120" name="strips"/>
<widget size="300" name="plugin"/>
<widget name="alarms"/>
</rows>
<rows>
<widget name="map2d"/>
<widget name="aircraft"/>
</rows>
</columns>
</layout></tt>

This layout file is chosen with the <tt>-layout</tt> option:
<tt>path_to_ground_segment/cockpit/gcs -layout left_col.xml</tt>

[[Category:GCS]] [[Category:User_Documentation]]

Sensors/Current

2012-11-19T18:02:43Z

Agressiva: /* Airframe integration */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__

It is very easy to get the Paparazzi system working with a current sensor.

Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [http://www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.

== Hardware ==

[[Image:Example.jpg|thumb|right|float|Current sensor connected to the TWOG v1]]
Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg|thumb|right|float|Novak 100A current sensor]]

== Airframe integration ==

In the FIRMWARE section of the airframe file add these lines:

<define name="USE_ADC"/>
<define name="USE_ADC_3"/> 

In the BAT section of the airframe file add these lines:

<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)" value="Max(0,adc*88)"/>

The ''Max(0,x)'' ensures that instead of getting a negative current when using a motor brake it is set to zero, thus not corrupting your energy estimate. If you have a setup where the current can become negative (e.g. charging the battery via solar cells) don't use ''Max''.

Remove the line:
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA"/>

The correct multiplier for the raw measurement conversion depends on the current sensor. The Sparkfun sensor returns a linear voltage of 0 V - 3.3 V and at 90.15 A it reaches the maximum of 3.3 V. The TWOG v1 or Tiny v2 have a A/D converter with 10-bit precision (1024 different values) to represent the voltage. So you can calculate the multiplier with the following formula:

'''1000 / precision * A_at_max_voltage'''

For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037

For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"

For the ACS755LCB-50 sensor, there is a 0.6 volts offset. At 3.3v, the current is 45.A. The formula is thus: value="(43.94*(adc-185))"

Values By AGRESSiVA:

For the ACS755LCB-50 sensor using resistive divisor (1k8/3k3). The formula is thus: value="(68.017*(adc-120))" (not confirmed / tested)

For the ACS755LCB-100 sensor using resistive divisor (1k8/3k3). The formula is thus: value="(122.5*(adc-120))"

== Display on Ground Control Station (GCS) ==

Use the Messages application to show it.

The total energy consumed during the flight (in mAh) is sent in the "BAT" message.

The actual current flowing through the sensor (in mA) is sent in the "fbw_status" message.

You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

== Voltage Sensor ==

If you would like to install the autopilot on a bigger airframe, you can face the problem, that the nominal voltage of the accupack is higher then allowed for the autopilot. (i.e. 6 cell LiPo and TWOG ) But if you use a voltage regulator, then the autopilot has no information on the real voltage of the accupack. The GCS will show the autopilot input voltage, which is irrelevant regarding the remaining capacity of the accupack. Fortunately the Sparkfun Attopilot Current Sensor provides a voltage signal scaled down to 3.3V, too. This can be connected to a general analog input of the autopilot (for example ADC_4) similar to the current signal. If you configure the airframe file in the following way, the autopilot will provide all of the warnings (i.e. Battery Low) and calculations (i.e. power consumption) as it does in case of a direct connection between autopilot and accupack.

Firmware section:
<firmware name="fixedwing">
.
<define name="USE_ADC"/>
<define name="USE_ADC_4"/> 
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_4"/>
.

Then in Battery section:
<section name="BAT">
.
<define name="VOLTAGE_ADC_A" value="0.05"/>
<define name="VOLTAGE_ADC_B" value="1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
.

You don't need to load special module for this purpose (i.e. adc_generic )!

(The above method was tested with Sparkfun Attopilot Current Sensor and TWOG.)

[[Category:Sensors]] [[Category:Software]] [[Category:User_Documentation]]

Sensors/Current

2012-11-19T17:09:36Z

Agressiva: /* Airframe integration */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__

It is very easy to get the Paparazzi system working with a current sensor.

Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [http://www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.

== Hardware ==

[[Image:Example.jpg|thumb|right|float|Current sensor connected to the TWOG v1]]
Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg|thumb|right|float|Novak 100A current sensor]]

== Airframe integration ==

In the FIRMWARE section of the airframe file add these lines:

<define name="USE_ADC"/>
<define name="USE_ADC_3"/> 

In the BAT section of the airframe file add these lines:

<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)" value="Max(0,adc*88)"/>

The ''Max(0,x)'' ensures that instead of getting a negative current when using a motor brake it is set to zero, thus not corrupting your energy estimate. If you have a setup where the current can become negative (e.g. charging the battery via solar cells) don't use ''Max''.

Remove the line:
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA"/>

The correct multiplier for the raw measurement conversion depends on the current sensor. The Sparkfun sensor returns a linear voltage of 0 V - 3.3 V and at 90.15 A it reaches the maximum of 3.3 V. The TWOG v1 or Tiny v2 have a A/D converter with 10-bit precision (1024 different values) to represent the voltage. So you can calculate the multiplier with the following formula:

'''1000 / precision * A_at_max_voltage'''

For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037

For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"

For the ACS755LCB-50 sensor, there is a 0.6 volts offset. At 3.3v, the current is 45.A. The formula is thus: value="(43.94*(adc-185))"

Values By AGRESSiVA:

For the ACS755LCB-50 sensor using resistive divisor (1k8/3k3). At 3.3v, the current is 69.65Amp. The formula is thus: value="(68.017*(adc-120))" (not confirmed / tested)

For the ACS755LCB-100 sensor using resistive divisor (1k8/3k3). At 3.3v, the current is 104.4891Amp. The formula is thus: value="(102.040*(adc-120))" (not confirmed / tested)

== Display on Ground Control Station (GCS) ==

Use the Messages application to show it.

The total energy consumed during the flight (in mAh) is sent in the "BAT" message.

The actual current flowing through the sensor (in mA) is sent in the "fbw_status" message.

You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

== Voltage Sensor ==

If you would like to install the autopilot on a bigger airframe, you can face the problem, that the nominal voltage of the accupack is higher then allowed for the autopilot. (i.e. 6 cell LiPo and TWOG ) But if you use a voltage regulator, then the autopilot has no information on the real voltage of the accupack. The GCS will show the autopilot input voltage, which is irrelevant regarding the remaining capacity of the accupack. Fortunately the Sparkfun Attopilot Current Sensor provides a voltage signal scaled down to 3.3V, too. This can be connected to a general analog input of the autopilot (for example ADC_4) similar to the current signal. If you configure the airframe file in the following way, the autopilot will provide all of the warnings (i.e. Battery Low) and calculations (i.e. power consumption) as it does in case of a direct connection between autopilot and accupack.

Firmware section:
<firmware name="fixedwing">
.
<define name="USE_ADC"/>
<define name="USE_ADC_4"/> 
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_4"/>
.

Then in Battery section:
<section name="BAT">
.
<define name="VOLTAGE_ADC_A" value="0.05"/>
<define name="VOLTAGE_ADC_B" value="1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
.

You don't need to load special module for this purpose (i.e. adc_generic )!

(The above method was tested with Sparkfun Attopilot Current Sensor and TWOG.)

[[Category:Sensors]] [[Category:Software]] [[Category:User_Documentation]]

Sensors/Current

2012-11-19T16:52:32Z

Agressiva: /* Airframe integration */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__

It is very easy to get the Paparazzi system working with a current sensor.

Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [http://www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.

== Hardware ==

[[Image:Example.jpg|thumb|right|float|Current sensor connected to the TWOG v1]]
Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg|thumb|right|float|Novak 100A current sensor]]

== Airframe integration ==

In the FIRMWARE section of the airframe file add these lines:

<define name="USE_ADC"/>
<define name="USE_ADC_3"/> 

In the BAT section of the airframe file add these lines:

<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)" value="Max(0,adc*88)"/>

The ''Max(0,x)'' ensures that instead of getting a negative current when using a motor brake it is set to zero, thus not corrupting your energy estimate. If you have a setup where the current can become negative (e.g. charging the battery via solar cells) don't use ''Max''.

