http://wiki.paparazziuav.org/w/api.php?action=feedcontributions&feedformat=atom&user=AutumnLeavesPaparazziUAV - User contributions [en]2026-04-29T15:02:25ZUser contributionsMediaWiki 1.37.1http://wiki.paparazziuav.org/w/index.php?title=Installation&diff=21139Installation2016-03-21T08:28:39Z<p>AutumnLeaves: </p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree><br />
__TOC__<br />
<br />
== Introduction ==<br />
<br />
Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or Apple Macintosh running [http://en.wikipedia.org/wiki/OS_X Mac OS X]. There is also work being done to port Paparazzi to Windows.<br />
<br />
The steps required to install the software needed to be able to let your UAS fly are:<br />
<br />
# Install tools and prerequisites needed by Paparazzi.<br />
# Download the source code from the source repository.<br />
# Compile the Paparazzi software from sourcecode<br />
# Complete any final configuration<br />
<br />
== Quickstart for Ubuntu users ==<br />
Love one-liners? To get the latest Paparazzi up and running on your '''Ubuntu 12.04 or higher OS''', make sure you have internet, then just copy and paste the text below into your terminal and press [enter] ... and wait a while...<br />
<br />
sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo add-apt-repository -y ppa:terry.guo/gcc-arm-embedded && sudo apt-get update && \ <br />
sudo apt-get -f -y install paparazzi-dev paparazzi-jsbsim gcc-arm-none-eabi && cd ~ && <nowiki>git clone --origin upstream https://github.com/paparazzi/paparazzi.git</nowiki> && \<br />
cd ~/paparazzi && git remote update -p && \<br />
git checkout -b v5.8 upstream/v5.8 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && \<br />
echo -e "export PAPARAZZI_HOME=~/paparazzi" >> ~/.bashrc && echo -e "export PAPARAZZI_SRC=~/paparazzi" >> ~/.bashrc && source ~/.bashrc && \<br />
make clean && make && ./paparazzi<br />
<br />
[[File:Done.jpg|frameless|center|Done!]]<br />
If all went well the Paparazzi Center should now be running... '''skip''' the rest of this page and go fly! <br />
<br />
If you are new you'll need to do some more things before you go fly like configuring your XML definition file detailing your airframe configuration. There is help here for that: [[Airframe_Configuration]]<br />
<br />
In case you have no autopilot hardware yet, no problem, you can get hardware [[Get_Hardware|here]] or just buy a ready to fly aircraft that can run Paparazzi Software like the Parrot Drones [http://www.parrot.com/products/bebop-drone/ Parrot Bebop] and run Paparazzi on your Parrot [[AR_Drone_2|ARDRone2]], [[Bebop|Bebop]] and Bebop2 (soon the Disco drone).<br />
<br />
== OS Specific Instructions ==<br />
<br />
For Linux an instructional video explaining it all in detail can be found here https://www.youtube.com/watch?v=eW0PCSjrP78<br />
<br />
The process of installing the prerequisite tools and dependencies needed by Paparazzi is specific to the operating system you are using. For detailed installation instructions, please see the following pages:<br />
*[[Installation/Linux|Installing prerequisites tools on Linux]]<br />
*[[Installation/MacOSX|Installing prerequisites tools on Mac OS X]]<br />
*[[Installation/RaspberryPi|Installing prerequisites tools on the RaspberryPi (Raspbian)]]<br />
<br />
For more advanced installation information or developers, please see the following pages:<br />
*[[Installation/FromScratch|Installing everything from scratch]] For non Debian based Linux distributions or if one just wants to be able to use all the latest and greatest compilers, or source code of everything to improve something. Then there is no other way than to install from scratch.<br />
*[[Installation/Windows|Installing prerequisite tools on Windows]] Note that this is '''a work in progress, and not finished yet'''. It would be fantastic if you are interested in running Paparazzi on this OS to help out with the porting. Being able to help is one of opensource software main features. If your skil- set is not so good in this area, but you still insist using Windows OS, then it is best to install a VirtualMachine from within Windows where you run the free Ubuntu OS of choice.<br />
<br />
=== Virtual Machines ===<br />
<br />
It is also possible to have your Debian/Ubuntu running in a virtual machine, for instance with [http://www.virtualbox.org/ VirtualBox]. This requires minimal changes to your computer setup, as you can run the VM from all common platforms (Windows, OS X, Linux). The virtual machine image can easily be transferred between different laptops, giving greater flexibility. Unfortunately, the Open-Source Edition of VirtualBox doesn't include the necessary USB support, so you'll need to get the regular version from the website.<br />
<br />
If you are new and this is your first time installing it is suggested you keep it simple. Use the standard Linux or OS X install. Select a system you can dedicate to the Linux installation. No VMs or dual boot configurations. The idea is do a very simple generic installation that is certain to have no issues. This reassures you that the installation process works and you can see and use a working Paparazzi install for some time before you try a more complicated install. The install is well documented and certain to succeed if followed exactly. Most issues arise when someone unfamiliar with Paparazzi or their OS tries a non-standard install that requires special steps that are not documented. Generally, commands can be copied and pasted for easy, step-by-step installation.<br />
<br />
== Getting the Source Code ==<br />
The Paparazzi source code is hosted on [https://github.com/paparazzi/paparazzi Github]. While you can download it as a tarball from https://github.com/paparazzi/paparazzi/releases, it is recommended to clone the repository with [[git]].<br />
<br />
From the directory of your choice type:<br />
git clone --origin upstream https://github.com/paparazzi/paparazzi.git<br />
Check out the released stable version branch:<br />
git checkout v5.8<br />
<br />
'''If this whole "Git" thing is new to you, more options and information can be found on the [[git|Git page]].'''<br />
<br />
== Launching the Software ==<br />
Make sure you have installed the <tt>paparazzi-dev</tt> package as described above. Without these you will not be able to compile the sourcecode.<br />
The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd ~/paparazzi</tt>), run<br />
<br />
make<br />
<br />
You will have to run this command after each update of the source (<tt>git pull</tt> command).<br />
Launch the software from the <tt>paparazzi</tt> directory with<br />
<br />
./paparazzi<br />
<br />
From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''Microjet'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session. The procedure is detailed in the [[Simulation]] page.<br />
<br />
=== Environment Variables ===<br />
<br />
If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]) from the command line, without using the Paparazzi Center, you must have the Paparazzi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:<br />
{{Box Code|~/.bashrc|<br />
<source lang="bash"><br />
export PAPARAZZI_HOME=''your paparazzi software directory''<br />
export PAPARAZZI_SRC=''your paparazzi software directory''<br />
</source><br />
}}<br />
<br />
Verify that your variables are set correctly with the following command:<br />
:<source lang="bash">env | grep PAPARAZZI</source><br />
which should return the following:<br />
<source lang="bash"><br />
PAPARAZZI_HOME=''your paparazzi software directory''<br />
PAPARAZZI_SRC=''your paparazzi software directory''<br />
</source><br />
<br />
<br />
If you wish to manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:<br />
:<source lang="bash">export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`</source><br />
<br />
== Software Updates ==<br />
'''We manage the software with the git version control system. Learn it! If you are new to it, see the [[Git|Git wiki page]].'''<br />
<br />
Paparazzi is a very rapidly evolving project and as such you might want to update your software regularly. See the [[RepositoryStructure|branching model and release process page]].<br />
<br />
Any new files you created will not be lost/overwritten when updating (like your own airframe file). Nevertheless, as with all things, backups are advised.<br />
If you modified source code, the best way is of course to use the version control system [[Git]] to commit your changes. Otherwise at least use the brute force method and save everything in another directory.<br />
<br />
Update your software with care and caution, and always test the functionality on the ground and in the air as some updates will affect tuning parameters. You might need to update your airframe file as well. The compiler will usually complain if there is a problem, at which point you can look at the [[Airframe_Configuration|Airframe Configuration wiki page]] again, look on the [[Contact#Mailing_List|mailing list]] or some of the most recent airframe files on git to find the proper syntax.<br />
<br />
'''See also the [[Release Upgrades]] page for information on how to update your configuration from one release to the next.'''<br />
<br />
=== Quick'n dirty description ===<br />
<br />
To download and automatically merge any updated source files, run the following command from your Paparazzi directory<br />
git pull<br />
<br />
After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:<br />
<br />
make<br />
<br />
The ''make'' command will only recompile portions of the software where changed have been detected.<br />
If it does not behave as expected you can delete all compiled files and recompile from scratch with the following commands:<br />
<br />
make clean<br />
make<br />
<br />
If you'd like to check that the code compiles all example airframes then you can run the test suite using the command<br />
<br />
make test<br />
<br />
For more details see the [[Builds/Tests|tests page]].<br />
<br />
== Using the Live CD ==<br />
<br />
There is a [[LiveCD]] available, but it dates back to 2008. It is still an easy way to get a first glimpse of Paparazzi however without installing anything.<br />
<br />
[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Installation&diff=21138Installation2016-03-21T08:19:38Z<p>AutumnLeaves: </p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree><br />
__TOC__<br />
<br />
== Introduction ==<br />
<br />
Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or Apple Macintosh running [http://en.wikipedia.org/wiki/OS_X Mac OS X]. There is also work being done to port Paparazzi to Windows.<br />
<br />
The steps required to install the software needed to be able to let your UAS fly are:<br />
<br />
# Install tools and prerequisites needed by Paparazzi.<br />
# Download the source code from the source repository.<br />
# Compile the Paparazzi software from sourcecode<br />
# Complete any final configuration<br />
<br />
== Quickstart for Ubuntu users ==<br />
Love one-liners? To get the latest Paparazzi up and running on your '''Ubuntu 12.04 or higher OS''', make sure you have internet, then just copy and paste the text below into your terminal and press [enter] ... and wait a while...<br />
<br />
sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo add-apt-repository -y ppa:terry.guo/gcc-arm-embedded && sudo apt-get update && \ <br />
sudo apt-get -f -y install paparazzi-dev paparazzi-jsbsim gcc-arm-none-eabi && cd ~ && <nowiki>git clone --origin upstream https://github.com/paparazzi/paparazzi.git</nowiki> && \<br />
cd ~/paparazzi && git remote update -p && \<br />
git checkout -b v5.8 upstream/v5.8 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && \<br />
echo -e "export PAPARAZZI_HOME=~/paparazzi" >> ~/.bashrc && echo -e "export PAPARAZZI_SRC=~/paparazzi" >> ~/.bashrc && source ~/.bashrc && \<br />
make clean && make && ./paparazzi<br />
<br />
[[File:Done.jpg|frameless|center|Done!]]<br />
If all went well the Paparazzi Center should now be running... '''skip''' the rest of this page and go fly! <br />
<br />
If you are new you'll need to do some more things before you go fly like configuring your XML definition file detailing your airframe configuration. There is help here for that: [[Airframe_Configuration]]<br />
<br />
In case you have no autopilot hardware yet, no problem, go get hardware [[Get_Hardware|here]] or just buy a ready to fly aircraft that can run Paparazzi Software like the Parrot Drones [http://www.parrot.com/products/bebop-drone/ Parrot Bebop] and run Paparazzi on your Parrot [[AR_Drone_2|ARDRone2]], [[Bebop|Bebop]] and Bebop2 (soon the Disco drone).<br />
<br />
== OS Specific Instructions ==<br />
<br />
For Linux an instruction video explaining it all in detail can be watched here https://www.youtube.com/watch?v=eW0PCSjrP78<br />
<br />
The process of installing the prerequisite tools and dependencies needed by Paparazzi is specific to the operating system you are using. For detailed installation instructions, please see the following pages:<br />
*[[Installation/Linux|Installing prerequisites tools on Linux]]<br />
*[[Installation/MacOSX|Installing prerequisites tools on Mac OS X]]<br />
*[[Installation/RaspberryPi|Installing prerequisites tools on the RaspberryPi (Raspbian)]]<br />
<br />
For more advanced installation information or developers, please see the following pages:<br />
*[[Installation/FromScratch|Installing everything from scratch]] For non Debian based Linux distributions or if one just wants to be able to use all the latest and greatest compilers, or source code of everything to improve something. Then there is no other way than to install from scratch.<br />
*[[Installation/Windows|Installing prerequisite tools on Windows]] Note that this is '''a work in progress, and not finished yet'''. It would be fantastic if you are interested in running Paparazzi on this OS to help out with the porting. Being able to help is one of opensource software main features. If your skil- set is not so good in this area, but you still insist using Windows OS, then it is best to install a VirtualMachine from within Windows where you run the free Ubuntu OS of choice.<br />
<br />
=== Virtual Machines ===<br />
<br />
It is also possible to have your Debian/Ubuntu running in a virtual machine, for instance with [http://www.virtualbox.org/ VirtualBox]. This requires minimal changes to your computer setup, as you can run the VM from all common platforms (Windows, OS X, Linux). The virtual machine image can easily be transferred between different laptops, giving greater flexibility. Unfortunately, the Open-Source Edition of VirtualBox doesn't include the necessary USB support, so you'll need to get the regular version from the website.<br />
<br />
If you are new and this is your first time installing it is suggested you keep it simple. Use the standard Linux or OS X install. Select a system you can dedicate to the Linux installation. No VMs or dual boot configurations. The idea is do a very simple generic installation that is certain to have no issues. This reassures you that the installation process works and you can see and use a working Paparazzi install for some time before you try a more complicated install. The install is well documented and certain to succeed if followed exactly. Most issues arise when someone unfamiliar with Paparazzi or their OS tries a non-standard install that requires special steps that are not documented. Generally, commands can be copied and pasted for easy, step-by-step installation.<br />
<br />
== Getting the Source Code ==<br />
The Paparazzi source code is hosted on [https://github.com/paparazzi/paparazzi Github]. While you can download it as a tarball from https://github.com/paparazzi/paparazzi/releases, it is recommended to clone the repository with [[git]].<br />
<br />
From the directory of your choice type:<br />
git clone --origin upstream https://github.com/paparazzi/paparazzi.git<br />
Check out the released stable version branch:<br />
git checkout v5.8<br />
<br />
'''If this whole "Git" thing is new to you, more options and information can be found on the [[git|Git page]].'''<br />
<br />
== Launching the Software ==<br />
Make sure you have installed the <tt>paparazzi-dev</tt> package as described above. Without these you will not be able to compile the sourcecode.<br />
The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd ~/paparazzi</tt>), run<br />
<br />
make<br />
<br />
You will have to run this command after each update of the source (<tt>git pull</tt> command).<br />
Launch the software from the <tt>paparazzi</tt> directory with<br />
<br />
./paparazzi<br />
<br />