Remove the line:
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA"/>

The correct multiplier for the raw measurement conversion depends on the current sensor. The Sparkfun sensor returns a linear voltage of 0 V - 3.3 V and at 90.15 A it reaches the maximum of 3.3 V. The TWOG v1 or Tiny v2 have a A/D converter with 10-bit precision (1024 different values) to represent the voltage. So you can calculate the multiplier with the following formula:

'''1000 / precision * A_at_max_voltage'''

For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037

For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"

For the ACS755LCB-50 sensor, there is a 0.6 volts offset. At 3.3v, the current is 45.A. The formula is thus: value="(43.94*(adc-185))"

Values By AGRESSiVA:

For the ACS755LCB-50 sensor using resistive divisor (1k8/3k3). At 3.3v, the current is 69.65Amp. The formula is thus: value="(68.017*(adc-120))"

For the ACS755LCB-100 sensor using resistive divisor (1k8/3k3). At 3.3v, the current is 104.4891Amp. The formula is thus: value="(102.040*(adc-120))"

== Display on Ground Control Station (GCS) ==

Use the Messages application to show it.

The total energy consumed during the flight (in mAh) is sent in the "BAT" message.

The actual current flowing through the sensor (in mA) is sent in the "fbw_status" message.

You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

== Voltage Sensor ==

If you would like to install the autopilot on a bigger airframe, you can face the problem, that the nominal voltage of the accupack is higher then allowed for the autopilot. (i.e. 6 cell LiPo and TWOG ) But if you use a voltage regulator, then the autopilot has no information on the real voltage of the accupack. The GCS will show the autopilot input voltage, which is irrelevant regarding the remaining capacity of the accupack. Fortunately the Sparkfun Attopilot Current Sensor provides a voltage signal scaled down to 3.3V, too. This can be connected to a general analog input of the autopilot (for example ADC_4) similar to the current signal. If you configure the airframe file in the following way, the autopilot will provide all of the warnings (i.e. Battery Low) and calculations (i.e. power consumption) as it does in case of a direct connection between autopilot and accupack.

Firmware section:
<firmware name="fixedwing">
.
<define name="USE_ADC"/>
<define name="USE_ADC_4"/> 
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_4"/>
.

Then in Battery section:
<section name="BAT">
.
<define name="VOLTAGE_ADC_A" value="0.05"/>
<define name="VOLTAGE_ADC_B" value="1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
.

You don't need to load special module for this purpose (i.e. adc_generic )!

(The above method was tested with Sparkfun Attopilot Current Sensor and TWOG.)

[[Category:Sensors]] [[Category:Software]] [[Category:User_Documentation]]

Sensors/Current

2012-11-19T16:52:14Z

Agressiva: /* Airframe integration */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__

It is very easy to get the Paparazzi system working with a current sensor.

Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [http://www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.

== Hardware ==

[[Image:Example.jpg|thumb|right|float|Current sensor connected to the TWOG v1]]
Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg|thumb|right|float|Novak 100A current sensor]]

== Airframe integration ==

In the FIRMWARE section of the airframe file add these lines:

<define name="USE_ADC"/>
<define name="USE_ADC_3"/> 

In the BAT section of the airframe file add these lines:

<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)" value="Max(0,adc*88)"/>

The ''Max(0,x)'' ensures that instead of getting a negative current when using a motor brake it is set to zero, thus not corrupting your energy estimate. If you have a setup where the current can become negative (e.g. charging the battery via solar cells) don't use ''Max''.

Remove the line:
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA"/>

The correct multiplier for the raw measurement conversion depends on the current sensor. The Sparkfun sensor returns a linear voltage of 0 V - 3.3 V and at 90.15 A it reaches the maximum of 3.3 V. The TWOG v1 or Tiny v2 have a A/D converter with 10-bit precision (1024 different values) to represent the voltage. So you can calculate the multiplier with the following formula:

'''1000 / precision * A_at_max_voltage'''

For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037

For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"

For the ACS755LCB-50 sensor, there is a 0.6 volts offset. At 3.3v, the current is 45.A. The formula is thus: value="(43.94*(adc-185))"

Values By AGRESSiVA:
For the ACS755LCB-50 sensor using resistive divisor (1k8/3k3). At 3.3v, the current is 69.65Amp. The formula is thus: value="(68.017*(adc-120))"
For the ACS755LCB-100 sensor using resistive divisor (1k8/3k3). At 3.3v, the current is 104.4891Amp. The formula is thus: value="(102.040*(adc-120))"

== Display on Ground Control Station (GCS) ==

Use the Messages application to show it.

The total energy consumed during the flight (in mAh) is sent in the "BAT" message.

The actual current flowing through the sensor (in mA) is sent in the "fbw_status" message.

You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

== Voltage Sensor ==

If you would like to install the autopilot on a bigger airframe, you can face the problem, that the nominal voltage of the accupack is higher then allowed for the autopilot. (i.e. 6 cell LiPo and TWOG ) But if you use a voltage regulator, then the autopilot has no information on the real voltage of the accupack. The GCS will show the autopilot input voltage, which is irrelevant regarding the remaining capacity of the accupack. Fortunately the Sparkfun Attopilot Current Sensor provides a voltage signal scaled down to 3.3V, too. This can be connected to a general analog input of the autopilot (for example ADC_4) similar to the current signal. If you configure the airframe file in the following way, the autopilot will provide all of the warnings (i.e. Battery Low) and calculations (i.e. power consumption) as it does in case of a direct connection between autopilot and accupack.

Firmware section:
<firmware name="fixedwing">
.
<define name="USE_ADC"/>
<define name="USE_ADC_4"/> 
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_4"/>
.

Then in Battery section:
<section name="BAT">
.
<define name="VOLTAGE_ADC_A" value="0.05"/>
<define name="VOLTAGE_ADC_B" value="1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
.

You don't need to load special module for this purpose (i.e. adc_generic )!

(The above method was tested with Sparkfun Attopilot Current Sensor and TWOG.)

[[Category:Sensors]] [[Category:Software]] [[Category:User_Documentation]]

Sensors/Current

2012-11-19T16:43:04Z

Agressiva: /* Airframe integration */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__

It is very easy to get the Paparazzi system working with a current sensor.

Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [http://www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.

== Hardware ==

[[Image:Example.jpg|thumb|right|float|Current sensor connected to the TWOG v1]]
Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg|thumb|right|float|Novak 100A current sensor]]

== Airframe integration ==

In the FIRMWARE section of the airframe file add these lines:

<define name="USE_ADC"/>
<define name="USE_ADC_3"/> 

In the BAT section of the airframe file add these lines:

<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)" value="Max(0,adc*88)"/>

The ''Max(0,x)'' ensures that instead of getting a negative current when using a motor brake it is set to zero, thus not corrupting your energy estimate. If you have a setup where the current can become negative (e.g. charging the battery via solar cells) don't use ''Max''.

Remove the line:
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA"/>

The correct multiplier for the raw measurement conversion depends on the current sensor. The Sparkfun sensor returns a linear voltage of 0 V - 3.3 V and at 90.15 A it reaches the maximum of 3.3 V. The TWOG v1 or Tiny v2 have a A/D converter with 10-bit precision (1024 different values) to represent the voltage. So you can calculate the multiplier with the following formula:

'''1000 / precision * A_at_max_voltage'''

For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037

For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"

For the ACS755LCB-50 sensor, there is a 0.6 volts offset. At 3.3v, the current is 45.A. The formula is thus: value="(43.94*(adc-185))"

For the ACS755LCB-100 sensor using resistive divisor (1k8/3k3). At 3.3v, the current is ???. The formula is thus: value="(??*(adc-120))

== Display on Ground Control Station (GCS) ==

Use the Messages application to show it.

The total energy consumed during the flight (in mAh) is sent in the "BAT" message.

The actual current flowing through the sensor (in mA) is sent in the "fbw_status" message.

You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

== Voltage Sensor ==

If you would like to install the autopilot on a bigger airframe, you can face the problem, that the nominal voltage of the accupack is higher then allowed for the autopilot. (i.e. 6 cell LiPo and TWOG ) But if you use a voltage regulator, then the autopilot has no information on the real voltage of the accupack. The GCS will show the autopilot input voltage, which is irrelevant regarding the remaining capacity of the accupack. Fortunately the Sparkfun Attopilot Current Sensor provides a voltage signal scaled down to 3.3V, too. This can be connected to a general analog input of the autopilot (for example ADC_4) similar to the current signal. If you configure the airframe file in the following way, the autopilot will provide all of the warnings (i.e. Battery Low) and calculations (i.e. power consumption) as it does in case of a direct connection between autopilot and accupack.

Firmware section:
<firmware name="fixedwing">
.
<define name="USE_ADC"/>
<define name="USE_ADC_4"/> 
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_4"/>
.

Then in Battery section:
<section name="BAT">
.
<define name="VOLTAGE_ADC_A" value="0.05"/>
<define name="VOLTAGE_ADC_B" value="1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
.

You don't need to load special module for this purpose (i.e. adc_generic )!

(The above method was tested with Sparkfun Attopilot Current Sensor and TWOG.)

[[Category:Sensors]] [[Category:Software]] [[Category:User_Documentation]]

Sensors/IMU

2012-06-07T04:02:51Z

Agressiva: /* Pololu MinIMU-9 */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__
'''See the [[Subsystem/imu|IMU subsystem]] page for the software drivers.'''
== Terminology ==
* '''IMU''': inertial measurement unit: only measures the accelerations and rotation rates (and magnetic field)
* '''AHRS''': attitude and heading reference system: uses IMU data + extra (airspeed/GPS/baro/...) to do sensor fusion and provide pitch and roll
* '''INS''': integrated navigation system: uses IMU + Navigation sensor(s) (e.g. GPS) + even more complex algorithms that besides pitch and roll also interpolates positions and velocities using the attitude corrected acceleration measurements.

== Paparazzi IMUs ==

=== Booz IMU v 1.01 ===

*High quality analog devices sensors
*16bit ADC capable of 200 000 samples per second
*Special attention to clean power with onboard linear supplies
*Efficient high-speed SPI for minimal microcontroller overhead and ultra-low latency (=better controller performance).
*Fits on Booz, Lisa AND Tiny/TWOG autopilots.

While originally designed for use with rotorcrafts, code is now available for use with fixed wing.

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

The hardware description is [[BoozIMU|here]].

Available at [https://mini.ppzuav.com/osc/product_info.php?cPath=15&products_id=122&osCsid=bq9cget2u5c7ksa6kd9ssdf03lisuksq PPZUAV].

=== YAI v1.0 ===

Why "yet another imu" while there are already so many out there?

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

*Designed to be completely compatible with original booz IMU and its code
*Cheaper sensors (lower bias stability)
*Higher resolution (16bits) and frequency (200ksps) and cleaner onboard power supply, better grounding and shielding than compared with e.g. external sparkfun breakout boards
*Fast low latency SPI communication (no uart as the tiny/twog miss uarts)
*The most important part of attitude determination is proper kinematic compensation using for instance GPS, pressure sensors etc etc. When using IMU with external processors there is often less flexibility. Things as timing for instance are as important as the quality of the gyros themselves.

Board, BOM -> [ http://svn.savannah.nongnu.org/viewvc/paparazzi-hardware/trunk/sensors/yai/?root=paparazzi Hardware Repository]

=== Aspirin IMU ===

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

[[AspirinIMU|Next generation flat imu.]] This little imu with latest generation of integrated high rate high resolution gyros's moreover has very low noise and stable power supplies and outputs all sensors interrupt pins for optimal performance.

Note: while the main intended use is the very low latency high performance spi+i2c+interrupts connection (e.g. on lisa/M), please note that aspirin v2 can also be used with any tiny/twog for fixedwing aircraft with the same 4-wire interface and identical software as the PPZUAV-IMU. (connect Aspirin-SCK and aspirin-SCL to the I2C-SCL, aspirin-mosi and aspirin-SDA to I2C-SDA, Vcc to 5V (preferably linear), aspirin-gnd and aspirin-miso to GND, and aspirin-CS to 3.3V.)

Detailed information about the [[AspirinIMU|Aspirin IMU]] is available [[AspirinIMU|here.]]

== 3rd Party IMU ==

'''Loose Terminology Note:''' Like the sparkfun website, the following text incorrectly equates the term "degree-of-freedom" with sensor measurement. Unless we're talking about articulated arms (which paparazzi to date isn't involved with), a body can only have 6 physical DOFs and that would correspond to translation and rotations in the x,y,z cartesian directions of 3D space. If the vehicle state vector includes positions and velocities for each degree of freedom, the state vector would have a dimension of 6 x 2 = 12 states. The goal is to reconstruct these vehicle states using sensor measurements, as once the states can be obtained with reasonable certainty, a control algorithm can have a shot at controlling the system. Using various filtering techniques, multiple sensor types can be combined to estimate these states.

IMU's measure rotation rates, acceleration (6DOF) and some also magnetic fields (9DOF). This data is used by an autopilot to estimate the state of the aircraft. They that can be used with a Paparazzi autopilot based UAS. If you happen to have such a device, we really would love to see that you share your IMU paparazzi autopilot integration projects information on this Wiki.

=== PPZUAV IMU 9DOF ===
<gallery>
Image:Ppz9dofimu.jpg|9DOM IMU
Image:Ppz9dofimumed.jpg|Example Wiring to Tiny2.11
Image:Ppz9domschematic.jpg|Schematic
</gallery>


Another IMU based around the ITG-3200, ADXL345 and HMC5843. 
Features: I2C out 5v input. Interrupts . 
PCBs available from PPZUAV (assemblies soon). Schematic open, design is Altium Designer, gerbers available. 

There is a module to just read the raw sensor data that can be added to any working airframe: 
<pre>
<modules>
<load name="ins_ppzuavimu.xml" />
</modules>
</pre>

but to use it for flying you need to add a little more to your airframe. you will need to add the <subsystem name="imu" type="ppzuav" /> to read the sensor, but also a filter to merge the data like for instance the <subsystem name="ahrs" type="ic" /> which is a fast integer complementary 3D filter. But besides that you need to add sensor calibration defines to your airframe, and preferably also the local magnetic field vector at your location. A sample airframe illustrating all calibration issues and reading and merging the sensor at 100Hz with minimal control delays is in the repository to get you started:

airframe: PPZUAV/fixedwing/tiny_imu.xml
settings: tuning_basic_ins.xml
telemetry: default_fixedwing_imu.xml

Credit and thanks go out to Christophe for making the code and testing.

Media
YouTube: http://www.youtube.com/watch?v=OaMTyJ-s-PU
 

=== Ryan Mechatronics CHIMU AHRS ===

Very nice product: using the ultra high speed ultra low latency 200Hz SPI-slave mode (even 200Hz innerloop control of fixedwing is possible) or simple 4-wire connection via serial port to any TWOG/TINY/LISA/YAPA.

Don't want to spend time testing AHRS filters? Nor calibrating IMU? This module with molex connector can be bought calibrated and does all the filtering internally.

Use it with highspeed SPI on LPC-based boards: http://www.youtube.com/watch?v=mxx-f3Ur0L8

<modules>
<load name="ins_chimu_spi.xml" />
</modules>

...

<subsystem name="spi_slave_hs"/>

Use CHIMU with simple uart connection on both lisa or tiny/twog

<modules>
<load name="ins_chimu_uart.xml">
<configure name="CHIMU_UART_NR" value="0"/>
</load>
</modules>

=== SparkFun Razor 6DOF IMU ===

[[Image:RazzorIMU.jpg|thumb|left|Razor IMU (top) with the tiny13 autopilot]]

[[Image:RazzorIMUb.jpg|thumb|left|Razor IMU in the tiny13 autopilot box]]

[http://www.sparkfun.com/commerce/product_info.php?products_id=10010 Official website]

6DOF - Ultra-Thin IMU

Very cheap, currently 62-72 Euro. [http://www.watterott.com/de/Sensoren/IMU Shop in Europe]

Has been integrated in Paparazzi by Hochschule Bremen, Germany.

Remove the high pass filters of the RazorIMU to get better results.

For the Twog and Tiny 2.2 autopilots you have also remove the resistors to GND and the series resistors to the MC of the 5V analog inputs. The code to fly normal plane is currently in the repository. Christoph is working on improvements look here: http://paparazzi.enac.fr/wiki/User:Christoph

[[Media:Wiring_Razor_IMU.pdf|Connections and wiring to the tiny13]]

 

=== SparkFun SEN-10121 ===
[[Image:SEN-10121.jpg|thumb|left|SEN-10121]]

IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345

http://www.sparkfun.com/products/10121

Tiny, ADXL345 accelerometer, ITG-3200 gyro, 3.3V input, I2C interface.

This IMU has been tested and flown with Tiny v2.11 and TWOG. It is very similar to the PPZUAV IMU.

Details of [[IMU/SEN-10121|configuration]].

 

=== Pololu MinIMU-9 ===
[[Image:MinIMU9.jpg|thumb|left|MinIMU-9]]

IMU Digital Combo Board - 9 Degrees of Freedom L3G4200/LSM303

http://www.pololu.com/catalog/product/1265

Tiny, LSM303 accelerometer and magnetometer, L3G4200 gyro, 3.3V input, I2C interface.