From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''Microjet'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session. The procedure is detailed in the [[Simulation]] page.<br />
<br />
=== Environment Variables ===<br />
<br />
If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]) from the command line, without using the Paparazzi Center, you must have the Paparazzi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:<br />
{{Box Code|~/.bashrc|<br />
<source lang="bash"><br />
export PAPARAZZI_HOME=''your paparazzi software directory''<br />
export PAPARAZZI_SRC=''your paparazzi software directory''<br />
</source><br />
}}<br />
<br />
Verify that your variables are set correctly with the following command:<br />
:<source lang="bash">env | grep PAPARAZZI</source><br />
which should return the following:<br />
<source lang="bash"><br />
PAPARAZZI_HOME=''your paparazzi software directory''<br />
PAPARAZZI_SRC=''your paparazzi software directory''<br />
</source><br />
<br />
<br />
If you wish to manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:<br />
:<source lang="bash">export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`</source><br />
<br />
== Software Updates ==<br />
'''We manage the software with the git version control system. Learn it! If you are new to it, see the [[Git|Git wiki page]].'''<br />
<br />
Paparazzi is a very rapidly evolving project and as such you might want to update your software regularly. See the [[RepositoryStructure|branching model and release process page]].<br />
<br />
Any new files you created will not be lost/overwritten when updating (like your own airframe file). Nevertheless, as with all things, backups are advised.<br />
If you modified source code, the best way is of course to use the version control system [[Git]] to commit your changes. Otherwise at least use the brute force method and save everything in another directory.<br />
<br />
Update your software with care and caution, and always test the functionality on the ground and in the air as some updates will affect tuning parameters. You might need to update your airframe file as well. The compiler will usually complain if there is a problem, at which point you can look at the [[Airframe_Configuration|Airframe Configuration wiki page]] again, look on the [[Contact#Mailing_List|mailing list]] or some of the most recent airframe files on git to find the proper syntax.<br />
<br />
'''See also the [[Release Upgrades]] page for information on how to update your configuration from one release to the next.'''<br />
<br />
=== Quick'n dirty description ===<br />
<br />
To download and automatically merge any updated source files, run the following command from your Paparazzi directory<br />
git pull<br />
<br />
After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:<br />
<br />
make<br />
<br />
The ''make'' command will only recompile portions of the software where changed have been detected.<br />
If it does not behave as expected you can delete all compiled files and recompile from scratch with the following commands:<br />
<br />
make clean<br />
make<br />
<br />
If you'd like to check that the code compiles all example airframes then you can run the test suite using the command<br />
<br />
make test<br />
<br />
For more details see the [[Builds/Tests|tests page]].<br />
<br />
== Using the Live CD ==<br />
<br />
There is a [[LiveCD]] available, but it dates back to 2008. It is still an easy way to get a first glimpse of Paparazzi however without installing anything.<br />
<br />
[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=UU0&diff=21137UU02016-03-21T08:12:09Z<p>AutumnLeaves: </p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:UU0_V1_1_Top_Prototype.jpeg |right|500px|UU0 USB to UART adapter V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
<br />
[http://1bitsquared.com/products/r0-radio-kit UU0] is a low cost USB to UART adapter dongle. [http://1bitsquared.com/products/r0-radio-kit UU0] is based on the FTDI chipset and offers direct connection to the laptop over a USB A connector. It can be used for connecting telemetry modems like the [[R0]] or autopilots like [[Elle0]] or [[Lisa/MX]] to your computer. This makes it together with the [[R0]] a very compact and easy to use USB dongle for telemetry. [http://1bitsquared.com/products/r0-radio-kit UU0] also provides the Molex Picoblade null modem connector. This makes it possible to extend the connection between [http://1bitsquared.com/products/r0-radio-kit UU0] and the [[R0]] radios using a provided cable. <br />
<br />
= Features =<br />
<br />
* FTDI USB to Serial FIFO<br />
* TX & RX LEDs<br />
* USB-A connector<br />
* 100mil FTDI cable compatible pin-header<br />
* Molex Picoblade null modem connector<br />
<br />
<br />
<gallery widths=200px heights=200px><br />
Image:UU0_V1_1_Top_Prototype.jpeg|UU0 V1.1 top view<br />
Image:UU0_V1_1_Bottom_Prototype.jpeg|UU0 V1.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
= Schematic =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* [[Elle0]] Autopilot: [[Elle0]]<br />
* [[G0]] GPS receiver: [[G0]]<br />
* [[R0]] sub GHz telemetry radio modem: [[R0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/r0-radio-kit R0 Radio Kit] containing the [[UU0]] adapters is available for purchase at the [http://1bitsquared.com 1BitSquared] store.</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=R0&diff=21136R02016-03-21T08:09:04Z<p>AutumnLeaves: </p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:R0_V1_1_Top_Prototype.jpeg |right|500px|R0 sub GHz radio modem V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
[http://1bitsquared.com/products/r0-radio-kit R0] is a low cost sub GHz telemetry radio modem, based on the very common HM-TRP module. It is available in 915MHz, 868Mhz and 433MHz bands.<br />
[http://1bitsquared.com/products/r0-radio-kit R0] is based on the Si1000 chipset, and the SiK telemetry radio firmware. This makes it compatible to many other UAV telemetry radio modules like the RFD900 or the 3DR telemetry radio. The difference is that [http://1bitsquared.com/products/r0-radio-kit R0] is exposing a UF.l connector making it very slim and allowing installation inside tight spaces. Also the module provides the ubiquitous FTDI pin header and a Molex Picoblade null modem connector. [http://1bitsquared.com/products/r0-radio-kit R0] is compatible with the [[UU0]] low cost USB to UART adapter dongle. <br />
<br />
= Features =<br />
<br />
* UF.l minature antenna connector<br />
* FTDI cable compatible 100mil pin-header<br />
* Molex Picoblade null modem connector<br />
* Small footprint: 16mm x 40mm<br />
* M3 mounting hole<br />
<br />
= Pinout =<br />
<br />
= Schematic =<br />
<br />
= Set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* [[Elle0]] Autopilot: [[Elle0]]<br />
* [[G0]] GPS receiver: [[G0]]<br />
* [[UU0]] USB to UART adapter: [[UU0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/r0-radio-kit R0 Radio Kit] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Elle0&diff=21135Elle02016-03-21T08:06:01Z<p>AutumnLeaves: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:Elle0-v1 2-in-hand-prototype.jpg |right|500px|Elle0 V1.2 In Hand]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
[http://1bitsquared.com/products/elle0-autopilot Elle0] is a low cost STM32F4 based autopilot. It was developed by [http://1bitsquared.com 1BitSquared] specifically to work with the Paparazzi UAV framework. [http://1bitsquared.com/products/elle0-autopilot Elle0] features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the [[Lisa/M]] and [[Lisa/MX]] you know and love. The footprint of the board is a standard 30.5mm x 30.5mm that was made popular by the nano racer quad community. This makes it easy to replace the autopilot on your racer quad and benefit from the features and stability of the Paparazzi UAV framework. This hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested. If you are a hobbyist, researcher or system integrator that wants flexibility and high quality at a low cost this is the best choice for you. Because [http://1bitsquared.com/products/elle0-autopilot Elle0] was developed by and for the Paparazzi UAV developer community it provides a vast library of modules and subsystems making your path to autonomous flight a breeze. This version of the board supports programming over the built in USB port (DFU bootloader). It automatically detects if you power the board via USB and starts in Bootloader mode, which is a great simplification. The JTAG pins are broken out and can optionally be populated with a standard Cortex 10pin connector. We recommend the [[G0]] GPS module and [[R0]] telemetry radio kit together with the [http://1bitsquared.com/products/elle0-autopilot Elle0 autopilot] when using it for autonomous aircraft.<br />
<br />
= Features =<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer (connected over SPI for high speed sampling and low latency)<br />
* barometer (connected over dedicated SPI for low noise operation and low latency)<br />
* 1 I2C auxilary sensor connection<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 2 serial input interfaces for remote control receivers (using Spektrum compatible JST connectors)<br />
* 1 USB port for easy firmware upgrade<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 2 Analog inputs for system battery voltage and current measurement<br />
* CAN TX and RX lines are accessible<br />
<br />
<p style="color: red; font-size: 120%">Warning! The battery voltage measurement pin on the Elle0 does not have a built in voltage divider! DO NOT CONNECT 12V to it!!! You need an external voltage divider depending on the type of battery you use. Please refer to the [[Elle0#Battery Monitoring | Battery Monitoring]] section for details!</p><br />
<br />
<gallery widths=200px heights=200px><br />
Image:Elle0-v1 2-prototype.jpg|Elle0 V1.2 top view<br />
Image:Elle0-v1 2-prototype-back.jpg|Elle0 V1.2 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
[[Image:Elle0-v1 2-top-labeled.png|900px]]<br />
[[Image:Elle0 V1.2 top verbose labeled.png|900px]]<br />
= Mechanical drawings =<br />
[[Image:Elle0-top-mechanical.png|900px]]<br />
<br />
= Videos =<br />
<br />
{{#ev:youtube|yPNSzWRVHuA|200|left}} Introduction to the [[Elle0]] Autopilot - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br style="clear:both"><br />
<br />
= Battery Monitoring =<br />
<br />
<p style="color: red; font-size: 120%">Warning! The battery voltage measurement pin on the Elle0 does not have a built in voltage divider! DO NOT CONNECT 12V to it!!! You need an external voltage divider depending on the type of battery you use.</p><br />
<br />
The Elle0 does not provide a built in voltage divider for improved flexibility. Other autopilots like the Lisa/M come with a 10k Ohm - 2.2k Ohm voltage divider that is good for the use with 3s batteries. This setup does not have good resolution for smaller batteries and can not be used with larger batteries.<br />
<br />
In the default value that an Elle0 airframe file will assume is the before mentioned 10k Ohm - 2.2k Ohm voltage divider. To recreate it you connect one side of the 10k Ohm resistor to the battery, the other side of the resistor is connected to the 2.2k Ohm resistor and the voltage measurement pin of the Elle0. The remaining end of the 2.2k Ohm resistor is connected to ground. You can easily modify your uBEC to include the additional voltage divider. To build it by hand you can use industry standard 1/4w through hole resistors.<br />
<br />
If you want to measure a smaller battery with greater resolution you will have to adjust the resistor values to have a resulting voltage at the mid junction of not more than 3.3V. The nominal voltage of a fully charged LiPo cell is 4.2V. Also you will have to adjust the multiplication factor in your airframe file.<br />
<br />
= Schematic =<br />
<br />
= System set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* G0 GPS receiver: [[G0]]<br />
* R0 Sub GHz telemetry radio modem: [[R0]]<br />
* UU0 USB to UART adapter: [[UU0]]<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/elle0-autopilot Elle0] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=G0&diff=21134G02016-03-21T08:03:23Z<p>AutumnLeaves: </p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg |right|500px|G0 GPS V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
[http://1bitsquared.com/products/g0-gps G0] is a low cost GPS receiver designed for the use with Autonomous aircraft. [http://1bitsquared.com/products/g0-gps G0 GPS] was designed as a companion GPS for the [[Elle0]] autopilot, and mounts directly on top of it. But you can also use it with any other autopilot that accepts 3.3V TTL level UART GPS and can provide 5V to the GPS. [http://1bitsquared.com/products/g0-gps G0] features a very accurate UBlox MAX-7Q GPS module, large ground plane for good EMI and multi path signal rejection, as well as a high quality 25mm Taoglas ceramic patch antenna. [http://1bitsquared.com/products/g0-gps G0] performs very well as a GPS for fully autonomous aircraft that usually suffer from GPS loss and accuracy fluctuations due to attitude changes.<br />
<br />
= Features =<br />
<br />
* Based on the Ublox MAX-7Q GPS module<br />
* Uses high quality Taoglass ceramic Patch antenna<br />
* Whole circuit is protected from EMI by an EMI shielding can<br />
* Power and data lines are equipped with ferrite beads to decrease the amount of external noise entering the GPS circuitry.<br />
* Large antenna ground-plane (50 x 50 mm)<br />
* Optional trapezoidal ground plane skirt<br />
<br />
The large ground plane around the antenna increases the overall gain of the antenna. The ground plane also prevents more of the reflected GPS signal from being received by the GPS antenna. Less multi-path GPS signal results in more accurate position measurement. Together with the EMI shielding can, the ground-plane also prevents more of the aircraft EMI noise from entering the GPS receiver antenna. This also improves the SNR (Signal to Noise ratio).<br />
<br />
<gallery widths=200px heights=200px><br />
Image:G0_GPS_V1_1_Top_with_skirt.jpeg|G0 V1.1 top view with skirt<br />
Image:G0_GPS_V1_1_top_with_skirt.jpg|G0 V1.1 bottom view with skirt<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
= Videos =<br />
<br />
{{#ev:youtube|TG-2z-KdJEI|200|left}} Introduction to the [[G0]] GPS Receiver Module - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br style="clear:both"><br />
<br />
= Schematic =<br />
<br />
= Set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* [[Elle0]] Autopilot: [[Elle0]]<br />
* [[R0]] Sub GHz telemetry radio modem: [[R0]]<br />
* [[UU0]] USB to UART adapter: [[UU0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/g0-gps G0] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Get_Hardware&diff=21060Get Hardware2016-03-04T12:36:36Z<p>AutumnLeaves: </p>
<hr />
<div>__NOTOC__<br />
__NOEDITSECTION__<br />
<br />
{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}<br />
<br />
__TOC__<br />
<!-- Start of right-column --><br />
|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers &amp; Retailers}}<br />
<br />
As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.<br />
<br />
}}<br />
<br />
= Companies =<br />
<br />
In alphabetical order:<br />
<br />
== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==<br />
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|150px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|150px|[[Elle0]]]]<br />
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. <br/><br />
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.<br />
<br />
Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:<br />
* [[Lisa/S]] nano autopilot<br />
* [[Elle0]] autopilot<br />
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots<br />
* [[G0]] GPS<br />
* [[R0]] Radio Modem<br />
* [[UU0]] USB to UART adapter dongle<br />
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.<br />
<br />
Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.<br />
<br />
Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.<br />
<br />
<br style="clear:both"><br />
<br />
== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==<br />
<br />
[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].<br />
<br />
Other parts such as GPS, IMU or Magnetometer breakout boards are also available.<br />
<br />
<br style="clear:both"><br />
<br />
== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==<br />
We produce ready-to-fly paparazzi systems for everyone.<br />
<br />
We are a company based in Germany and deliver around the world. We create our own hardware and a ground station that includes the RC transmitter and video RX. Complete Paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]<br />
<br />
<br style="clear:both"><br />
<br />
== [[File:Ppzuav.jpg|100px|link=https://www.ppzuav.com/shop]] PPZUAV ==<br />
[[Image:ApogeeV1_img01sm.JPG|thumb|150px|ApogeeV1]]<br />
<p>Assembling hardware for Paparazzi based projects since 2007.</p><br />
<p>We are a USA based company that makes the Open Sourced Paparazzi Hardware available around the World. If you need fully assembled or just PCBs we can help.</p><br />
<br />
<p>If you do not see what you need please do not hesitate to contact us via eMail to: sales@ppzuav.com for details.<br />
Visit the [https://www.ppzuav.com/shop Web Store] to see the latest offerings.</p><br />
<br />
<p>Want to build your own SUMO Meteo research drone? We can help. We can provide the kit parts. Please contact us for details.</p><br />
<br />
<br style="clear:both"><br />
<br />
== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==<br />
<br />
Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.<br />
<br />
Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.<br />
<br />
They have a shop on their [http://transition-robotics.com Quadshot product page].<br />
<br />
<br style="clear:both"><br />
<br />
= Other =<br />
<br />
==[http://www.sparkfun.com Sparkfun]==<br />
Sparkfun is a great source of miscellaneous electronics like:<br />
* Development boards<br />
* GPS<br />
* Gyros<br />
* Accelerometers<br />
* Pressure sensors<br />
* Ultrasonic distance sensors<br />
* Temperature/humidity sensors<br />
* USB to Serial converters (XBEE adapter)<br />
* LEDs<br />
* Etc.<br />
<br />
<br style="clear:both"><br />
<br style="clear:both"><br />
<br />
'''Sparkfun distributors in Europe'''<br />
<br />
Incomplete list.<br />
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en<br />
*http://www.watterott.com/en/SparkFun<br />
<br />
==Mouser==<br />
<br />
Electronic distributor, sells all kinds of electronic parts or modules.<br />
Free shipping as of 60€.<br />
<br />
== [https://store.diydrones.com/ DIYDrones] ==<br />
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.<br />
<br />
'''DIYDrones distributors in Europe'''<br />
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]<br />
*http://www.unmannedtechshop.co.uk/ [UK]<br />
*http://www.buildyourowndrone.co.uk/ [UK]<br />
<br />
==u-Blox GPS receivers==<br />
<br />
* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])<br />
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)<br />
* [http://www.expedienttech.com/ expedittech.com]<br />
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )<br />
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)<br />
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€<br />
<br />
==Airspeed Sensors==<br />
<br />
Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.<br />
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)<br />
<br />
<br />
== DIGI XBee telemetry modules ==<br />
For detailed shopping guide see [Modems]<br />
*http://www.watterott.com/en/Digi (DE EU)<br />
*https://store.diydrones.com/ (US See above for local distributors)<br />
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)<br />
*http://mouser.com/ (AU and other regions)<br />
<br />
=PCB=<br />
==[https://www.ppzuav.com/shop PPZUAV]==<br />
Paparazzi specific bare and already assembled PCB's.<br />
<br />
==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==<br />
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price)<br/><br />
Shipping from china takes some time. Minimum order is 5 pcs.<br />
<br />
==[http://oshpark.com/ OSH Park]==<br />
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest)<br/><br />
Free worldwide shipping. Minimum order is 3 pcs.<br />
<br />
==[http://PCBShopper.com/ PCBShopper]==<br />
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.<br />
<br />
= References =<br />
<references/><br />
<br />
[[Category:Hardware]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Get_Hardware&diff=21059Get Hardware2016-03-04T12:36:16Z<p>AutumnLeaves: </p>
<hr />
<div>__NOTOC__<br />
__NOEDITSECTION__<br />
<br />
{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}<br />
<br />
__TOC__<br />
<!-- Start of right-column --><br />
|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers &amp; Retailers}}<br />
<br />
As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.<br />
<br />
}}<br />
<br />
= Companies =<br />
<br />
In alphabetical order:<br />
<br />
== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==<br />
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|1500px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|150px|[[Elle0]]]]<br />
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. <br/><br />
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.<br />
<br />
Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:<br />
* [[Lisa/S]] nano autopilot<br />
* [[Elle0]] autopilot<br />
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots<br />
* [[G0]] GPS<br />
* [[R0]] Radio Modem<br />
* [[UU0]] USB to UART adapter dongle<br />
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.<br />
<br />
Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.<br />
<br />
Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.<br />
<br />
<br style="clear:both"><br />
<br />
== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==<br />
<br />
[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].<br />
<br />
Other parts such as GPS, IMU or Magnetometer breakout boards are also available.<br />
<br />
<br style="clear:both"><br />
<br />
== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==<br />
We produce ready-to-fly paparazzi systems for everyone.<br />
<br />
We are a company based in Germany and deliver around the world. We create our own hardware and a ground station that includes the RC transmitter and video RX. Complete Paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]<br />
<br />
<br style="clear:both"><br />
<br />
== [[File:Ppzuav.jpg|100px|link=https://www.ppzuav.com/shop]] PPZUAV ==<br />
[[Image:ApogeeV1_img01sm.JPG|thumb|150px|ApogeeV1]]<br />
<p>Assembling hardware for Paparazzi based projects since 2007.</p><br />
<p>We are a USA based company that makes the Open Sourced Paparazzi Hardware available around the World. If you need fully assembled or just PCBs we can help.</p><br />
<br />
<p>If you do not see what you need please do not hesitate to contact us via eMail to: sales@ppzuav.com for details.<br />
Visit the [https://www.ppzuav.com/shop Web Store] to see the latest offerings.</p><br />
<br />
<p>Want to build your own SUMO Meteo research drone? We can help. We can provide the kit parts. Please contact us for details.</p><br />
<br />
<br style="clear:both"><br />
<br />
== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==<br />
<br />
Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.<br />
<br />
Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.<br />
<br />
They have a shop on their [http://transition-robotics.com Quadshot product page].<br />
<br />
<br style="clear:both"><br />
<br />
= Other =<br />
<br />
==[http://www.sparkfun.com Sparkfun]==<br />
Sparkfun is a great source of miscellaneous electronics like:<br />
* Development boards<br />
* GPS<br />
* Gyros<br />
* Accelerometers<br />
* Pressure sensors<br />
* Ultrasonic distance sensors<br />
* Temperature/humidity sensors<br />
* USB to Serial converters (XBEE adapter)<br />
* LEDs<br />
* Etc.<br />
<br />
<br style="clear:both"><br />
<br style="clear:both"><br />
<br />
'''Sparkfun distributors in Europe'''<br />
<br />
Incomplete list.<br />
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en<br />
*http://www.watterott.com/en/SparkFun<br />
<br />
==Mouser==<br />
<br />
Electronic distributor, sells all kinds of electronic parts or modules.<br />
Free shipping as of 60€.<br />
<br />
== [https://store.diydrones.com/ DIYDrones] ==<br />
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.<br />
<br />
'''DIYDrones distributors in Europe'''<br />
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]<br />
*http://www.unmannedtechshop.co.uk/ [UK]<br />
*http://www.buildyourowndrone.co.uk/ [UK]<br />
<br />
==u-Blox GPS receivers==<br />
<br />
* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])<br />
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)<br />
* [http://www.expedienttech.com/ expedittech.com]<br />
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )<br />
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)<br />
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€<br />
<br />
==Airspeed Sensors==<br />
<br />
Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.<br />
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)<br />
<br />
<br />
== DIGI XBee telemetry modules ==<br />
For detailed shopping guide see [Modems]<br />
*http://www.watterott.com/en/Digi (DE EU)<br />
*https://store.diydrones.com/ (US See above for local distributors)<br />
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)<br />
*http://mouser.com/ (AU and other regions)<br />
<br />
=PCB=<br />
==[https://www.ppzuav.com/shop PPZUAV]==<br />
Paparazzi specific bare and already assembled PCB's.<br />
<br />
==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==<br />
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price)<br/><br />
Shipping from china takes some time. Minimum order is 5 pcs.<br />
<br />
==[http://oshpark.com/ OSH Park]==<br />
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest)<br/><br />
Free worldwide shipping. Minimum order is 3 pcs.<br />
<br />
==[http://PCBShopper.com/ PCBShopper]==<br />
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.<br />
<br />
= References =<br />
<references/><br />
<br />
[[Category:Hardware]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Modems&diff=21058Modems2016-03-04T12:33:14Z<p>AutumnLeaves: /* SiLabs Si1000 SoC based modems */</p>
<hr />
<div>The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.<br />
<br />
==General comparison==<br />
'''This is ONLY a comparison between modules on this page'''<br />
<br />
All modules listed here work without issue and are generally available.<br />
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" <br />
| align="center" style="background:#f0f0f0;"|'''Feature'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''<br />
|-<br />
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz<br />
|-<br />
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW<br />
|-<br />
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps<br />
|-<br />
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace<br />
|-<br />
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD<br />
|-<br />
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€<br />
|-<br />
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide<br />
|}<br />
<br />
== Frequencies ==<br />
<br />
Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).<br />
<br />
You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. <br/><br />
Sending on a wrong frequency or with too much power may end in a serious lawsuit !<br />
<br />
Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]<br />
<br />
== HAM / CEPT Licence ==<br />
<br />
If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)<br />
<br />
You will learn about the radio technology, operational technology and legislation.<br/><br />
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!)<br/><br />
<br />
'''Licence Pros'''<br />
* You will be informed well about the (local and international) legislations.<br />
* You can transmit on a higher power (depends on frequency).<br />
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.<br />
* It will be easier to find faults in your radio systems.<br />
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else. <br />
* Well educated people respecting the legislation just looks much better in looks to UAV's :)<br />
<br />
'''Licence Cons'''<br />
* You will need to learn for the test (can be compared with a diverce licence).<br />
* The certificate and books will cost about 70€ (total, can vary !).<br />
* Maybe some costs (per year) for your call sign.<br />
<br />
=== CEPT Licence in Austria ===<br />
<br />
A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.<br />
<br />
You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.<br />
<br />
The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.<br />
<br />
To be continued...<br />
<br />
=== Links ===<br />
<br />
[http://www.oevsv.at/ Austrian ÖVSV]<br/><br />
[http://www.darc.de/ German DARC]<br />
<br />
== Digi XBee modules ==<br />
<br />
Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. <br />
<br />
Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna<br />
<br />
* XBee (PRO) ZB (the current series)<br />
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)<br />
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.<br />
<br />
These two also share the same hardware and can be converted from one to another by flashing a different firmware:<br />
* XBee-PRO 802.15.4 (formerly Series 1)<br />
* XBee-PRO DigiMesh 2.4<br />
<br />
'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''<br />
<br />
If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency.<br/><br />
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)<br />
<br />
See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.<br />
<br />
=== Module Comparison ===<br />
{|border="1"<br />
|-valign="top"<br />
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''<br />
|-<br />
|'''XBee ZB'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet PRO 3.1 (ZigBee 2007)<br />
|2.4 GHz<br />
|2mW/50mW<br />
|coordinator needed<br />
|-<br />
|'''XBee ZNet 2.5'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet 2.5 ZigBee<br />
|2.4 GHz<br />
|2mW/50mW<br />
|(only legacy -> use XBee-PRO ZB) coordinator needed<br />
|-<br />
|'''XBee DigiMesh 2.4'''<br />
|<br />
|yes<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|all nodes equal (no special coordinators/routers/end-devices)<br />
|-<br />
|'''XBee 802.15.4'''<br />
|yes<br />
|<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|<br />
|-<br />
|'''XBee-PRO 868'''<br />
|yes<br />
|<br />
|?<br />
|<br />
|868 MHz<br />
|500mW<br />
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW<br />
|}<br />
<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]<br />
<br style="clear:both"><br />
<br />
{|border="1"<br />
|-valign="top"<br />
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||<br />
|-<br />
|1<br />
| +3.3v<br />
| Power<br />
|Red<br />
|-<br />
|2<br />
|DOUT<br />
|Tx output - connect to Autopilot Rx<br />
|Green<br />
|-<br />
|3<br />
|DIN<br />
|Rx input - connect to Autopilot Tx<br />
|Blue<br />
|-<br />
|10<br />
|GND<br />
| Ground<br />
|Black<br />
|}<br />
<br />
The image view is from above, top, thus NOT at the side where the connector pins come out<br />
<br />
Note : DTR and RTS need to be wired for upgrading firmware<br />
<br />
=== GCS Adaptation ===<br />
<br />
There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.<br/><br />
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.<br />
<br />
====Adafruit====<br />
<br />
[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]<br />
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.<br />
<br />
<br style="clear:both"><br />
<br />
====Droids====<br />
<br />
[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]<br />
<br />
[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]<br />
<br />
[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]<br />
<br />
Simple breakout board with voltage regulator.<br />
<br />
[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]<br />
<br />
Adapter with FTDI chip for direct USB connection.<br />
<br />
<br style="clear:both"><br />
<br />
====PPZUAV====<br />
<br />
[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0]]<br />
<br />
[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link]<br/><br />
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.<br />
<br />
FTDI Utility Board 1.0 with FTDI232RL<br/><br />
On board XBEE connector and Molex Picoblade connectors. <br />
<br />
<br style="clear:both"><br />
<br />
====Sparkfun====<br />
<br />
[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]<br />
<br />
[http://www.sparkfun.com/products/8687 sparkfun.com]<br />
<br />
XBee Explorer USB with FTDI232RL<br />
<br />
<br style="clear:both"><br />
<br />
=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===<br />
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.<br />
<br />
These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]<br />
|<br />
* Frequency Band 2.4GHz<br />
* Output Power 100mW (Xbee Pro)<br />