This IMU has been tested and flown with TWOG.

Details of [[IMU/MinIMU-9|configuration]].

 

=== Cloudcap Crista IMU ===
[[Image:crista_sensorhead.jpg|thumb|left|Christa IMU]]

[http://www.cloudcaptech.com/crista_sensorhead.shtm Official website]

More infos soon.

 

== 3rd Party INS ==

INS measure rates with their sensors and run algorithms to estimate the state on their own. They give this information the the autopilot (e.g. Euler angles) that can then use it for navigation.

===[http://diydrones.com/profiles/blogs/arduimu-v2-flat-now-available|DIYDrones ArduIMU+ V2 (Flat)] ===
[[Image:ArduIMU.jpg|thumb|left|ArduIMU]]

[http://code.google.com/p/ardu-imu/wiki/HomePage?tm=6 Official website]

[[ArduIMU|Paparazzi Wiki Page]]

* 3 axis accelerometer + 3 axis gyroscope
* Low cost
* Has been integrated in Paparazzi by ZHAW, Winterthur, Switzerland.
* A magnetometer has been integrated in the software to compensate drift in yaw.
* GPS data from the Tiny is passed over I2C to the AHRS on the IMU.
* Is sold by [http://www.sparkfun.com/products/9956 Sparkfun] and [http://store.diydrones.com/ProductDetails.asp?ProductCode=KT-ArduIMU-20 DIYDrones Store].
 

=== Vector-Nav VN-100 ===
[[Image:VN-100.jpg|thumb|left|Vector-Nav VN-100]]

[http://www.vectornav.com/vn-100-features Official website]

There is a [[Modules|module]] for this AHRS (ins_vn100.xml for fixedwings).

 

=== MicroStrain 3DM-GX2 ===
[[Image:3DM-GX2.jpg|thumb|left|MicroStrain 3DM-GX2]]

[http://www.microstrain.com/3dm-gx2.aspx Official website]

More info soon.

 

=== Xsens MTi and MTi-G (with GPS) ===
[[Image:MTi.jpeg|thumb|left|Xsens MTi]]

[[Image:MTi-G.jpeg|thumb|left|Xsens MTi-G (with GPS)]]

[http://www.xsens.com/en/general/mti Official website MTi]

[http://www.xsens.com/en/general/mti-g Official website MTi-G]

In sensor fusion, calibration and timing are crucial. If you want latency compensated ADXRS gyro integrated attitude done by an efficient and optimized Blackfin DSP you need an XSens. For rotorcraft the 100Hz is a bit slow, but for fixedwing it's perfect. Directly compatible with [[Yapa]] and [[Lisa]] and all needed code in paparazi.

 

=== MemSense MAG3 ===

MAG3 - 6 DOF Analog IMU with Triaxial Magnetometer

[http://www.memsense.com/index.php/Product-Pages/mag3-worlds-smallest-analog-inertial-measurement-unit.html Official website mag3]

== The Very Short Essential Introduction To Inertial Attitude Estimation ==

The only physical entity related to attitude (pitch and roll) is the earth gravity vector (unless you use a multi-antenna phase-measuring GPS... $$$$). Unfortunately, the sensors that measure gravity (=accelerometers) also measure so-called kinematic accelerations or in other words: changes in speed: like centrifugal forces, Coriolis forces, linear accelerations etc... The sum of all these litteraly is "what you feel" and is called [http://en.wikipedia.org/wiki/Specific_force "specific force"].

so

accelerometer_value (specific force) = earth_gravity + change in velocity (linear accelerations) + velocity times turn rate (centrifugal etc)

or

A = B + C + D

You measure A and want to know B. What all "gyroscopes and accelerometer only" AHRS projects are doing in some way or another is to neglect the last 2 (C and D). In many situations this is not bad: for instance: when testing the AHRS attached to your computer: it can not accelerate for a very long time (at most a few meters: so if you accerate to the left, then you need to accelerate to the right directly after so the average is zero) and can not rotate to much either (or your cable gets strangled). This is why all AHRS videos on youtube look perfect. And on the desk they are perfect: you neglected 2 terms in the equation that in that situation are perfectly neglect-able. Also with a quadrotor that hovers and keeps its nose in the same direction all the time, these neglected terms are small.

Now what about the gyroscopes you might ask. I deliberately keep them only second as gyroscopes (turn rate or rotation speed sensors) do NOT give you attitude but ONLY HELP TO SOLVE SHORT TERM errors in the previous part. If gyroscopes would measure turn-rate perfectly, then they would help more but all MEMS/PIEZZO sensors are more or less sensitive to 1) temperature, 2) turnrate, 3) vibrations, 4) accelerations, 5) radiation, 6) power supply quality 7) non-linearity 8) ADC-quality 9) dynamic range and saturation problems, ... so if you integrate gyroscopes, sooner or later errors build up (drift). I put this list here so you know what to pay attention for: if using gyroscopes: always try to keep the temperature as constant as possible or let the temperature settle, reduce vibrations (dampers), use better ADC (e.g. 10bit ADC with +/- 1200 deg/sec gyros have a resolution of 2.4 degrees/s per ADC tick, so your phi/theta might drift 1.2deg/sec without noticing) and power supply filtering and shielding etc to start with. All of these define for how long (seconds!/minutes?) gyroscope integration is useful.

If you convert the accelerometer directly to attitude and plot it, it will vibrate a lot and will show errors when you accelerate the AHRS on your desk. During a coordinated turn of a fixedwing plane, the force you feel is perpendicular to the plane (not pointing to earth). The accelerometer only clearly is insufficient to know your attitude. One solution is to use gyroscopes that are so good that you can predict for many minutes (then the average acceleration during several turns would still point to earth). But if your gyros can only help for shorter terms (like all MEMS sensors of less than 500euro/each) then extra information is required. E.g: if you add GPS data or airspeed data however, from the flightpath you can quite accurately reconstruct the missing C and D terms. Together with the accelerometer you can know "where the earth is" even when you keep accelerating and turning. Here questions like latency, update rate, noisy derivatives (linear acceleration) are of importance.

Finally there is the heading... GPS ground-track is not the same as nose direction. Gyroscopes measure how much the nose has been turning, so using GPS to correct it induces errors that increase with corsswind. Magnetometers can help here, and become necessary whenever you do not move enough anymore (hovering). This situation can also occur in plane flying in very strong winds.

See the [[Subsystem/ahrs|AHRS subsystem]] page for an overview of some algorithm implementations.

[[Category:Sensors]]

File:MinIMU9.jpg

2012-06-07T04:01:21Z

Agressiva: Pololu 9dof IMU

Pololu 9dof IMU

Sensors/IMU

2012-06-07T03:57:07Z

Agressiva: /* 3rd Party IMU */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__
'''See the [[Subsystem/imu|IMU subsystem]] page for the software drivers.'''
== Terminology ==
* '''IMU''': inertial measurement unit: only measures the accelerations and rotation rates (and magnetic field)
* '''AHRS''': attitude and heading reference system: uses IMU data + extra (airspeed/GPS/baro/...) to do sensor fusion and provide pitch and roll
* '''INS''': integrated navigation system: uses IMU + Navigation sensor(s) (e.g. GPS) + even more complex algorithms that besides pitch and roll also interpolates positions and velocities using the attitude corrected acceleration measurements.

== Paparazzi IMUs ==

=== Booz IMU v 1.01 ===

*High quality analog devices sensors
*16bit ADC capable of 200 000 samples per second
*Special attention to clean power with onboard linear supplies
*Efficient high-speed SPI for minimal microcontroller overhead and ultra-low latency (=better controller performance).
*Fits on Booz, Lisa AND Tiny/TWOG autopilots.

While originally designed for use with rotorcrafts, code is now available for use with fixed wing.

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

The hardware description is [[BoozIMU|here]].

Available at [https://mini.ppzuav.com/osc/product_info.php?cPath=15&products_id=122&osCsid=bq9cget2u5c7ksa6kd9ssdf03lisuksq PPZUAV].

=== YAI v1.0 ===

Why "yet another imu" while there are already so many out there?

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

*Designed to be completely compatible with original booz IMU and its code
*Cheaper sensors (lower bias stability)
*Higher resolution (16bits) and frequency (200ksps) and cleaner onboard power supply, better grounding and shielding than compared with e.g. external sparkfun breakout boards
*Fast low latency SPI communication (no uart as the tiny/twog miss uarts)
*The most important part of attitude determination is proper kinematic compensation using for instance GPS, pressure sensors etc etc. When using IMU with external processors there is often less flexibility. Things as timing for instance are as important as the quality of the gyros themselves.