* Sensitivity -100 dBm <br />
* RF Data Rate Up to 250 Kbps<br />
* Interface data rate Up to 115.2 Kbps<br />
* Power Draw (typical) 214 mA TX / 55 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight <br />
* Dimensions 24 x 33mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector <br />
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)<br />
* Price: 16€, Pro 26€<br />
|<br />
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]<br />
|}<br />
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA]<br><br />
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.<br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]<br />
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]<br />
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]<br />
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)<br />
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].<br />
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]<br />
<br />
=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===<br />
<br />
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]<br />
|<br />
* Low-cost, low-power mesh networking<br />
* Interoperability with ZigBee PRO Feature Set devices from other vendors*<br />
* Support for larger, more dense mesh networks<br />
* 128-bit AES encryption<br />
* Frequency agility<br />
* Over-the-air firmware updates (change firmware remotely)<br />
* ISM 2.4 GHz operating frequency<br />
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)<br />
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)<br />
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna<br />
* price : 14€, Pro 28€<br />
|<br />
|}<br />
These are available from Mouser:<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA<br />
<br />
See [[XBee_configuration|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]<br />
<br />
=== Digi XBee Pro 868 ===<br />
<br />
'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''<br />
<br />
868MHz is a limited band. Please read the [[868MHz Issues]]<br />
<br />
XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]<br />
|<br />
* 868 MHz short range device (SRD) G3 band for Europe<br />
* Software selectable Transmit Power<br />
* 40 km RF LOS w/ dipole antennas<br />
* 80 km RF LOS w/ high gain antennas (TX Power reduced)<br />
* Simple to use peer-to-peer/point-to-mulitpoint topology<br />
* 128-bit AES encryption<br />
* 500 mW EIRP<br />
* 24 kbps RF data rate<br />
* price : ~70 USD<br />
|<br />
|}<br />
<br />
See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]<br />
<br />
=== Digi XBee 868LP ===<br />
<br />
XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]<br />
|<br />
* 868 MHz short range device (SRD) G4 band for Europe<br />
* 4 km RF LOS w/ u.fl antennas<br />
* 5 mW EIRP<br />
* 10 or 80 kbps RF data rate<br />
* price : 18€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]<br />
<br />
==== Trial ====<br />
<br />
With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.<br />
<br />
=== Digi XBee Pro 900HP ===<br />
* Frequency band 900Mhz<br />
* RF rate 10 or 200 kbps<br />
* up to 250mW output power<br />
* 5 to 8 grams<br />
* price: 32€<br />
<br />
==== Documentation ====<br />
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]<br />
<br />
=== Digi XBee Pro XSC 900MHz ===<br />
<br />
Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]<br />
|<br />
* Frequency Band 900 MHz<br />
* Output Power 100 mW (+20 dBm)<br />
* Sensitivity -100 dBm <br />
* RF Rate: 10 or 20 kbps<br />
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight <br />
* Interface 20-pin mini connector (Xbee compatible pinout)<br />
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)<br />
* price : 32€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]<br />
<br />
==== Trials ====<br />
Tested one today and it worked great. Going to try a multiUAV test with it soon<br />
--Danstah<br />
<br><br />
<br><br />
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.<br />
--Danstah<br />
<br><br />
<br><br />
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR<br />
<br />
=== Digi 9XTend ===<br />
<br />
These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]<br />
|<br />
* Frequency Band 900Mhz and 2.4Ghz (2 versions)<br />
* Output Power 1mW to 1W software selectable<br />
* Sensitivity -110 dBm (@ 9600 bps)<br />
* RF Data Rate 9.6 or 115.2 Kbps<br />
* Interface data rate up to 230.4 Kbps<br />
* Power Draw (typical) 730 mA TX / 80 mA RX <br />
* Supply Voltage 2.8 to 5.5v<br />
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight <br />
* Dimensions 36 x 60 x 5mm<br />
* Weight 18 grams<br />
* Interface 20-pin mini connector or USB<br />
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)<br />
* price : 150€<br />
|<br />
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]<br />
|}<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''<br />
|-<br />
||1||GND||1 (GND)||Ground <br />
|-<br />
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)<br />
|-<br />
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX<br />
|-<br />
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX<br />
|-<br />
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation<br />
|}<br />
Notes:<br><br />
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.<br />
<br style="clear:both"><br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]<br />
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]<br />
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]<br />
<br />
==== Configuration ====<br />
<br />
These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.<br />
<br />
Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.<br />
<br />
* Acknowledged Polling Mode ('''Recommended'''):<br />
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).<br />
* Acknowledged Point-to-(Multi)Point Mode:<br />
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''<br />
|-<br />
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||<br />
|-<br />
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)<br />
|-<br />
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||MD||default||default||3 (0x03)||4 (0x04)||<br />
|-<br />
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)<br />
|-<br />
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)<br />
|-<br />
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''<br />
|-<br />
||RN||0 (0x00)||8 (0x08)||default||default||<br />
|-<br />
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||<br />
|}<br />
<br />
'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.<br />
<br />
Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]<br />
<br />
== SiLabs Si1000 SoC based modems ==<br />
<br />
[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]<br />
<br />
The Si1000 radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is [https://github.com/RFDesign/SiK open source firmware] for these radios which makes them suitable for use in MAVs. <br />
<br />
The latest SiK firmware supports also mesh topologies.<br />
<br />
Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz) <br />
<br />
Note: When using a SiK firmware radio with Paparazzi, you should set "ATS6=0" (MavLink packing off) and configure Paparazzi for transparent serial mode. Better still create a special module to make full use of the RFDxxx modem.<br />
<br />
[http://www.rfdesign.com.au/index.php/rfd900 This module] is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).<br />
<br />
Alternatively, for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system.<br />
<br />
The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example, use a small short range airframe with a ground station that is also used for long range operations.<br />
<br />
<br style="clear:both"/><br />
<br />
== Laird (ex Aerocom) ==<br />
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.<br />
<br />
How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]<br />
<br />
See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.<br />
<br />
<br />
{|<br />
|<br />
=== AC4790-200 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-200mW<br />
* Sensitivity (@ full RF data rate) -110dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 68 mA<br />
* Supply Voltage 3.3v & 5.5V<br />
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight <br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector or internal<br />
* price : 52€<br />
|<br />
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]<br />
|<br />
|-<br />
|<br />
=== AC4790-1000 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-1000mW<br />
* Sensitivity (@ full RF data rate) -99dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 650 mA<br />
* Supply Voltage 3.3V only<br />
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna<br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector<br />
* price : 64€<br />
|}<br />
<br />
=== Pinout ===<br />
<br />
[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]<br />
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]<br />
<br style="clear:both"><br />
<br />
{| border="1"<br />
|+ Wiring the Laird AC4868 to the Tiny<br />
|-valign="top"<br />
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''<br />
|-<br />
||2||Tx||green||7||7||''(Note 1)''<br />
|-<br />
||3||Rx||blue||8||8||''(Note 1)''<br />
|-<br />
||5||GND||black||1||1|| -<br />
|-<br />
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''<br />
|-<br />
||17||C/D||white||3||?||Low = Command High = Data<br />
|}<br />
''Note 1 : names are specified with respect to the AEROCOMM module''<br />
<br />
''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''<br />
<br />
<br />
<br />
=== Laird RM024 ===<br />
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]<br />
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]<br />
The RM024 replaces the discontinued LT2510 (they are backwards compatible).<br />
<br />
General features:<br />
* Frequency Band 2.4GHz<br />
* Output Power 2,5mW - 125mW<br />
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps<br />
* RF Data Rate 280/500 kbps<br />
* UART up to 460800 baud<br />
* Power Draw 90mA - 180mA TX / 10mA RX<br />
* Supply Voltage 3.3v<br />
* Range up to 4000m<br />
* Dimensions 26 x 33 x 4mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)<br />
* Chip antenna, U.FL antenna connector or both<br />
* Price: 29-31€ @ mouser (SMD / XBEE header)<br />
<br />
Two different mounting/pinuts are available:<br/><br />
* smd version: can be soldered on a pcb<br/><br />
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)<br />
<br />
Available in two different output power versions:<br />
{|border="1"<br />
|-valign="top"<br />
||''value''||''50mW version''||''125mW version''<br />
|-<br />
|output power<br />
| 2,5 mW - 50 mW<br />
| 2,5 mW - 125 mW<br />
|-<br />
|output power dbm<br />
|4 dbm - 17 dbm<br />
|4 dbm - 21 dbm<br />
|-<br />
|TX drain<br />
|90mA<br />
|<180mA<br />
|-<br />
|max range (280kbps with 2 dbi antenna)<br />
|2400m<br />
|4000m<br />
|-<br />
|approval<br />
|CE for EU, FCC/IC for USA,<br />
Canada PRM122/123 also for Japan<br />
|FCC/IC for USA, Canada <br />
|}<br />
<br />
The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.<br />
<br />
====Documentation====<br />
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual]<br/><br />
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual]<br/><br />
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]<br />
<br />
'''Setup'''<br />
<br />
Look at the [[Laird_RM024_setup page]]<br />
<br />
== Bluetooth ==<br />
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.<br />
{|<br />
|<br />
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===<br />
* Frequency Band 2.4GHz<br />
* Output Power 32 mW <br />
* RF Data Rate up to ~300 kbps in SPP<br />
* Interface Data Rate up to 921 kbps <br />
* Power Draw (typical) 50 mA TX / 40 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) 100 meters line-of-sight <br />
* Dimensions 26 x 13 x 2mm <br />
* Weight ~1.5 grams<br />
* Interface solder connector <br />
* price : 20€<br />
|<br />
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]<br />
|-<br />
|<br />
<br />
To connect to it, get the MAC address of the bluetooth modem<br />
<br />
me@mybox:~$ hcitool scan<br />
Scanning ...<br />
00:06:66:00:53:AD FireFly-53AD<br />
<br />
either make a virtual connection to a Bluetooth serial port each time you connect<br />
<br />
sudo rfcomm bind 0 00:06:66:00:53:AD<br />
<br />
or configure it once in /etc/bluetooth/rfcomm.conf<br />
<br />
rfcomm0 {<br />
bind yes;<br />
device 00:06:66:00:53:AD;<br />
}<br />
<br />
now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.<br />
|}<br />
<br />
== WiFi ==<br />
<br />
== ESP8266 Chip Module ==<br />
<br />
[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]<br />
<br />
To have a simple connection from your GCS to your autopilot, one can use your GCS computer built-in WiFi to establish a dataconnection. THe only thing you need is a WiFimodule connected to your Autopilot dataport and a laptop or other GCS device with Wifi.<br />
<br />
Flash the Wifimodule with [https://github.com/beckdac/ESP8266-transparent-bridge transparent bridge firwmware] using [https://github.com/themadinventor/esptool esptool]. When connected through WiFi, you can use telnet to set the baud rate.<br />
<br />
<br />
telnet 192.168.4.1<br />
+++AT BAUD 57000<br />
<br />
To use with paparazzi GCS, the TCP signals need to be tunnelled to a virtual serial device. This was accomplished with the "socat" command<br />
<br />
$ socat -d -d PTY,link=/dev/mywifi TCP:192.168.4.1:23<br />
<br />
Satar up Paparazzi Center and make line like:<br />
<br />
<br style="clear:both"><br />
<br />
== Telemetry via Video Transmitter==<br />
<br />
[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]<br />
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different. <br />
<br />
It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.<br />
<br style="clear:both"><br />
<br />
<br />
== Antennas ==<br />
<br />
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.<br />
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]] <br />
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]] <br />
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]] <br />
<br style="clear:both"><br />
<br />
This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna<br />
<br />
[[Category:Hardware]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Modems&diff=21057Modems2016-03-04T12:28:07Z<p>AutumnLeaves: /* SiLabs Si1000 SoC based modems */</p>
<hr />
<div>The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate through non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.<br />
<br />
==General comparison==<br />
'''This is ONLY a comparison between modules on this page'''<br />
<br />
All modules listed here work without issue and are generally available.<br />
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" <br />
| align="center" style="background:#f0f0f0;"|'''Feature'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''<br />
|-<br />
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz<br />
|-<br />
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW<br />
|-<br />
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps<br />
|-<br />
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace<br />
|-<br />
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD<br />
|-<br />
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€<br />
|-<br />
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide<br />
|}<br />
<br />
== Frequencies ==<br />
<br />
Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).<br />
<br />
You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. <br/><br />
Sending on a wrong frequency or with too much power may end in a serious lawsuit !<br />
<br />
Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]<br />
<br />
== HAM / CEPT Licence ==<br />
<br />
If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)<br />
<br />
You will learn about the radio technology, operational technology and legislation.<br/><br />
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!)<br/><br />
<br />
'''Licence Pros'''<br />
* You will be informed well about the (local and international) legislations.<br />
* You can transmit on a higher power (depends on frequency).<br />
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.<br />
* It will be easier to find faults in your radio systems.<br />
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else. <br />
* Well educated people respecting the legislation just looks much better in looks to UAV's :)<br />
<br />
'''Licence Cons'''<br />
* You will need to learn for the test (can be compared with a diverce licence).<br />
* The certificate and books will cost about 70€ (total, can vary !).<br />
* Maybe some costs (per year) for your call sign.<br />
<br />
=== CEPT Licence in Austria ===<br />
<br />
A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.<br />
<br />
You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.<br />
<br />
The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.<br />
<br />
To be continued...<br />
<br />
=== Links ===<br />
<br />
[http://www.oevsv.at/ Austrian ÖVSV]<br/><br />
[http://www.darc.de/ German DARC]<br />
<br />
== Digi XBee modules ==<br />
<br />
Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. <br />
<br />
Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna<br />
<br />
* XBee (PRO) ZB (the current series)<br />
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)<br />
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.<br />
<br />
These two also share the same hardware and can be converted from one to another by flashing a different firmware:<br />
* XBee-PRO 802.15.4 (formerly Series 1)<br />
* XBee-PRO DigiMesh 2.4<br />
<br />
'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''<br />
<br />
If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency.<br/><br />
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)<br />
<br />
See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.<br />
<br />
=== Module Comparison ===<br />
{|border="1"<br />
|-valign="top"<br />
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''<br />
|-<br />
|'''XBee ZB'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet PRO 3.1 (ZigBee 2007)<br />
|2.4 GHz<br />
|2mW/50mW<br />
|coordinator needed<br />
|-<br />
|'''XBee ZNet 2.5'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet 2.5 ZigBee<br />
|2.4 GHz<br />
|2mW/50mW<br />
|(only legacy -> use XBee-PRO ZB) coordinator needed<br />
|-<br />
|'''XBee DigiMesh 2.4'''<br />
|<br />
|yes<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|all nodes equal (no special coordinators/routers/end-devices)<br />
|-<br />
|'''XBee 802.15.4'''<br />
|yes<br />
|<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|<br />
|-<br />
|'''XBee-PRO 868'''<br />
|yes<br />
|<br />
|?<br />
|<br />
|868 MHz<br />
|500mW<br />
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW<br />
|}<br />
<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]<br />
<br style="clear:both"><br />
<br />
{|border="1"<br />
|-valign="top"<br />
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||<br />
|-<br />
|1<br />
| +3.3v<br />
| Power<br />
|Red<br />
|-<br />
|2<br />
|DOUT<br />
|Tx output - connect to Autopilot Rx<br />
|Green<br />
|-<br />
|3<br />
|DIN<br />
|Rx input - connect to Autopilot Tx<br />
|Blue<br />
|-<br />
|10<br />
|GND<br />
| Ground<br />
|Black<br />
|}<br />
<br />
The image view is from above, top, thus NOT at the side where the connector pins come out<br />
<br />
Note : DTR and RTS need to be wired for upgrading firmware<br />
<br />
=== GCS Adaptation ===<br />
<br />
There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.<br/><br />
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.<br />
<br />
====Adafruit====<br />
<br />
[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]<br />
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.<br />
<br />
<br style="clear:both"><br />
<br />
====Droids====<br />
<br />
[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]<br />
<br />
[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]<br />
<br />
[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]<br />
<br />
Simple breakout board with voltage regulator.<br />
<br />
[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]<br />
<br />
Adapter with FTDI chip for direct USB connection.<br />
<br />
<br style="clear:both"><br />
<br />
====PPZUAV====<br />
<br />
[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0]]<br />
<br />
[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link]<br/><br />
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.<br />
<br />
FTDI Utility Board 1.0 with FTDI232RL<br/><br />
On board XBEE connector and Molex Picoblade connectors. <br />
<br />
<br style="clear:both"><br />
<br />
====Sparkfun====<br />
<br />
[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]<br />
<br />
[http://www.sparkfun.com/products/8687 sparkfun.com]<br />
<br />
XBee Explorer USB with FTDI232RL<br />
<br />
<br style="clear:both"><br />
<br />
=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===<br />
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.<br />
<br />
These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]<br />
|<br />
* Frequency Band 2.4GHz<br />
* Output Power 100mW (Xbee Pro)<br />
* Sensitivity -100 dBm <br />
* RF Data Rate Up to 250 Kbps<br />
* Interface data rate Up to 115.2 Kbps<br />
* Power Draw (typical) 214 mA TX / 55 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight <br />
* Dimensions 24 x 33mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector <br />
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)<br />
* Price: 16€, Pro 26€<br />
|<br />
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]<br />
|}<br />
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA]<br><br />
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.<br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]<br />
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]<br />
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]<br />
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)<br />
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].<br />
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]<br />
<br />
=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===<br />
<br />
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]<br />
|<br />
* Low-cost, low-power mesh networking<br />
* Interoperability with ZigBee PRO Feature Set devices from other vendors*<br />
* Support for larger, more dense mesh networks<br />
* 128-bit AES encryption<br />
* Frequency agility<br />
* Over-the-air firmware updates (change firmware remotely)<br />
* ISM 2.4 GHz operating frequency<br />
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)<br />
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)<br />
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna<br />
* price : 14€, Pro 28€<br />
|<br />
|}<br />
These are available from Mouser:<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA<br />
<br />
See [[XBee_configuration|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]<br />
<br />
=== Digi XBee Pro 868 ===<br />
<br />
'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''<br />
<br />
868MHz is a limited band. Please read the [[868MHz Issues]]<br />
<br />
XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]<br />
|<br />
* 868 MHz short range device (SRD) G3 band for Europe<br />
* Software selectable Transmit Power<br />
* 40 km RF LOS w/ dipole antennas<br />
* 80 km RF LOS w/ high gain antennas (TX Power reduced)<br />
* Simple to use peer-to-peer/point-to-mulitpoint topology<br />
* 128-bit AES encryption<br />
* 500 mW EIRP<br />
* 24 kbps RF data rate<br />
* price : ~70 USD<br />
|<br />
|}<br />
<br />
See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]<br />
<br />
=== Digi XBee 868LP ===<br />
<br />
XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]<br />
|<br />
* 868 MHz short range device (SRD) G4 band for Europe<br />
* 4 km RF LOS w/ u.fl antennas<br />
* 5 mW EIRP<br />
* 10 or 80 kbps RF data rate<br />
* price : 18€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]<br />
<br />
==== Trial ====<br />
<br />
With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.<br />
<br />
=== Digi XBee Pro 900HP ===<br />
* Frequency band 900Mhz<br />
* RF rate 10 or 200 kbps<br />
* up to 250mW output power<br />
* 5 to 8 grams<br />
* price: 32€<br />
<br />
==== Documentation ====<br />
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]<br />
<br />
=== Digi XBee Pro XSC 900MHz ===<br />
<br />
Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]<br />
|<br />
* Frequency Band 900 MHz<br />
* Output Power 100 mW (+20 dBm)<br />
* Sensitivity -100 dBm <br />
* RF Rate: 10 or 20 kbps<br />
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight <br />
* Interface 20-pin mini connector (Xbee compatible pinout)<br />
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)<br />
* price : 32€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]<br />
<br />
==== Trials ====<br />
Tested one today and it worked great. Going to try a multiUAV test with it soon<br />
--Danstah<br />
<br><br />
<br><br />
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.<br />
--Danstah<br />
<br><br />
<br><br />
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR<br />
<br />
=== Digi 9XTend ===<br />
<br />
These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]<br />
|<br />
* Frequency Band 900Mhz and 2.4Ghz (2 versions)<br />
* Output Power 1mW to 1W software selectable<br />
* Sensitivity -110 dBm (@ 9600 bps)<br />
* RF Data Rate 9.6 or 115.2 Kbps<br />
* Interface data rate up to 230.4 Kbps<br />
* Power Draw (typical) 730 mA TX / 80 mA RX <br />
* Supply Voltage 2.8 to 5.5v<br />
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight <br />
* Dimensions 36 x 60 x 5mm<br />
* Weight 18 grams<br />
* Interface 20-pin mini connector or USB<br />
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)<br />
* price : 150€<br />
|<br />
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]<br />
|}<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''<br />
|-<br />
||1||GND||1 (GND)||Ground <br />
|-<br />
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)<br />
|-<br />
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX<br />
|-<br />
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX<br />
|-<br />
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation<br />
|}<br />
Notes:<br><br />
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.<br />
<br style="clear:both"><br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]<br />
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]<br />
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]<br />
<br />
==== Configuration ====<br />
<br />
These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.<br />
<br />
Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.<br />
<br />
* Acknowledged Polling Mode ('''Recommended'''):<br />
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).<br />
* Acknowledged Point-to-(Multi)Point Mode:<br />
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''<br />
|-<br />
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||<br />
|-<br />
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)<br />
|-<br />
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||MD||default||default||3 (0x03)||4 (0x04)||<br />
|-<br />
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)<br />
|-<br />
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)<br />
|-<br />
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''<br />
|-<br />
||RN||0 (0x00)||8 (0x08)||default||default||<br />
|-<br />
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||<br />
|}<br />
<br />
'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.<br />
<br />
Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]<br />
<br />
== SiLabs Si1000 SoC based modems ==<br />
<br />
[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]<br />
<br />
The Si1000 radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is [https://github.com/RFDesign/SiK open source firmware] for these radios which makes them suitable for use in MAVs. <br />
<br />
The latest SiK firmware supports also mesh topologies.<br />
<br />
Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios. The new RFD868 also works in the European spectrum licenses (868 MHz) <br />
<br />
Note: When using a SiK firmware radio with Paparazzi, you should set "ATS6=0" (MavLink packing off) and configure Paparazzi for transparent serial mode. Better still create a special module to make full use of the RFDxxx modem.<br />
<br />
[http://www.rfdesign.com.au/index.php/rfd900 This module] is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of > ~40km).<br />
<br />
Alternatively, for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system.<br />
<br />
The RFD900 can be paired with the [[R0]] radio that has only a single front-end. For example, you can use a small short range airframe with a ground station that is also used for long range operations.<br />
<br />
<br style="clear:both"/><br />
<br />
== Laird (ex Aerocom) ==<br />
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.<br />
<br />
How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]<br />
<br />
See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.<br />
<br />
<br />
{|<br />
|<br />
=== AC4790-200 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-200mW<br />
* Sensitivity (@ full RF data rate) -110dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 68 mA<br />
* Supply Voltage 3.3v & 5.5V<br />
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight <br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector or internal<br />
* price : 52€<br />
|<br />
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]<br />
|<br />
|-<br />
|<br />
=== AC4790-1000 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-1000mW<br />
* Sensitivity (@ full RF data rate) -99dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 650 mA<br />
* Supply Voltage 3.3V only<br />
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna<br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector<br />
* price : 64€<br />
|}<br />
<br />
=== Pinout ===<br />
<br />
[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]<br />
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]<br />
<br style="clear:both"><br />
<br />
{| border="1"<br />
|+ Wiring the Laird AC4868 to the Tiny<br />
|-valign="top"<br />
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''<br />
|-<br />
||2||Tx||green||7||7||''(Note 1)''<br />
|-<br />
||3||Rx||blue||8||8||''(Note 1)''<br />
|-<br />
||5||GND||black||1||1|| -<br />
|-<br />
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''<br />
|-<br />
||17||C/D||white||3||?||Low = Command High = Data<br />
|}<br />
''Note 1 : names are specified with respect to the AEROCOMM module''<br />
<br />
''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''<br />
<br />
<br />
<br />
=== Laird RM024 ===<br />
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]<br />
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]<br />
The RM024 replaces the discontinued LT2510 (they are backwards compatible).<br />
<br />
General features:<br />
* Frequency Band 2.4GHz<br />
* Output Power 2,5mW - 125mW<br />
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps<br />
* RF Data Rate 280/500 kbps<br />
* UART up to 460800 baud<br />
* Power Draw 90mA - 180mA TX / 10mA RX<br />
* Supply Voltage 3.3v<br />
* Range up to 4000m<br />
* Dimensions 26 x 33 x 4mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)<br />
* Chip antenna, U.FL antenna connector or both<br />
* Price: 29-31€ @ mouser (SMD / XBEE header)<br />
<br />
Two different mounting/pinuts are available:<br/><br />
* smd version: can be soldered on a pcb<br/><br />
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)<br />
<br />
Available in two different output power versions:<br />
{|border="1"<br />
|-valign="top"<br />
||''value''||''50mW version''||''125mW version''<br />
|-<br />
|output power<br />
| 2,5 mW - 50 mW<br />
| 2,5 mW - 125 mW<br />
|-<br />
|output power dbm<br />
|4 dbm - 17 dbm<br />
|4 dbm - 21 dbm<br />
|-<br />
|TX drain<br />
|90mA<br />
|<180mA<br />
|-<br />
|max range (280kbps with 2 dbi antenna)<br />
|2400m<br />
|4000m<br />
|-<br />
|approval<br />
|CE for EU, FCC/IC for USA,<br />
Canada PRM122/123 also for Japan<br />
|FCC/IC for USA, Canada <br />
|}<br />
<br />
The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.<br />
<br />
====Documentation====<br />
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual]<br/><br />
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual]<br/><br />
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]<br />
<br />
'''Setup'''<br />
<br />
Look at the [[Laird_RM024_setup page]]<br />
<br />
== Bluetooth ==<br />
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.<br />
{|<br />
|<br />
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===<br />
* Frequency Band 2.4GHz<br />
* Output Power 32 mW <br />
* RF Data Rate up to ~300 kbps in SPP<br />