Board, BOM -> [ http://svn.savannah.nongnu.org/viewvc/paparazzi-hardware/trunk/sensors/yai/?root=paparazzi Hardware Repository]

=== Aspirin IMU ===

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

[[AspirinIMU|Next generation flat imu.]] This little imu with latest generation of integrated high rate high resolution gyros's moreover has very low noise and stable power supplies and outputs all sensors interrupt pins for optimal performance.

Note: while the main intended use is the very low latency high performance spi+i2c+interrupts connection (e.g. on lisa/M), please note that aspirin v2 can also be used with any tiny/twog for fixedwing aircraft with the same 4-wire interface and identical software as the PPZUAV-IMU. (connect Aspirin-SCK and aspirin-SCL to the I2C-SCL, aspirin-mosi and aspirin-SDA to I2C-SDA, Vcc to 5V (preferably linear), aspirin-gnd and aspirin-miso to GND, and aspirin-CS to 3.3V.)

Detailed information about the [[AspirinIMU|Aspirin IMU]] is available [[AspirinIMU|here.]]

== 3rd Party IMU ==

'''Loose Terminology Note:''' Like the sparkfun website, the following text incorrectly equates the term "degree-of-freedom" with sensor measurement. Unless we're talking about articulated arms (which paparazzi to date isn't involved with), a body can only have 6 physical DOFs and that would correspond to translation and rotations in the x,y,z cartesian directions of 3D space. If the vehicle state vector includes positions and velocities for each degree of freedom, the state vector would have a dimension of 6 x 2 = 12 states. The goal is to reconstruct these vehicle states using sensor measurements, as once the states can be obtained with reasonable certainty, a control algorithm can have a shot at controlling the system. Using various filtering techniques, multiple sensor types can be combined to estimate these states.

IMU's measure rotation rates, acceleration (6DOF) and some also magnetic fields (9DOF). This data is used by an autopilot to estimate the state of the aircraft. They that can be used with a Paparazzi autopilot based UAS. If you happen to have such a device, we really would love to see that you share your IMU paparazzi autopilot integration projects information on this Wiki.

=== PPZUAV IMU 9DOF ===
<gallery>
Image:Ppz9dofimu.jpg|9DOM IMU
Image:Ppz9dofimumed.jpg|Example Wiring to Tiny2.11
Image:Ppz9domschematic.jpg|Schematic
</gallery>


Another IMU based around the ITG-3200, ADXL345 and HMC5843. 
Features: I2C out 5v input. Interrupts . 
PCBs available from PPZUAV (assemblies soon). Schematic open, design is Altium Designer, gerbers available. 

There is a module to just read the raw sensor data that can be added to any working airframe: 
<pre>
<modules>
<load name="ins_ppzuavimu.xml" />
</modules>
</pre>

but to use it for flying you need to add a little more to your airframe. you will need to add the <subsystem name="imu" type="ppzuav" /> to read the sensor, but also a filter to merge the data like for instance the <subsystem name="ahrs" type="ic" /> which is a fast integer complementary 3D filter. But besides that you need to add sensor calibration defines to your airframe, and preferably also the local magnetic field vector at your location. A sample airframe illustrating all calibration issues and reading and merging the sensor at 100Hz with minimal control delays is in the repository to get you started:

airframe: PPZUAV/fixedwing/tiny_imu.xml
settings: tuning_basic_ins.xml
telemetry: default_fixedwing_imu.xml

Credit and thanks go out to Christophe for making the code and testing.

Media
YouTube: http://www.youtube.com/watch?v=OaMTyJ-s-PU
 

=== Ryan Mechatronics CHIMU AHRS ===

Very nice product: using the ultra high speed ultra low latency 200Hz SPI-slave mode (even 200Hz innerloop control of fixedwing is possible) or simple 4-wire connection via serial port to any TWOG/TINY/LISA/YAPA.

Don't want to spend time testing AHRS filters? Nor calibrating IMU? This module with molex connector can be bought calibrated and does all the filtering internally.

Use it with highspeed SPI on LPC-based boards: http://www.youtube.com/watch?v=mxx-f3Ur0L8

<modules>
<load name="ins_chimu_spi.xml" />
</modules>

...

<subsystem name="spi_slave_hs"/>

Use CHIMU with simple uart connection on both lisa or tiny/twog

<modules>
<load name="ins_chimu_uart.xml">
<configure name="CHIMU_UART_NR" value="0"/>
</load>
</modules>

=== SparkFun Razor 6DOF IMU ===

[[Image:RazzorIMU.jpg|thumb|left|Razor IMU (top) with the tiny13 autopilot]]

[[Image:RazzorIMUb.jpg|thumb|left|Razor IMU in the tiny13 autopilot box]]

[http://www.sparkfun.com/commerce/product_info.php?products_id=10010 Official website]

6DOF - Ultra-Thin IMU

Very cheap, currently 62-72 Euro. [http://www.watterott.com/de/Sensoren/IMU Shop in Europe]

Has been integrated in Paparazzi by Hochschule Bremen, Germany.

Remove the high pass filters of the RazorIMU to get better results.

For the Twog and Tiny 2.2 autopilots you have also remove the resistors to GND and the series resistors to the MC of the 5V analog inputs. The code to fly normal plane is currently in the repository. Christoph is working on improvements look here: http://paparazzi.enac.fr/wiki/User:Christoph

[[Media:Wiring_Razor_IMU.pdf|Connections and wiring to the tiny13]]

 

=== SparkFun SEN-10121 ===
[[Image:SEN-10121.jpg|thumb|left|SEN-10121]]

IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345

http://www.sparkfun.com/products/10121

Tiny, ADXL345 accelerometer, ITG-3200 gyro, 3.3V input, I2C interface.

This IMU has been tested and flown with Tiny v2.11 and TWOG. It is very similar to the PPZUAV IMU.

Details of [[IMU/SEN-10121|configuration]].

 

=== Pololu MinIMU-9 ===
[[Image:pololu_minIMU9.jpg|thumb|left|MinIMU-9]]

IMU Digital Combo Board - 9 Degrees of Freedom L3G4200/LSM303

http://www.pololu.com/catalog/product/1265

Tiny, LSM303 accelerometer and magnetometer, L3G4200 gyro, 3.3V input, I2C interface.

This IMU has been tested and flown with TWOG.

Details of [[IMU/MinIMU-9|configuration]].

 

=== Cloudcap Crista IMU ===
[[Image:crista_sensorhead.jpg|thumb|left|Christa IMU]]

[http://www.cloudcaptech.com/crista_sensorhead.shtm Official website]

More infos soon.

 

== 3rd Party INS ==

INS measure rates with their sensors and run algorithms to estimate the state on their own. They give this information the the autopilot (e.g. Euler angles) that can then use it for navigation.

===[http://diydrones.com/profiles/blogs/arduimu-v2-flat-now-available|DIYDrones ArduIMU+ V2 (Flat)] ===
[[Image:ArduIMU.jpg|thumb|left|ArduIMU]]

[http://code.google.com/p/ardu-imu/wiki/HomePage?tm=6 Official website]

[[ArduIMU|Paparazzi Wiki Page]]

* 3 axis accelerometer + 3 axis gyroscope
* Low cost
* Has been integrated in Paparazzi by ZHAW, Winterthur, Switzerland.
* A magnetometer has been integrated in the software to compensate drift in yaw.
* GPS data from the Tiny is passed over I2C to the AHRS on the IMU.
* Is sold by [http://www.sparkfun.com/products/9956 Sparkfun] and [http://store.diydrones.com/ProductDetails.asp?ProductCode=KT-ArduIMU-20 DIYDrones Store].
 

=== Vector-Nav VN-100 ===
[[Image:VN-100.jpg|thumb|left|Vector-Nav VN-100]]

[http://www.vectornav.com/vn-100-features Official website]

There is a [[Modules|module]] for this AHRS (ins_vn100.xml for fixedwings).

 

=== MicroStrain 3DM-GX2 ===
[[Image:3DM-GX2.jpg|thumb|left|MicroStrain 3DM-GX2]]

[http://www.microstrain.com/3dm-gx2.aspx Official website]

More info soon.