* Interface Data Rate up to 921 kbps <br />
* Power Draw (typical) 50 mA TX / 40 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) 100 meters line-of-sight <br />
* Dimensions 26 x 13 x 2mm <br />
* Weight ~1.5 grams<br />
* Interface solder connector <br />
* price : 20€<br />
|<br />
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]<br />
|-<br />
|<br />
<br />
To connect to it, get the MAC address of the bluetooth modem<br />
<br />
me@mybox:~$ hcitool scan<br />
Scanning ...<br />
00:06:66:00:53:AD FireFly-53AD<br />
<br />
either make a virtual connection to a Bluetooth serial port each time you connect<br />
<br />
sudo rfcomm bind 0 00:06:66:00:53:AD<br />
<br />
or configure it once in /etc/bluetooth/rfcomm.conf<br />
<br />
rfcomm0 {<br />
bind yes;<br />
device 00:06:66:00:53:AD;<br />
}<br />
<br />
now you can use Bluetooth as '''/dev/rfcomm0''' with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.<br />
|}<br />
<br />
== WiFi ==<br />
<br />
== ESP8266 Chip Module ==<br />
<br />
[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]<br />
<br />
To have a simple connection from your GCS to your autopilot, one can use your GCS computer built-in WiFi to establish a dataconnection. THe only thing you need is a WiFimodule connected to your Autopilot dataport and a laptop or other GCS device with Wifi.<br />
<br />
Flash the Wifimodule with [https://github.com/beckdac/ESP8266-transparent-bridge transparent bridge firwmware] using [https://github.com/themadinventor/esptool esptool]. When connected through WiFi, you can use telnet to set the baud rate.<br />
<br />
<br />
telnet 192.168.4.1<br />
+++AT BAUD 57000<br />
<br />
To use with paparazzi GCS, the TCP signals need to be tunnelled to a virtual serial device. This was accomplished with the "socat" command<br />
<br />
$ socat -d -d PTY,link=/dev/mywifi TCP:192.168.4.1:23<br />
<br />
Satar up Paparazzi Center and make line like:<br />
<br />
<br style="clear:both"><br />
<br />
== Telemetry via Video Transmitter==<br />
<br />
[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]<br />
In order for the UAV to transmit video from an onboard camera, an analog video transmitter can be used. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different. <br />
<br />
It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.<br />
<br style="clear:both"><br />
<br />
<br />
== Antennas ==<br />
<br />
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.<br />
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]] <br />
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]] <br />
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]] <br />
<br style="clear:both"><br />
<br />
This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna<br />
<br />
[[Category:Hardware]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=R0&diff=21056R02016-03-04T12:26:14Z<p>AutumnLeaves: /* Where to Buy */</p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:R0_V1_1_Top_Prototype.jpeg |right|500px|R0 sub GHz radio modem V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
R0 is a low cost sub GHz telemetry radio modem, based on the very common HM-TRP module. It is available in 915MHz, 868Mhz and 433MHz bands.<br />
R0 is based on the Si1000 chipset, and the SiK telemetry radio firmware. This makes it compatible to many other UAV telemetry radio modules like the RFD900 or the 3DR telemetry radio. The difference is that R0 is exposing a UF.l connector making it very slim and allowing installation inside tight spaces. Also the module provides the ubiquitous FTDI pin header and a Molex Picoblade null modem connector. R0 is compatible with the [[UU0]] low cost USB to UART adapter dongle. <br />
<br />
= Features =<br />
<br />
* UF.l minature antenna connector<br />
* FTDI cable compatible 100mil pin-header<br />
* Molex Picoblade null modem connector<br />
* Small footprint: 16mm x 40mm<br />
* M3 mounting hole<br />
<br />
= Pinout =<br />
<br />
= Schematic =<br />
<br />
= Set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* [[Elle0]] Autopilot: [[Elle0]]<br />
* [[G0]] GPS receiver: [[G0]]<br />
* [[UU0]] USB to UART adapter: [[UU0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/r0-radio-kit R0 Radio Kit] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=G0&diff=21055G02016-03-04T12:24:46Z<p>AutumnLeaves: /* Where to Buy */</p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg |right|500px|G0 GPS V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
G0 is a low cost GPS receiver designed for the use with Autonomous aircraft. G0 GPS was designed as a companion GPS for the [[Elle0]] autopilot, and mounts directly on top of it. But you can also use it with any other autopilot that accepts 3.3V TTL level UART GPS and can provide 5V to the GPS. G0 features a very accurate UBlox MAX-7Q GPS module, large ground plane for good EMI and multi path signal rejection, as well as a high quality 25mm Taoglas ceramic patch antenna. G0 performs very well as a GPS for fully autonomous aircraft that usually suffer from GPS loss and accuracy fluctuations due to attitude changes.<br />
<br />
= Features =<br />
<br />
* Based on the Ublox MAX-7Q GPS module<br />
* Uses high quality Taoglass ceramic Patch antenna<br />
* Whole circuit is protected from EMI by an EMI shielding can<br />
* Power and data lines are equipped with ferrite beads to decrease the amount of external noise entering the GPS circuitry.<br />
* Large antenna ground-plane (50 x 50 mm)<br />
* Optional trapezoidal ground plane skirt<br />
<br />
The large ground plane around the antenna increases the overall gain of the antenna. The ground plane also prevents more of the reflected GPS signal from being received by the GPS antenna. Less multi-path GPS signal results in more accurate position measurement. Together with the EMI shielding can, the ground-plane also prevents more of the aircraft EMI noise from entering the GPS receiver antenna. This also improves the SNR (Signal to Noise ratio).<br />
<br />
<gallery widths=200px heights=200px><br />
Image:G0_GPS_V1_1_Top_with_skirt.jpeg|G0 V1.1 top view with skirt<br />
Image:G0_GPS_V1_1_top_with_skirt.jpg|G0 V1.1 bottom view with skirt<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
= Schematic =<br />
<br />
= Set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* [[Elle0]] Autopilot: [[Elle0]]<br />
* [[R0]] Sub GHz telemetry radio modem: [[R0]]<br />
* [[UU0]] USB to UART adapter: [[UU0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/g0-gps G0] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=G0&diff=21054G02016-03-04T12:24:20Z<p>AutumnLeaves: </p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg |right|500px|G0 GPS V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
G0 is a low cost GPS receiver designed for the use with Autonomous aircraft. G0 GPS was designed as a companion GPS for the [[Elle0]] autopilot, and mounts directly on top of it. But you can also use it with any other autopilot that accepts 3.3V TTL level UART GPS and can provide 5V to the GPS. G0 features a very accurate UBlox MAX-7Q GPS module, large ground plane for good EMI and multi path signal rejection, as well as a high quality 25mm Taoglas ceramic patch antenna. G0 performs very well as a GPS for fully autonomous aircraft that usually suffer from GPS loss and accuracy fluctuations due to attitude changes.<br />
<br />
= Features =<br />
<br />
* Based on the Ublox MAX-7Q GPS module<br />
* Uses high quality Taoglass ceramic Patch antenna<br />
* Whole circuit is protected from EMI by an EMI shielding can<br />
* Power and data lines are equipped with ferrite beads to decrease the amount of external noise entering the GPS circuitry.<br />
* Large antenna ground-plane (50 x 50 mm)<br />
* Optional trapezoidal ground plane skirt<br />
<br />
The large ground plane around the antenna increases the overall gain of the antenna. The ground plane also prevents more of the reflected GPS signal from being received by the GPS antenna. Less multi-path GPS signal results in more accurate position measurement. Together with the EMI shielding can, the ground-plane also prevents more of the aircraft EMI noise from entering the GPS receiver antenna. This also improves the SNR (Signal to Noise ratio).<br />
<br />
<gallery widths=200px heights=200px><br />
Image:G0_GPS_V1_1_Top_with_skirt.jpeg|G0 V1.1 top view with skirt<br />
Image:G0_GPS_V1_1_top_with_skirt.jpg|G0 V1.1 bottom view with skirt<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
= Schematic =<br />
<br />
= Set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* [[Elle0]] Autopilot: [[Elle0]]<br />
* [[R0]] Sub GHz telemetry radio modem: [[R0]]<br />
* [[UU0]] USB to UART adapter: [[UU0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/g0-gps G0] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=21053Lisa/MX2016-03-04T12:19:05Z<p>AutumnLeaves: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the [[Lisa/M_v2.0|Lisa/M]] you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the [[Debug_Probes|Black Magic Probe]] or compatible [[JTAG|JTAG/SWD programmer]] to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaMX_V2_1_top_labeled.jpg|900px]]<br />
[[Image:LisaM_V2_1_top_labeled_verbose.jpg|900px]]<br />
</div><br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=21052Lisa/MX2016-03-04T12:17:31Z<p>AutumnLeaves: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the [[Lisa/M]] you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the [[Debug_Probes|Black Magic Probe]] or compatible [[JTAG|JTAG/SWD programmer]] to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaMX_V2_1_top_labeled.jpg|900px]]<br />
[[Image:LisaM_V2_1_top_labeled_verbose.jpg|900px]]<br />
</div><br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=21051Lisa/MX2016-03-04T12:14:39Z<p>AutumnLeaves: /* Where to Buy */</p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaMX_V2_1_top_labeled.jpg|900px]]<br />
[[Image:LisaM_V2_1_top_labeled_verbose.jpg|900px]]<br />
</div><br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21049Other Hardware/Index2016-03-04T12:03:15Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|Debug Probes / JTAG]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring]]<br />
*[[Tools|Logic Analyzers and Chargers]]<br />
*[[Antenna_Tracker|Antenna Trackers]]<br />
*[[Video|Analog & Digital Video Systems]]<br />
*[[ESC|ESC<br><small>Brushless motor controllers</small>]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21048Other Hardware/Index2016-03-04T12:02:45Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|Debug Probes / JTAG]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring]]<br />
*[[Tools|Logic Analyzers and Chargers]]<br />
*[[Antenna_Tracker|Antenna Trackers]]<br />
*[[Video|Analog & Digital Video Systems]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21047Other Hardware/Index2016-03-04T11:59:53Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|Debug Probes / JTAG]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring]]<br />
*[[Tools|Logic Analyzers and Chargers]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|Antenna Trackers]]<br />
*[[Video|Analog & Digital Video Systems]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21046Other Hardware/Index2016-03-04T11:59:14Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|Debug Probes / JTAG]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring]]<br />
*[[Tools|Logic Analyzer and Chargers]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|Antenna Trackers]]<br />
*[[Video|Analog & Digital Video Systems]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21045Other Hardware/Index2016-03-04T11:58:45Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|<small>Debug Probes / JTAG</small>]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring]]<br />
*[[Tools|Logic Analyzer and Chargers]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|Antenna Trackers]]<br />
*[[Video|Analog & Digital Video Systems]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21044Other Hardware/Index2016-03-04T11:58:09Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|<small>Debug Probes / JTAG</small>]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring]]<br />
*[[Tools|Logic Analyzer and Chargers]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|<small>Antenna Trackers</small>]]<br />
*[[Video|Analog & Digital Video Systems]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21043Other Hardware/Index2016-03-04T11:57:10Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|<small>Debug Probes / JTAG</small>]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring]]<br />
*[[Tools|Logic Analyzer and Chargers]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|<small>Antenna Trackers</small>]]<br />
*[[Video|Video<br><small>Analog & Digital video systems</small>]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21042Other Hardware/Index2016-03-04T11:55:58Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|<small>Debug Probes / JTAG</small>]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring]]<br />
*[[Tools|Tools<br><small>Logic Analyzer and Chargers</small>]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|<small>Antenna Trackers</small>]]<br />
*[[Video|Video<br><small>Analog & Digital video systems</small>]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Hardware/Index&diff=21040Hardware/Index2016-03-04T11:46:47Z<p>AutumnLeaves: </p>
<hr />
<div>*[[Autopilots|Autopilots]]<br><small>Paparazzi supported aircraft control hardware</small><br />
*[[Sensors|Sensors]]<br><small>[[GPS]], [[IMU]], [[Sensors/Current|Current]], [[Sensors/Airspeed|Airspeed]], etc.</small><br />
*[[Modems|Modems]]<br><small>Digital radios for aircraft telemetry and more</small><br />
*[[GSC Hardware|Dedicated GSC Hardware]]<br><small>Hardware used for dedicated ground station computers</small><br />
*[[Other_Hardware|Other Hardware]]<br><small>[[Debug Probes]] / [[JTAG]], [[Serial_Adapter|USB-UART]], Video systems, Antenna Tracker, <br/>Connectors and Wiring, ESC, etc.</small><br />
*[[Get_Hardware|Get Hardware]]<br><small>How to get Paparazzi hardware</small><br />
<!-- This is a reusable index for the menu tree on the home page any and all text on this page will be displayed in the menu tree --></div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21039Sensors/GPS2016-03-04T11:41:30Z<p>AutumnLeaves: /* 1BitSquared G0 GPS */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|240px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|170px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21038Sensors/GPS2016-03-04T11:40:13Z<p>AutumnLeaves: /* Globalsat BU 353 */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|230px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|170px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21037Sensors/GPS2016-03-04T11:40:00Z<p>AutumnLeaves: /* Globalsat BU 353 */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|230px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|170px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|180px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21036Sensors/GPS2016-03-04T11:39:25Z<p>AutumnLeaves: /* 1BitSquared G0 GPS */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|230px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|170px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21035Sensors/GPS2016-03-04T11:39:07Z<p>AutumnLeaves: /* 1BitSquared G0 GPS */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|220px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|170px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21034Sensors/GPS2016-03-04T11:38:56Z<p>AutumnLeaves: /* 1BitSquared G0 GPS */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|210px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|170px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21033Sensors/GPS2016-03-04T11:38:40Z<p>AutumnLeaves: /* LS20031 GPS Receiver */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|200px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|170px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21032Sensors/GPS2016-03-04T11:38:24Z<p>AutumnLeaves: /* LS20031 GPS Receiver */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|200px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|180px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21031Sensors/GPS2016-03-04T11:38:11Z<p>AutumnLeaves: /* LS20031 GPS Receiver */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|200px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|150px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21030Sensors/GPS2016-03-04T11:37:53Z<p>AutumnLeaves: /* LS20031 GPS Receiver */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|200px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|200px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21029Sensors/GPS2016-03-04T11:37:38Z<p>AutumnLeaves: /* Swiftnav Piksi */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|200px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|100px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=21028Sensors/GPS2016-03-04T11:37:19Z<p>AutumnLeaves: /* 1BitSquared G0 GPS */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|200px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|100px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|100px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=JTAG&diff=21027JTAG2016-03-04T11:35:35Z<p>AutumnLeaves: /* Black Magic Probe */</p>
<hr />
<div>=Introduction=<br />
<br />
A JTAG interface is designed for on-chip debugging. It can also be used to flash your firmware if you do not have a means to upload software via USB already. If you want to upload your own software or want to do serious Paparazzi development work, you will need a JTAG adapter like this.<br />
<br />
See also:<br />
* [[FirmwareFlashing#JTAG|firmware flashing via JTAG]]<br />
* [[DevGuide/GDB_OpenOCD_Debug|debugging with JTAG]]<br />
<br />
=JTAG Adapters=<br />
There are multiple Paparazzi-compatible devices available that support JTAG.<br />
<br />
Below you will find a list of JTAG devices that you can use in combination with Paparazzi UAV Hardware like the [[Lisa/MX]] boards. <br />
<br />
<br />
== Black Magic Probe ==<br />
<br />
[[Image:BMPM_1_top.jpg|500x500px]][[Image:BMPM_1_bottom.jpg|500x500px]]<br />
<br />
This is the original [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] from [http://www.blacksphere.co.nz Black Sphere Technologies], a JTAG and SWD Adapter used for programming and debugging ARM Cortex MCUs.<br />
The Black Magic Probe is available for purchase in the [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store]. <br />
<br />
<br />
To use Black Magic Probe instead of FLOSS-JTAG or Luftboot for firmware flashing, append the following string to the upload command:<br />
<br />
On Linux:<br />
FLASH_MODE=JTAG_BMP BMP_PORT=/dev/ttyACM0<br />
On Mac OS:<br />
FLASH_MODE=JTAG_BMP BMP_PORT=/dev/cu.usbmodem<serial><br />
<br />
To make this the default flash method add this in the airframe file firmware section:<br />
<configure name="FLASH_MODE" value="JTAG_BMP"/><br />
<configure name="BMP_PORT" value="/dev/ttyACM0"/><br />
<br />
See the [[FirmwareFlashing]] page for other methods.<br />
<br />
=== Benefits ===<br />
<br />
There are good reasons to use the Black Magic Probe Mini instead of FLOSS-JTAG:<br />
<br />
*Lower cost<br />
*No need for OpenOCD as BMPM has a built in GDB server<br />
*Orders of magnitude faster as all the high speed protocol logic happens on the built-in STM32<br />
*Supports Serial Wire Debug (SWD)<br />
*Supports tracing using the SWD trace pin<br />
*No need for loading and unloading of FTDI drivers on Mac OS X<br />
<br />
===UART port===<br />
The pinout for the UART port on the back side of the BMP as seen on the image above and starting from the top is ground,rx,tx,3.3v . You can use this for receiving telemetry.<br />
<br />
===Upgrade BMP firmware===<br />
<br />
Check firmware version:<br />
$ sudo /usr/bin/arm-none-eabi-gdb<br />
(gdb) target extended-remote /dev/ttyACM0<br />
(gdb) monitor version<br />
<br />
To upgrade the brain of your Black Magic Probe, a.k.a. its firmware:<br />
<br />
- Download the compiled firmware from http://blacksphere.co.nz/builds/ (more info at https://github.com/blacksphere/blackmagic/wiki/Frequently-Asked-Questions)<br />
- Connect the Black Magic Probe while pressing the button<br />
- Download and run the stm32_mem.py script:<br />
$ git clone git://blackmagicdebug.git.sourceforge.net/gitroot/blackmagicdebug/blackmagicdebug<br />
$ cd blackmagicdebug/scripts<br />
$ ./stm32_mem.py blackmagic-XXXX.bin (this is the .bin file you downloaded in previous step)<br />
<br />
===Where to Purchase===<br />
<br />
The Black Magic Probe is available through the [[File:1bitsquared_logo.png|50px|link=http://1bitsquared.com/products/black-magic-probe]] [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store].<br />
<br />
== FLOSS JTAG ==<br />
<br />
The FLOSS JTAG is based on an FTDI chip that allows two simultaneous USB connections, which means that FLOSS JTAG allows JTAG and UART/COM connections.<br />
<br />
Let's take a look at upper side of the board. It contains JTAG connector (which is connected on photo) and two sets of RX/TX LEDs for JTAG and UART/COM interface separately. The JTAG connector is 2x5 pins, 0.05-inch pitch, and is compatible with the Samtec FFSD-05-D-06.00-01-N-RW-R ribbon cable.<br />
<br />
[[Image:Jtag-up.jpg]]<br />
<br />
On the other side of the board there is 4 pin UART/COM connector, which contains (from top to bottom in the image below): Ground (black), RX (orange), TX (yellow), and +5V (red)<br />
<br />
[[Image:Jtag-down.jpg]]<br />
<br />
Usage of board is pretty simple: JTAG can be used to upload firmware into the board and/or repair board with broken bootloader, and UART/COM interfaced can be used to make "COM port style" connection to the board. COM connection can be used for example for telemetry debug.<br />
<br />
More info available on the [http://randomprojects.org/wiki/Floss-JTAG randomprojects.org wiki].<br />
<br />
=== Availability ===<br />
<br />
Floss JTAG is currently discontinued and not in production. We recommend buying the [http://1bitsquared.com/products/black-magic-probe Black Magic Probe] instead.<br />
<br />
== FT2232H Mini Module ==<br />
<br />
Use ftdi prog to change the Description String into: FLOSS-JTAG. <br/><br />
More information for this board at [[Serial_Adapter]].<br />
<br />
[[Image:AlternativeFlossJtag.png|400px]]<br />
<br />
[[Category:Hardware]] [[Category:Software]] [[Category:Developer_Documentation]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Debug_Probes&diff=21026Debug Probes2016-03-04T11:32:45Z<p>AutumnLeaves: /* Black Magic Probe */</p>
<hr />
<div><br />
__TOC__<br />
<br />
These various debug probes can be used for flashing and debugging Paparazzi hardware, some can even be used as USB-UART adapters. <br/><br />
Most are compatible with the current STM32 platform, some are also compatible with the older LPC 21xx.<br />
<br />
Debug probes for Atmel/AVR and SiLabs (ESC Controller chips) are located on the [[ESC]] page. Since those Microcontrollers are not used more as main processors.<br />
<br />
==Debug Protocols / Interfaces==<br />
<br />
There are two different relevant Protocols / Interfaces for flashing and debugging for STM32:<br/><br />
<br />
Note: Some STM32 MCUs can also be flashed via Serial and or USB DFU! But SWD and JTAG provide much better debugging capabilities.<br />
<br />
===SWD===<br />
<br />
[http://www.arm.com/products/system-ip/debug-trace/coresight-soc-components/serial-wire-debug.php ARM Serial Wire Debug (SWD)] is a program and debug protocol for ARM processors. It's a low pin count and high-performance alternative to JTAG.<br />
<br />
===JTAG===<br />
<br />
JTAG is an industry standard on-chip debugging protocol. It can be used for one or more chips (daisy chained), for interfacing with the chip as well as flashing software.<br />
<br />
[[DevGuide/OpenOCD]] can be used for interfacing with JTAG hardware (e.g. FTDI chips).<br />
<br />
=JTAG Hardware=<br />
<br />
==Black Magic Probe==<br />
<br />
[[Image:BMPM_1_top.jpg|500x500px]][[Image:BMPM_1_bottom.jpg|500x500px]]<br />
<br />
This is the original [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] from [http://www.blacksphere.co.nz Black Sphere Technologies], a JTAG and SWD Adapter used for programming and debugging ARM Cortex MCUs.<br />
The Black Magic Probe is available for purchase in the [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store]. <br />
<br />
<br style="clear:both"><br />
<br />
===Black Magic Probe firmware===<br />
<br />
First, get the VID/PID for your FT2232 device using 'lsusb'. Edit the file<br />
'src/libftdi/platform.h' and change the VID/PID to match your hardware.<br />
Compile the application with the command:<br />
<br />
make PROBE_HOST=libftdi<br />
<br />
===Black Magic Probe usage===<br />
<br />
In the wiki (under [Developer_Guide]) is some helpful information:<br />
* Use Black Magic Probe with Eclipse [[RT_Paparazzi#Debugging_with_an_Eclipse_IDE]].<br />
* General OpenOCD/GDB commands in reagards of the BMP, also about SWD [[DevGuide/GDB_OpenOCD_Debug#Debugging_with_GDB_over_JTAG]] [[DevGuide/GDB_OpenOCD_Debug#Black_Magic_Probe]].<br />
<br />
===Upgrade BMP firmware===<br />
<br />
Check firmware version:<br />
$ arm-none-eabi-gdb<br />
(gdb) target extended-remote /dev/ttyACM0<br />
(gdb) monitor version<br />
<br />
Download source from git, compile:<br />
$ git clone https://github.com/blacksphere/blackmagic<br />
$ cd blackmagic<br />
$ git submodule init<br />
$ git submodule update<br />
$ make<br />
$ cd src<br />
$ make clean<br />
$ make PROBE_HOST=native<br />
$ cd ../scripts<br />
Connect the Black Magic Probe to USB while holding down the button for firmware update, then start "stm32_mem.py".<br />
$ stm32_mem.py ../src/blackmagic.bin<br />
<br />
You can build different targets (Hardware Platforms), default value is;<br />
<br />
$ make PROBE_HOST=native<br />
<br />
===Documentation===<br />
<br />
For more information visit [http://www.blacksphere.co.nz/main/index.php/blackmagic Black Sphere Technologies] <br />
or visit the [https://github.com/blacksphere/blackmagic Black Magic Probe Git Code Reposoitory].<br />
<br />
<br />
===Where to Purchase===<br />
<br />
Black Magic Probe Mini is available through the [[File:1bitsquared_logo.png|50px|link=http://1bitsquared.com/products/black-magic-probe]] [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store].<br />
For $65<br />
<br />
==[[CricketProbe/v1.00 | CricketProbe v1.00]]==<br />
<br />
[[Image:CricketProbe_v100.jpg|300px|left|link=CricketProbe/v1.00 |CricketProbe v1.00 page]]<br />
<br />
The CricketProbe is a programming and debugging tool for ARM Cortex MCU, based on the [http://www.blacksphere.co.nz Black Sphere Technologies] [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe].<br />
<br />
<br style="clear:both"><br />
<br />
==Lyorak Probe==<br />
<br />
[[Image:Lyorak_front.jpg|300px|Lyorak probe]] <br />
[[Image:Lyorak_pinout.jpeg|500px|Lyorak probe pinout]] <br />
<br />
The Lyorak probe is a programming and debugging tool for ARM Cortex MCU, based on the [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]. <br/><br />
Designed with 1206 SMD components for easy assmbly and a CAN interface.<br />
<br />
<br style="clear:both"><br />
<br />
===Documentation===<br />
<br />
[https://github.com/molnarkares/blackmagic/tree/master/hardware/contrib/lyorak molnarkares/blackmagic git repo (fork from blackmagic)]<br />
<br />
==[[STLink]]==<br />
<br />
[[Image:St-link.jpg|300px]]<br />
<br />
Most STM discovery / eval boards comes with a [http://www.st.com/web/catalog/tools/FM146/CL1984/SC724/SS1677/PF251168 ST-Link V2] on board, with one exception; the STM32VL version, that board comes with ST-Link V1.<br />
<br />
These can be used with [https://github.com/texane/stlink texane’s] tools, or reflashed with [[STLink#Update_the_ST-Link_to_blackmagic_probe| the blackmagic firmware]].<br />
<br />
<br style="clear:both"><br />
<br />
===Clones===<br />
<br />
There are some variations of the STLink available. Some with the same STM32F103C8T6 MCU, some with a STM32F101C8T6.<br/><br />
More informations on the [[STLink#Clones]] page.<br/><br />
Likely possible to use them with (texanes) STLink or Blackmagic software.<br />
<br />
==FLOSS JTAG==<br />
<br />
[[Image:Jtag-up.jpg|400px|FLOSS JTAG top]]<br />
[[Image:Jtag-down.jpg|400px|FLOSS JTAG bottom]]<br />
<br />
The FLOSS JTAG is based on an FTDI 2232HL chip that allows two simultaneous USB connections, which means that FLOSS JTAG allows JTAG and UART connections simultaneously.<br/><br />
<br />
The upper side contains the JTAG connector and two sets of RX/TX LEDs for JTAG and UART/COM interface separately. The JTAG connector is 2x5 pins, 0.05-inch pitch, and is compatible with the Samtec FFSD-05-D-06.00-01-N-RW-R ribbon cable.<br />
<br />
On the bottom side there is 4 pin UART connector, which contains (from top to bottom on the image, or color dots): Ground (black), RX (orange), TX (yellow), and +5V (red) <br />
<br />
<br style="clear:both"><br />
<br />
It can be used with [[DevGuide/OpenOCD]] software.<br />
<br />
===Documentation===<br />
<br />
[http://randomprojects.org/wiki/Floss-JTAG randomprojects.org/wiki/Floss-JTAG]<br />
<br />
=== Availability ===<br />
<br />
Floss JTAG is currently discontinued and not in production. We recommend buying the [http://1bitsquared.com/products/black-magic-probe Black Magic Probe Mini] instead.<br />
<br />
==FT2232H Mini Module==<br />
<br />
[[Image:AlternativeFlossJtag.png|300px|FT2232H Mini Modules as JTAG adapter]]<br />
[[Image:FT2232H_Mini_Module_front.jpg|200px|Top with all necessary connections]]<br />
[[Image:FT2232H_Mini_Module_back.jpg|200px|Bottom with pin headers]]<br />
<br />
<br style="clear:both"><br />
<br />
The FT2232H Mini modules can be used with blackmagic firmware or as FLOSS-JTAG device. <br/><br />
<br />
'''Important'''<br />
<br />
Out of the box, there is NO power supply for the FT2232H because this can either done with USB or external 5V.<br/><br />
The pictures above show two different PCB versions. The suggested connections only apply to the right (latest) layout.<br />
<br />
Connect: (for power supply over USB)<br />
* CN3 pin 1 to CN3 pin 3<br />
* CN2 pin group 1,3,5 to CN2 pin group 11,21 and to CN3 pin group 12,22<br />
<br />
'''Pinout'''<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''Power'''<br />
!''Use''!!''Pin''<br />
|-<br />
|3V3||CN2-1<br />
|-<br />
|3V3||CN2-3<br />
|-<br />
|3V3||CN2-5<br />
|-<br />
|GND||CN2-2<br />
|-<br />
|GND||CN2-4<br />
|-<br />
|GND||CN2-6<br />
|-<br />
|GND||CN3-2<br />
|-<br />
|GND||CN3-4<br />
|}<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''UART'''<br />
!''Use''!!''Pin''!!''Name''<br />
|-<br />
|UART1 RX ||CN2-10||ADBUS1<br />
|-<br />
|UART1 TX ||CN2-7||ADBUS0<br />
|-<br />
|UART2 RX ||CN3-25||BDBUS1<br />
|-<br />
|UART2 TX ||CN3-26||BDBUS0<br />
|}<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''JTAG'''<br />
!''Use''!!''Pin''!!''Name''<br />
|-<br />
|JTAG1 TCK ||CN2-7||ADBUS0<br />
|-<br />
|JTAG1 TDI ||CN2-10||ADBUS1<br />
|-<br />
|JTAG1 TDO ||CN2-9||ADBUS2<br />
|-<br />
|JTAG1 TMS ||CN2-12||ADBUS3<br />
|-<br />
|JTAG2 TCK ||CN3-26||BDBUS0<br />
|-<br />
|JTAG2 TDI ||CN3-25||BDBUS1<br />
|-<br />
|JTAG2 TDO ||CN3-24||BDBUS2<br />
|-<br />
|JTAG2 TMS ||CN3-23||BDBUS3<br />
|}<br />
<br />
<br />
===Use as FLOSS-JTAG===<br />
<br />
With the tool "FT_Prog" change the description the FT2232H to "FLOSS-JTAG".<br />
<br />
===Documentation===<br />
<br />
[http://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf FT2232H Datasheet] <br/><br />
[http://www.ftdichip.com/Support/Documents/DataSheets/Modules/DS_FT2232H_Mini_Module.pdf FT2232H Mini Module Datatsheet] <br/><br />
[http://at.mouser.com/ProductDetail/FTDI/FT2232H-MINI-MODULE/?qs=sGAEpiMZZMvOu2nvEqRMlAhGRrWaSCdm Mouser shop 22€]<br />
<br />
<br />
[[Category:Hardware]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Debug_Probes&diff=21025Debug Probes2016-03-04T11:07:51Z<p>AutumnLeaves: /* Black Magic Probe */</p>
<hr />
<div><br />
__TOC__<br />
<br />
These various debug probes can be used for flashing and debugging Paparazzi hardware, some can even be used as USB-UART adapters. <br/><br />
Most are compatible with the current STM32 platform, some are also compatible with the older LPC 21xx.<br />
<br />
Debug probes for Atmel/AVR and SiLabs (ESC Controller chips) are located on the [[ESC]] page. Since those Microcontrollers are not used more as main processors.<br />
<br />
==Debug Protocols / Interfaces==<br />
<br />
There are two different relevant Protocols / Interfaces for flashing and debugging for STM32:<br/><br />
<br />
Note: Some STM32 MCUs can also be flashed via Serial and or USB DFU! But SWD and JTAG provide much better debugging capabilities.<br />
<br />
===SWD===<br />
<br />
[http://www.arm.com/products/system-ip/debug-trace/coresight-soc-components/serial-wire-debug.php ARM Serial Wire Debug (SWD)] is a program and debug protocol for ARM processors. It's a low pin count and high-performance alternative to JTAG.<br />
<br />
===JTAG===<br />
<br />