 

=== Xsens MTi and MTi-G (with GPS) ===
[[Image:MTi.jpeg|thumb|left|Xsens MTi]]

[[Image:MTi-G.jpeg|thumb|left|Xsens MTi-G (with GPS)]]

[http://www.xsens.com/en/general/mti Official website MTi]

[http://www.xsens.com/en/general/mti-g Official website MTi-G]

In sensor fusion, calibration and timing are crucial. If you want latency compensated ADXRS gyro integrated attitude done by an efficient and optimized Blackfin DSP you need an XSens. For rotorcraft the 100Hz is a bit slow, but for fixedwing it's perfect. Directly compatible with [[Yapa]] and [[Lisa]] and all needed code in paparazi.

 

=== MemSense MAG3 ===

MAG3 - 6 DOF Analog IMU with Triaxial Magnetometer

[http://www.memsense.com/index.php/Product-Pages/mag3-worlds-smallest-analog-inertial-measurement-unit.html Official website mag3]

== The Very Short Essential Introduction To Inertial Attitude Estimation ==

The only physical entity related to attitude (pitch and roll) is the earth gravity vector (unless you use a multi-antenna phase-measuring GPS... $$$$). Unfortunately, the sensors that measure gravity (=accelerometers) also measure so-called kinematic accelerations or in other words: changes in speed: like centrifugal forces, Coriolis forces, linear accelerations etc... The sum of all these litteraly is "what you feel" and is called [http://en.wikipedia.org/wiki/Specific_force "specific force"].

so

accelerometer_value (specific force) = earth_gravity + change in velocity (linear accelerations) + velocity times turn rate (centrifugal etc)

or

A = B + C + D

You measure A and want to know B. What all "gyroscopes and accelerometer only" AHRS projects are doing in some way or another is to neglect the last 2 (C and D). In many situations this is not bad: for instance: when testing the AHRS attached to your computer: it can not accelerate for a very long time (at most a few meters: so if you accerate to the left, then you need to accelerate to the right directly after so the average is zero) and can not rotate to much either (or your cable gets strangled). This is why all AHRS videos on youtube look perfect. And on the desk they are perfect: you neglected 2 terms in the equation that in that situation are perfectly neglect-able. Also with a quadrotor that hovers and keeps its nose in the same direction all the time, these neglected terms are small.

Now what about the gyroscopes you might ask. I deliberately keep them only second as gyroscopes (turn rate or rotation speed sensors) do NOT give you attitude but ONLY HELP TO SOLVE SHORT TERM errors in the previous part. If gyroscopes would measure turn-rate perfectly, then they would help more but all MEMS/PIEZZO sensors are more or less sensitive to 1) temperature, 2) turnrate, 3) vibrations, 4) accelerations, 5) radiation, 6) power supply quality 7) non-linearity 8) ADC-quality 9) dynamic range and saturation problems, ... so if you integrate gyroscopes, sooner or later errors build up (drift). I put this list here so you know what to pay attention for: if using gyroscopes: always try to keep the temperature as constant as possible or let the temperature settle, reduce vibrations (dampers), use better ADC (e.g. 10bit ADC with +/- 1200 deg/sec gyros have a resolution of 2.4 degrees/s per ADC tick, so your phi/theta might drift 1.2deg/sec without noticing) and power supply filtering and shielding etc to start with. All of these define for how long (seconds!/minutes?) gyroscope integration is useful.

If you convert the accelerometer directly to attitude and plot it, it will vibrate a lot and will show errors when you accelerate the AHRS on your desk. During a coordinated turn of a fixedwing plane, the force you feel is perpendicular to the plane (not pointing to earth). The accelerometer only clearly is insufficient to know your attitude. One solution is to use gyroscopes that are so good that you can predict for many minutes (then the average acceleration during several turns would still point to earth). But if your gyros can only help for shorter terms (like all MEMS sensors of less than 500euro/each) then extra information is required. E.g: if you add GPS data or airspeed data however, from the flightpath you can quite accurately reconstruct the missing C and D terms. Together with the accelerometer you can know "where the earth is" even when you keep accelerating and turning. Here questions like latency, update rate, noisy derivatives (linear acceleration) are of importance.

Finally there is the heading... GPS ground-track is not the same as nose direction. Gyroscopes measure how much the nose has been turning, so using GPS to correct it induces errors that increase with corsswind. Magnetometers can help here, and become necessary whenever you do not move enough anymore (hovering). This situation can also occur in plane flying in very strong winds.

See the [[Subsystem/ahrs|AHRS subsystem]] page for an overview of some algorithm implementations.

[[Category:Sensors]]

IMU/MinIMU-9

2012-06-07T03:50:47Z

Agressiva: Pololu MinIMU-9

= Pololu MinIMU-9 IMU =
IMU Digital Combo Board - 9 Degrees of Freedom L3G4200/LSM303

http://www.pololu.com/catalog/product/1265

== Description ==
This is a simple breakout for the LSM303 accelerometer;magnetometer and the L3G4200 gyro. With this board, you get a full 9 degrees of freedom. The sensors communicate over I2C. If you need a simple and tiny board that gives you 9 degrees of freedom, this would be a good choice.

== Features ==
* Tiny!
* One mounting holes
* LSM303 accelerometer
* LSM303 magnetometer
* L3G4200 gyro
* 3.3V input
* I2C interface

= Configuration =
This IMU has been tested and flown with TWOG.

In the firmware section of the airframe add the following entries
<pre>
<subsystem name="imu" type="pololu"/>
<subsystem name="ahrs" type="float_dcm"/>
</pre>

You can define the ACC rate using the command bellow:
<pre>
<subsystem name="imu" type="pololu">
<define name="LSM303_ACC_RATE" value="LSM303_RATE_100"/> 
</subsystem>
</pre>

Sensors/Current

2012-05-24T00:04:29Z

Agressiva: /* Airframe integration */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__

It is very easy to get the Paparazzi system working with a current sensor.

Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [http://www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.

== Hardware ==

[[Image:Example.jpg|thumb|right|float|Current sensor connected to the TWOG v1]]
Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg|thumb|right|float|Novak 100A current sensor]]

== Airframe integration ==

In the FIRMWARE section of the airframe file add these lines:

<define name="USE_ADC"/>
<define name="USE_ADC_3"/> 

In the BAT section of the airframe file add these lines:

<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)" value="(88*adc)"/>

and remove the line:
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA"/>

The correct multiplier for the raw measurement conversion depends on the current sensor. The Sparkfun sensor returns a linear voltage of 0 V - 3.3 V and at 90.15 A it reaches the maximum of 3.3 V. The TWOG v1 or Tiny v2 have a A/D converter with 10-bit precision (1024 different values) to represent the voltage. So you can calculate the multiplier with the following formula:

'''1000 / precision * A_at_max_voltage'''

For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037

For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"

For the ACS755LCB-50 sensor, there is a 0.6 volts offset. At 3.3v, the current is 45.A. The formula is thus: value="(43.94*(adc-185))"

== Display on Ground Control Station (GCS) ==

Use the Messages application to show it.

The total energy consumed during the flight (in mAh) is sent in the "BAT" message.

The actual current flowing through the sensor (in mA) is sent in the "fbw_status" message.

You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

== Voltage Sensor ==

If you would like to install the autopilot on a bigger airframe, you can face the problem, that the nominal voltage of the accupack is higher then allowed for the autopilot. (i.e. 6 cell LiPo and TWOG ) But if you use a voltage regulator, then the autopilot has no information on the real voltage of the accupack. The GCS will show the autopilot input voltage, which is irrelevant regarding the remaining capacity of the accupack. Fortunately the Sparkfun Attopilot Current Sensor provides a voltage signal scaled down to 3.3V, too. This can be connected to a general analog input of the autopilot (for example ADC_4) similar to the current signal. If you configure the airframe file in the following way, the autopilot will provide all of the warnings (i.e. Battery Low) and calculations (i.e. power consumption) as it does in case of a direct connection between autopilot and accupack.

Firmware section:
<firmware name="fixedwing">
.
<define name="USE_ADC"/>
<define name="USE_ADC_4"/> 
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_4"/>
.

Then in Battery section:
<section name="BAT">
.
<define name="VOLTAGE_ADC_A" value="0.05"/>
<define name="VOLTAGE_ADC_B" value="1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
.

You don't need to load special module for this purpose (i.e. adc_generic )!

(The above method was tested with Sparkfun Attopilot Current Sensor and TWOG.)

[[Category:Sensors]] [[Category:Software]] [[Category:User_Documentation]]

Sensors/Current

2012-05-24T00:03:26Z

Agressiva: /* Airframe integration */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
__TOC__

It is very easy to get the Paparazzi system working with a current sensor.

Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [http://www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.

== Hardware ==

[[Image:Example.jpg|thumb|right|float|Current sensor connected to the TWOG v1]]
Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg|thumb|right|float|Novak 100A current sensor]]

== Airframe integration ==

In the FIRMWARE section of the airframe file add these lines:

<define name="USE_ADC"/>
<define name="USE_ADC_3"/> 

In the BAT section of the airframe file add these lines:

<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)" value="(88*adc)"/>

and remove the line:
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA"/>

The correct multiplier for the raw measurement conversion depends on the current sensor. The Sparkfun sensor returns a linear voltage of 0 V - 3.3 V and at 90.15 A it reaches the maximum of 3.3 V. The TWOG v1 or Tiny v2 have a A/D converter with 10-bit precision (1024 different values) to represent the voltage. So you can calculate the multiplier with the following formula:

'''1000 / precision * A_at_max_voltage'''

For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037

For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"
For the ACS755LCB-50 sensor, there is a 0.6 volts offset. At 3.3v, the current is 45.A. The formula is thus: value="(43.94*(adc-185))"

== Display on Ground Control Station (GCS) ==

Use the Messages application to show it.

The total energy consumed during the flight (in mAh) is sent in the "BAT" message.

The actual current flowing through the sensor (in mA) is sent in the "fbw_status" message.

You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

== Voltage Sensor ==

If you would like to install the autopilot on a bigger airframe, you can face the problem, that the nominal voltage of the accupack is higher then allowed for the autopilot. (i.e. 6 cell LiPo and TWOG ) But if you use a voltage regulator, then the autopilot has no information on the real voltage of the accupack. The GCS will show the autopilot input voltage, which is irrelevant regarding the remaining capacity of the accupack. Fortunately the Sparkfun Attopilot Current Sensor provides a voltage signal scaled down to 3.3V, too. This can be connected to a general analog input of the autopilot (for example ADC_4) similar to the current signal. If you configure the airframe file in the following way, the autopilot will provide all of the warnings (i.e. Battery Low) and calculations (i.e. power consumption) as it does in case of a direct connection between autopilot and accupack.

Firmware section:
<firmware name="fixedwing">
.
<define name="USE_ADC"/>
<define name="USE_ADC_4"/> 
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_4"/>
.

Then in Battery section:
<section name="BAT">
.
<define name="VOLTAGE_ADC_A" value="0.05"/>
<define name="VOLTAGE_ADC_B" value="1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
.

You don't need to load special module for this purpose (i.e. adc_generic )!

(The above method was tested with Sparkfun Attopilot Current Sensor and TWOG.)

[[Category:Sensors]] [[Category:Software]] [[Category:User_Documentation]]

Sensors/Current

2012-05-18T13:46:57Z

Agressiva: /* Airframe integration */

Users

2012-02-04T04:14:38Z

Agressiva: /* South America */

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

== Wiki User Pages ==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ User Pages
|-
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|[http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:PaulCox Paul Cox]
|[http://paparazzi.enac.fr/wiki/User:Bruzzlee Bruzzlee]
|[http://paparazzi.enac.fr/wiki/User:Stspies Stspies]
|[http://paparazzi.enac.fr/wiki/User:Mzr Mzr]
|[http://brquad.blogspot.com AGRESSiVA]
|- style="background:bisque; color:black"
|add yourself here
|[http://paparazzi.enac.fr/wiki/User:Martial Martial Châteauvieux]
|[http://paparazzi.enac.fr/wiki/User:Christoph Christoph]
|
|
|}

= Paparazzi Users sorted geographically =

==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:zhaojinhust@gmail.com ZHAOJin]|| China || Tiny2.11 ||| 2011|| Just Finished my hand-soldered Tiny2.11 board. Welcome to my blog: freikorps.blogcn.com (CHINESE中文)
|- 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
|- style="background:bisque; color:black"
| [mailto:benybeejz@gmail.com benybee] || Bandar Lampung, Indonesia || Tiny13 1.1 ||| 2010 || trying to get wing dragon fully autonomus, for aireal photograph and research
|- style="background:bisque; color:black"
| [mailto:anilvanjare83@gmail.com Anil vanjare] || India || TWOG, Tiny v2.1,Umarim v10 ||| 2011 || ,working on Umarim board assembly with prashant
|}

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

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

|- style="background:lightgreen; 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:lightgreen; 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:lightgreen; 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 || Booz and Lisa/L ||| 2008 || coding more than flying.... unfortunately

|- 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"
| [[User:Martial|Martial Châteauvieux]] || Munich, Germany || Bormatec/Maja with TWOG and IR ||| 2011 || Next test in January 2012, as soon as the weather permits. Hopefully I can switch in AUTO2.
|- style="background:bisque; color:black"
| [[User:Stspies|Steffen Spies]] || Wolfsburg, Germany || Multiplex TwinStar with Tiny V2.11 and IR ||| 2010 || Awaiting first flight.

|- style="background:bisque; color:black"
| [[User:Tobi|Tobias M]] || Germany || Multiplex TwinStar II TWOG v1 and IR/imu ||| 2007 || about 120h of flight tests in Auto2 with IR - coding and testing a new vertical control with airspeed - just changed from IR to Aspirin imu - about 3h Auto2 in that configuration

|- style="background:bisque; color:black"
| [[User:RoN|Rolf N]] || Bremen, Germany || Multiplex Acromaster with TWOG, airspeed and imu ||| 2010 || Several successful AUTO2 flights

|- style="background:bisque; color:black"
| [mailto:rijo1011_at_gmail.com Jochen Rieger] || Karlsruhe, Germany || Bormatec Maja, Lisa/L ||| 2011 || I hope the first flight is coming soon.

|- style="background:lightgreen; 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:lightgreen; 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, Cougar, eHawk, 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 E] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Kyosho Calmato, UMARS||| 2010 || Many Successful flights. A lot of experience as savety pilot. Experience with pich based speed control (best you can have). No programming skills unfortuanatley.

|- 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/YAPA2/ArduIMU, Multiplex Mentor, SebArt Wind S 50E ||| 2010 || Many flights successfully performed, including auto-landing, more to go ...

|- style="background:bisque; color:black"
| [mailto:sjwilks_at_gmail.com Simon W.] || Aarau, Switzerland || TWOG with ArduIMU in Jamara Roo, TWOG on a Telink Tempest flying wing, YAPA2 on a Bormatec Maja, Lisa/L on a Droidworx AD-8 HL ||| 2010 || Many successful flights. See [http://sites.google.com/site/paparazziuav/ http://sites.google.com/site/paparazziuav/].

|- style="background:lightgreen; 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:lightgreen; 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, Lisa/L and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed, IMU and strong wind 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

|- style="background:bisque; color:black"
| [mailto:kepler0@gmail.com Joaquín] || Málaga, Spain|| TWOG v1, Trex600, Cockpit SX, ArduImuV2, HMC5843 ||| September 2009 || Finished integration (navigation, control, actuators). Missing to realize an automatic engine control.
|}

==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"
| [http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer] || Edmonton, AB, CAN || Nothing Yet ||| Jan 2011 || Obtaining Hardware

|- style="background:bisque; color:black"
| [mailto:muratagenc@yahoo.com Murat A. Genc] || New York, NY || not decided yet ||| May 2011 || just started

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup University of Alberta UAS Group] || Edmonton, AB, CAN || TWOG 1.0, Asprin IMU ||| Aug 2011 || Completing tuning flights in Auto 1 on a Senior Telemaster with 26cc gas engine. Working towards a stable platform for research.

|- 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"
| [mailto:agressiva@hotmail.com Eduardo Lavratti] || Porto Alegre - RS, Brasil || TWOG / BOOZ / LISA-M, UBLOX, Xbee900 60mw||| 2011 || Working with geoprocessing - developping new modules and sensors to paparazzi. [http://brquad.blogspot.com ACCENT AERiALS]
|- 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"
| [http://paparazzi.enac.fr/wiki/User:RH1N0 RH1N0] || Brisbane, QLD || TWOG, Multiplex Easystar, PPZGPS, H.264 live digital video, Ubiquiti modems ||| May 2011 || Multiple AUTO2 flights up to 40 min. Currently testing PPZIMU.
|- 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"
|}

=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

[[Category:Community]]

Users

2011-07-28T05:47:19Z

Agressiva: /* Wiki User Pages */

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

== Wiki User Pages ==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ User Pages
|-
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|[http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:PaulCox Paul Cox]
|[http://paparazzi.enac.fr/wiki/User:Bruzzlee Bruzzlee]
|[http://paparazzi.enac.fr/wiki/User:Stspies Stspies]
|[http://paparazzi.enac.fr/wiki/User:Mzr Mzr]
|[http://brquad.blogspot.com AGRESSiVA]
|- style="background:bisque; color:black"
|add yourself here
|
|
|
|
|}

= Paparazzi Users sorted geographically =

==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:zhaojinhust@gmail.com ZHAOJin]|| China || Tiny2.11 ||| 2011|| Just decide to buy the tiny2.11 bundle and get started!
|- 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
|- style="background:bisque; color:black"
| [mailto:benybeejz@gmail.com benybee] || Bandar Lampung, Indonesia || Tiny13 1.1 ||| 2010 || trying to get wing dragon fully autonomus, for aireal photograph and research
|}

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

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

|- style="background:lightgreen; 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:lightgreen; 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:lightgreen; 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 || Booz and Lisa/L ||| 2008 || coding more than flying.... unfortunately

|- 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"
| [[User:Martial|Martial Châteauvieux]] || Munich, Germany || Bormatec/Maja with TWOG and IR ||| 2011 || Just received my TWOG. Soldering the IR Sensors.

|- style="background:bisque; color:black"
| [[User:Stspies|Steffen Spies]] || Wolfsburg, Germany || Multiplex TwinStar with Tiny V2.11 and IR ||| 2010 || Awaiting first flight.

|- style="background:bisque; color:black"
| [[User:Tobi|Tobias M]] || Germany || Multiplex TwinStar II TWOG v1 and IR/imu ||| 2007 || about 120h of flight tests in Auto2 with IR - coding and testing a new vertical control with airspeed - just changed from IR to Aspirin imu - about 3h Auto2 in that configuration

|- style="background:bisque; color:black"
| [[User:RoN|Rolf N]] || Bremen, Germany || Multiplex Acromaster with TWOG, airspeed and imu ||| 2010 || Several successful AUTO2 flights

|- style="background:lightgreen; 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:lightgreen; 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 E] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Kyosho Calmato, UMARS||| 2010 || Many Successful flights. A lot of experience as savety pilot. Experience with pich based speed control (best you can have). No programming skills unfortuanatley.

|- 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 || First flight successfully performed on 16 July 2011, including auto-landing, more to go ...

|- style="background:bisque; color:black"
| [mailto:sjwilks_at_gmail.com Simon W.] || Aarau, Switzerland || TWOG with ArduIMU in Jamara Roo, Telink Tempest, Bormatec Maja and Lisa/L for the XAircraft X650 ||| 2010 || Many successful flights. See [http://sites.google.com/site/paparazziuav/ http://sites.google.com/site/paparazziuav/].

|- style="background:lightgreen; 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:lightgreen; 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, Lisa/L and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed, IMU and strong wind 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

|- style="background:bisque; color:black"
| [mailto:kepler0@gmail.com Joaquín] || Málaga, Spain|| TWOG v1, Trex600, Cockpit SX, ArduImuV2, HMC5843 ||| September 2009 || Finished integration (navigation, control, actuators). Missing to realize an automatic engine control.
|}

==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"
| [http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer] || Edmonton, AB, CAN || Nothing Yet ||| Jan 2011 || Obtaining Hardware

|- style="background:bisque; color:black"
| [mailto:muratagenc@yahoo.com Murat A. Genc] || New York, NY || not decided yet ||| May 2011 || just started

|- 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"
| [mailto:agressiva@hotmail.com Eduardo Lavratti] || Porto Alegre - RS, Brasil || TWOG / BOOZ, UBLOX, Xbee900 60mw||| 2011 || Working with geoprocessing - developping new modules and sensors to paparazzi.
|- 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"
| [http://paparazzi.enac.fr/wiki/User:RH1N0 RH1N0] || Brisbane, QLD || TWOG, Multiplex Easystar, PPZGPS, H.264 live digital video, Ubiquiti modems ||| May 2011 || Multiple AUTO2 flights up to 40 min. Currently testing PPZIMU.
|- 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"
|}

=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

[[Category:Community]]

User:Agressiva

2011-07-28T05:44:41Z

Agressiva:

News comming

Users

2011-07-28T05:41:23Z

Agressiva: /* South America */

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

== Wiki User Pages ==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ User Pages
|-
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|- style="background:bisque; color:black"
|[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]
|[http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:PaulCox Paul Cox]
|[http://paparazzi.enac.fr/wiki/User:Bruzzlee Bruzzlee]
|[http://paparazzi.enac.fr/wiki/User:Stspies Stspies]
|[http://paparazzi.enac.fr/wiki/User:Mzr Mzr]
|add yourself here
|
|
|}

= Paparazzi Users sorted geographically =

==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:zhaojinhust@gmail.com ZHAOJin]|| China || Tiny2.11 ||| 2011|| Just decide to buy the tiny2.11 bundle and get started!
|- 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
|- style="background:bisque; color:black"
| [mailto:benybeejz@gmail.com benybee] || Bandar Lampung, Indonesia || Tiny13 1.1 ||| 2010 || trying to get wing dragon fully autonomus, for aireal photograph and research
|}

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

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

|- style="background:lightgreen; 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:lightgreen; 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:lightgreen; 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 || Booz and Lisa/L ||| 2008 || coding more than flying.... unfortunately

|- 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"
| [[User:Martial|Martial Châteauvieux]] || Munich, Germany || Bormatec/Maja with TWOG and IR ||| 2011 || Just received my TWOG. Soldering the IR Sensors.

|- style="background:bisque; color:black"
| [[User:Stspies|Steffen Spies]] || Wolfsburg, Germany || Multiplex TwinStar with Tiny V2.11 and IR ||| 2010 || Awaiting first flight.

|- style="background:bisque; color:black"
| [[User:Tobi|Tobias M]] || Germany || Multiplex TwinStar II TWOG v1 and IR/imu ||| 2007 || about 120h of flight tests in Auto2 with IR - coding and testing a new vertical control with airspeed - just changed from IR to Aspirin imu - about 3h Auto2 in that configuration

|- style="background:bisque; color:black"
| [[User:RoN|Rolf N]] || Bremen, Germany || Multiplex Acromaster with TWOG, airspeed and imu ||| 2010 || Several successful AUTO2 flights

|- style="background:lightgreen; 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:lightgreen; 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 E] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Kyosho Calmato, UMARS||| 2010 || Many Successful flights. A lot of experience as savety pilot. Experience with pich based speed control (best you can have). No programming skills unfortuanatley.

|- 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 || First flight successfully performed on 16 July 2011, including auto-landing, more to go ...

|- style="background:bisque; color:black"
| [mailto:sjwilks_at_gmail.com Simon W.] || Aarau, Switzerland || TWOG with ArduIMU in Jamara Roo, Telink Tempest, Bormatec Maja and Lisa/L for the XAircraft X650 ||| 2010 || Many successful flights. See [http://sites.google.com/site/paparazziuav/ http://sites.google.com/site/paparazziuav/].

|- style="background:lightgreen; 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:lightgreen; 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, Lisa/L and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed, IMU and strong wind 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

|- style="background:bisque; color:black"
| [mailto:kepler0@gmail.com Joaquín] || Málaga, Spain|| TWOG v1, Trex600, Cockpit SX, ArduImuV2, HMC5843 ||| September 2009 || Finished integration (navigation, control, actuators). Missing to realize an automatic engine control.
|}

==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"
| [http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer] || Edmonton, AB, CAN || Nothing Yet ||| Jan 2011 || Obtaining Hardware

|- style="background:bisque; color:black"
| [mailto:muratagenc@yahoo.com Murat A. Genc] || New York, NY || not decided yet ||| May 2011 || just started

|- 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"
| [mailto:agressiva@hotmail.com Eduardo Lavratti] || Porto Alegre - RS, Brasil || TWOG / BOOZ, UBLOX, Xbee900 60mw||| 2011 || Working with geoprocessing - developping new modules and sensors to paparazzi.
|- 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"
| [http://paparazzi.enac.fr/wiki/User:RH1N0 RH1N0] || Brisbane, QLD || TWOG, Multiplex Easystar, PPZGPS, H.264 live digital video, Ubiquiti modems ||| May 2011 || Multiple AUTO2 flights up to 40 min. Currently testing PPZIMU.
|- 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"
|}

=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

[[Category:Community]]