JTAG is an industry standard on-chip debugging protocol. It can be used for one or more chips (daisy chained), for interfacing with the chip as well as flashing software.<br />
<br />
[[DevGuide/OpenOCD]] can be used for interfacing with JTAG hardware (e.g. FTDI chips).<br />
<br />
=JTAG Hardware=<br />
<br />
==Black Magic Probe==<br />
<br />
[[Image:BMPM_1_top.jpg|500x500px]][[Image:BMPM_1_bottom.jpg|500x500px]]<br />
<br />
This is the original [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] from [http://www.blacksphere.co.nz Black Sphere Technologies], a programming and debugging tool for ARM Cortex MCU.<br />
The Black Magic Probe is available for purchase at the [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store]. <br />
<br />
<br style="clear:both"><br />
<br />
===Black Magic Probe firmware===<br />
<br />
First, get the VID/PID for your FT2232 device using 'lsusb'. Edit the file<br />
'src/libftdi/platform.h' and change the VID/PID to match your hardware.<br />
Compile the application with the command:<br />
<br />
make PROBE_HOST=libftdi<br />
<br />
===Black Magic Probe usage===<br />
<br />
In the wiki (under [Developer_Guide]) is some helpful information:<br />
* Use Black Magic Probe with Eclipse [[RT_Paparazzi#Debugging_with_an_Eclipse_IDE]].<br />
* General OpenOCD/GDB commands in reagards of the BMP, also about SWD [[DevGuide/GDB_OpenOCD_Debug#Debugging_with_GDB_over_JTAG]] [[DevGuide/GDB_OpenOCD_Debug#Black_Magic_Probe]].<br />
<br />
===Upgrade BMP firmware===<br />
<br />
Check firmware version:<br />
$ arm-none-eabi-gdb<br />
(gdb) target extended-remote /dev/ttyACM0<br />
(gdb) monitor version<br />
<br />
Download source from git, compile:<br />
$ git clone https://github.com/blacksphere/blackmagic<br />
$ cd blackmagic<br />
$ git submodule init<br />
$ git submodule update<br />
$ make<br />
$ cd src<br />
$ make clean<br />
$ make PROBE_HOST=native<br />
$ cd ../scripts<br />
Connect the Black Magic Probe to USB while holding down the button for firmware update, then start "stm32_mem.py".<br />
$ stm32_mem.py ../src/blackmagic.bin<br />
<br />
You can build different targets (Hardware Platforms), default value is;<br />
<br />
$ make PROBE_HOST=native<br />
<br />
===Documentation===<br />
<br />
For more information visit [http://www.blacksphere.co.nz/main/index.php/blackmagic Black Sphere Technologies] <br />
or visit the [https://github.com/blacksphere/blackmagic Black Magic Probe Git Code Reposoitory].<br />
<br />
<br />
===Where to Purchase===<br />
<br />
Black Magic Probe Mini is available through the [[File:1bitsquared_logo.png|50px|link=http://1bitsquared.com/products/black-magic-probe]] [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store].<br />
For $65<br />
<br />
==[[CricketProbe/v1.00 | CricketProbe v1.00]]==<br />
<br />
[[Image:CricketProbe_v100.jpg|300px|left|link=CricketProbe/v1.00 |CricketProbe v1.00 page]]<br />
<br />
The CricketProbe is a programming and debugging tool for ARM Cortex MCU, based on the [http://www.blacksphere.co.nz Black Sphere Technologies] [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe].<br />
<br />
<br style="clear:both"><br />
<br />
==Lyorak Probe==<br />
<br />
[[Image:Lyorak_front.jpg|300px|Lyorak probe]] <br />
[[Image:Lyorak_pinout.jpeg|500px|Lyorak probe pinout]] <br />
<br />
The Lyorak probe is a programming and debugging tool for ARM Cortex MCU, based on the [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]. <br/><br />
Designed with 1206 SMD components for easy assmbly and a CAN interface.<br />
<br />
<br style="clear:both"><br />
<br />
===Documentation===<br />
<br />
[https://github.com/molnarkares/blackmagic/tree/master/hardware/contrib/lyorak molnarkares/blackmagic git repo (fork from blackmagic)]<br />
<br />
==[[STLink]]==<br />
<br />
[[Image:St-link.jpg|300px]]<br />
<br />
Most STM discovery / eval boards comes with a [http://www.st.com/web/catalog/tools/FM146/CL1984/SC724/SS1677/PF251168 ST-Link V2] on board, with one exception; the STM32VL version, that board comes with ST-Link V1.<br />
<br />
These can be used with [https://github.com/texane/stlink texane’s] tools, or reflashed with [[STLink#Update_the_ST-Link_to_blackmagic_probe| the blackmagic firmware]].<br />
<br />
<br style="clear:both"><br />
<br />
===Clones===<br />
<br />
There are some variations of the STLink available. Some with the same STM32F103C8T6 MCU, some with a STM32F101C8T6.<br/><br />
More informations on the [[STLink#Clones]] page.<br/><br />
Likely possible to use them with (texanes) STLink or Blackmagic software.<br />
<br />
==FLOSS JTAG==<br />
<br />
[[Image:Jtag-up.jpg|400px|FLOSS JTAG top]]<br />
[[Image:Jtag-down.jpg|400px|FLOSS JTAG bottom]]<br />
<br />
The FLOSS JTAG is based on an FTDI 2232HL chip that allows two simultaneous USB connections, which means that FLOSS JTAG allows JTAG and UART connections simultaneously.<br/><br />
<br />
The upper side contains the JTAG connector and two sets of RX/TX LEDs for JTAG and UART/COM interface separately. The JTAG connector is 2x5 pins, 0.05-inch pitch, and is compatible with the Samtec FFSD-05-D-06.00-01-N-RW-R ribbon cable.<br />
<br />
On the bottom side there is 4 pin UART connector, which contains (from top to bottom on the image, or color dots): Ground (black), RX (orange), TX (yellow), and +5V (red) <br />
<br />
<br style="clear:both"><br />
<br />
It can be used with [[DevGuide/OpenOCD]] software.<br />
<br />
===Documentation===<br />
<br />
[http://randomprojects.org/wiki/Floss-JTAG randomprojects.org/wiki/Floss-JTAG]<br />
<br />
=== Availability ===<br />
<br />
Floss JTAG is currently discontinued and not in production. We recommend buying the [http://1bitsquared.com/products/black-magic-probe Black Magic Probe Mini] instead.<br />
<br />
==FT2232H Mini Module==<br />
<br />
[[Image:AlternativeFlossJtag.png|300px|FT2232H Mini Modules as JTAG adapter]]<br />
[[Image:FT2232H_Mini_Module_front.jpg|200px|Top with all necessary connections]]<br />
[[Image:FT2232H_Mini_Module_back.jpg|200px|Bottom with pin headers]]<br />
<br />
<br style="clear:both"><br />
<br />
The FT2232H Mini modules can be used with blackmagic firmware or as FLOSS-JTAG device. <br/><br />
<br />
'''Important'''<br />
<br />
Out of the box, there is NO power supply for the FT2232H because this can either done with USB or external 5V.<br/><br />
The pictures above show two different PCB versions. The suggested connections only apply to the right (latest) layout.<br />
<br />
Connect: (for power supply over USB)<br />
* CN3 pin 1 to CN3 pin 3<br />
* CN2 pin group 1,3,5 to CN2 pin group 11,21 and to CN3 pin group 12,22<br />
<br />
'''Pinout'''<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''Power'''<br />
!''Use''!!''Pin''<br />
|-<br />
|3V3||CN2-1<br />
|-<br />
|3V3||CN2-3<br />
|-<br />
|3V3||CN2-5<br />
|-<br />
|GND||CN2-2<br />
|-<br />
|GND||CN2-4<br />
|-<br />
|GND||CN2-6<br />
|-<br />
|GND||CN3-2<br />
|-<br />
|GND||CN3-4<br />
|}<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''UART'''<br />
!''Use''!!''Pin''!!''Name''<br />
|-<br />
|UART1 RX ||CN2-10||ADBUS1<br />
|-<br />
|UART1 TX ||CN2-7||ADBUS0<br />
|-<br />
|UART2 RX ||CN3-25||BDBUS1<br />
|-<br />
|UART2 TX ||CN3-26||BDBUS0<br />
|}<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''JTAG'''<br />
!''Use''!!''Pin''!!''Name''<br />
|-<br />
|JTAG1 TCK ||CN2-7||ADBUS0<br />
|-<br />
|JTAG1 TDI ||CN2-10||ADBUS1<br />
|-<br />
|JTAG1 TDO ||CN2-9||ADBUS2<br />
|-<br />
|JTAG1 TMS ||CN2-12||ADBUS3<br />
|-<br />
|JTAG2 TCK ||CN3-26||BDBUS0<br />
|-<br />
|JTAG2 TDI ||CN3-25||BDBUS1<br />
|-<br />
|JTAG2 TDO ||CN3-24||BDBUS2<br />
|-<br />
|JTAG2 TMS ||CN3-23||BDBUS3<br />
|}<br />
<br />
<br />
===Use as FLOSS-JTAG===<br />
<br />
With the tool "FT_Prog" change the description the FT2232H to "FLOSS-JTAG".<br />
<br />
===Documentation===<br />
<br />
[http://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf FT2232H Datasheet] <br/><br />
[http://www.ftdichip.com/Support/Documents/DataSheets/Modules/DS_FT2232H_Mini_Module.pdf FT2232H Mini Module Datatsheet] <br/><br />
[http://at.mouser.com/ProductDetail/FTDI/FT2232H-MINI-MODULE/?qs=sGAEpiMZZMvOu2nvEqRMlAhGRrWaSCdm Mouser shop 22€]<br />
<br />
<br />
[[Category:Hardware]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Debug_Probes&diff=21024Debug Probes2016-03-04T11:05:02Z<p>AutumnLeaves: /* SWD */</p>
<hr />
<div><br />
__TOC__<br />
<br />
These various debug probes can be used for flashing and debugging Paparazzi hardware, some can even be used as USB-UART adapters. <br/><br />
Most are compatible with the current STM32 platform, some are also compatible with the older LPC 21xx.<br />
<br />
Debug probes for Atmel/AVR and SiLabs (ESC Controller chips) are located on the [[ESC]] page. Since those Microcontrollers are not used more as main processors.<br />
<br />
==Debug Protocols / Interfaces==<br />
<br />
There are two different relevant Protocols / Interfaces for flashing and debugging for STM32:<br/><br />
<br />
Note: Some STM32 MCUs can also be flashed via Serial and or USB DFU! But SWD and JTAG provide much better debugging capabilities.<br />
<br />
===SWD===<br />
<br />
[http://www.arm.com/products/system-ip/debug-trace/coresight-soc-components/serial-wire-debug.php ARM Serial Wire Debug (SWD)] is a program and debug protocol for ARM processors. It's a low pin count and high-performance alternative to JTAG.<br />
<br />
===JTAG===<br />
<br />
JTAG is an industry standard on-chip debugging protocol. It can be used for one or more chips (daisy chained), for interfacing with the chip as well as flashing software.<br />
<br />
[[DevGuide/OpenOCD]] can be used for interfacing with JTAG hardware (e.g. FTDI chips).<br />
<br />
=JTAG Hardware=<br />
<br />
==Black Magic Probe==<br />
<br />
[[Image:BMPM_1_top.jpg|500x500px]][[Image:BMPM_1_bottom.jpg|500x500px]]<br />
<br />
This is the original [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] from [http://www.blacksphere.co.nz Black Sphere Technologies], a programming and debugging tool for ARM Cortex MCU.<br />
<br />
<br style="clear:both"><br />
<br />
===Black Magic Probe firmware===<br />
<br />
First, get the VID/PID for your FT2232 device using 'lsusb'. Edit the file<br />
'src/libftdi/platform.h' and change the VID/PID to match your hardware.<br />
Compile the application with the command:<br />
<br />
make PROBE_HOST=libftdi<br />
<br />
===Black Magic Probe usage===<br />
<br />
In the wiki (under [Developer_Guide]) is some helpful information:<br />
* Use Black Magic Probe with Eclipse [[RT_Paparazzi#Debugging_with_an_Eclipse_IDE]].<br />
* General OpenOCD/GDB commands in reagards of the BMP, also about SWD [[DevGuide/GDB_OpenOCD_Debug#Debugging_with_GDB_over_JTAG]] [[DevGuide/GDB_OpenOCD_Debug#Black_Magic_Probe]].<br />
<br />
===Upgrade BMP firmware===<br />
<br />
Check firmware version:<br />
$ arm-none-eabi-gdb<br />
(gdb) target extended-remote /dev/ttyACM0<br />
(gdb) monitor version<br />
<br />
Download source from git, compile:<br />
$ git clone https://github.com/blacksphere/blackmagic<br />
$ cd blackmagic<br />
$ git submodule init<br />
$ git submodule update<br />
$ make<br />
$ cd src<br />
$ make clean<br />
$ make PROBE_HOST=native<br />
$ cd ../scripts<br />
Connect the Black Magic Probe to USB while holding down the button for firmware update, then start "stm32_mem.py".<br />
$ stm32_mem.py ../src/blackmagic.bin<br />
<br />
You can build different targets (Hardware Platforms), default value is;<br />
<br />
$ make PROBE_HOST=native<br />
<br />
===Documentation===<br />
<br />
For more information visit [http://www.blacksphere.co.nz/main/index.php/blackmagic Black Sphere Technologies] <br />
or visit the [https://github.com/blacksphere/blackmagic Black Magic Probe Git Code Reposoitory].<br />
<br />
<br />
===Where to Purchase===<br />
<br />
Black Magic Probe Mini is available through the [[File:1bitsquared_logo.png|50px|link=http://1bitsquared.com/products/black-magic-probe]] [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store].<br />
For $65<br />
<br />
==[[CricketProbe/v1.00 | CricketProbe v1.00]]==<br />
<br />
[[Image:CricketProbe_v100.jpg|300px|left|link=CricketProbe/v1.00 |CricketProbe v1.00 page]]<br />
<br />
The CricketProbe is a programming and debugging tool for ARM Cortex MCU, based on the [http://www.blacksphere.co.nz Black Sphere Technologies] [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe].<br />
<br />
<br style="clear:both"><br />
<br />
==Lyorak Probe==<br />
<br />
[[Image:Lyorak_front.jpg|300px|Lyorak probe]] <br />
[[Image:Lyorak_pinout.jpeg|500px|Lyorak probe pinout]] <br />
<br />
The Lyorak probe is a programming and debugging tool for ARM Cortex MCU, based on the [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]. <br/><br />
Designed with 1206 SMD components for easy assmbly and a CAN interface.<br />
<br />
<br style="clear:both"><br />
<br />
===Documentation===<br />
<br />
[https://github.com/molnarkares/blackmagic/tree/master/hardware/contrib/lyorak molnarkares/blackmagic git repo (fork from blackmagic)]<br />
<br />
==[[STLink]]==<br />
<br />
[[Image:St-link.jpg|300px]]<br />
<br />
Most STM discovery / eval boards comes with a [http://www.st.com/web/catalog/tools/FM146/CL1984/SC724/SS1677/PF251168 ST-Link V2] on board, with one exception; the STM32VL version, that board comes with ST-Link V1.<br />
<br />
These can be used with [https://github.com/texane/stlink texane’s] tools, or reflashed with [[STLink#Update_the_ST-Link_to_blackmagic_probe| the blackmagic firmware]].<br />
<br />
<br style="clear:both"><br />
<br />
===Clones===<br />
<br />
There are some variations of the STLink available. Some with the same STM32F103C8T6 MCU, some with a STM32F101C8T6.<br/><br />
More informations on the [[STLink#Clones]] page.<br/><br />
Likely possible to use them with (texanes) STLink or Blackmagic software.<br />
<br />
==FLOSS JTAG==<br />
<br />
[[Image:Jtag-up.jpg|400px|FLOSS JTAG top]]<br />
[[Image:Jtag-down.jpg|400px|FLOSS JTAG bottom]]<br />
<br />
The FLOSS JTAG is based on an FTDI 2232HL chip that allows two simultaneous USB connections, which means that FLOSS JTAG allows JTAG and UART connections simultaneously.<br/><br />
<br />
The upper side contains the JTAG connector and two sets of RX/TX LEDs for JTAG and UART/COM interface separately. The JTAG connector is 2x5 pins, 0.05-inch pitch, and is compatible with the Samtec FFSD-05-D-06.00-01-N-RW-R ribbon cable.<br />
<br />
On the bottom side there is 4 pin UART connector, which contains (from top to bottom on the image, or color dots): Ground (black), RX (orange), TX (yellow), and +5V (red) <br />
<br />
<br style="clear:both"><br />
<br />
It can be used with [[DevGuide/OpenOCD]] software.<br />
<br />
===Documentation===<br />
<br />
[http://randomprojects.org/wiki/Floss-JTAG randomprojects.org/wiki/Floss-JTAG]<br />
<br />
=== Availability ===<br />
<br />
Floss JTAG is currently discontinued and not in production. We recommend buying the [http://1bitsquared.com/products/black-magic-probe Black Magic Probe Mini] instead.<br />
<br />
==FT2232H Mini Module==<br />
<br />
[[Image:AlternativeFlossJtag.png|300px|FT2232H Mini Modules as JTAG adapter]]<br />
[[Image:FT2232H_Mini_Module_front.jpg|200px|Top with all necessary connections]]<br />
[[Image:FT2232H_Mini_Module_back.jpg|200px|Bottom with pin headers]]<br />
<br />
<br style="clear:both"><br />
<br />
The FT2232H Mini modules can be used with blackmagic firmware or as FLOSS-JTAG device. <br/><br />
<br />
'''Important'''<br />
<br />
Out of the box, there is NO power supply for the FT2232H because this can either done with USB or external 5V.<br/><br />
The pictures above show two different PCB versions. The suggested connections only apply to the right (latest) layout.<br />
<br />
Connect: (for power supply over USB)<br />
* CN3 pin 1 to CN3 pin 3<br />
* CN2 pin group 1,3,5 to CN2 pin group 11,21 and to CN3 pin group 12,22<br />
<br />
'''Pinout'''<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''Power'''<br />
!''Use''!!''Pin''<br />
|-<br />
|3V3||CN2-1<br />
|-<br />
|3V3||CN2-3<br />
|-<br />
|3V3||CN2-5<br />
|-<br />
|GND||CN2-2<br />
|-<br />
|GND||CN2-4<br />
|-<br />
|GND||CN2-6<br />
|-<br />
|GND||CN3-2<br />
|-<br />
|GND||CN3-4<br />
|}<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''UART'''<br />
!''Use''!!''Pin''!!''Name''<br />
|-<br />
|UART1 RX ||CN2-10||ADBUS1<br />
|-<br />
|UART1 TX ||CN2-7||ADBUS0<br />
|-<br />
|UART2 RX ||CN3-25||BDBUS1<br />
|-<br />
|UART2 TX ||CN3-26||BDBUS0<br />
|}<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
|+'''JTAG'''<br />
!''Use''!!''Pin''!!''Name''<br />
|-<br />
|JTAG1 TCK ||CN2-7||ADBUS0<br />
|-<br />
|JTAG1 TDI ||CN2-10||ADBUS1<br />
|-<br />
|JTAG1 TDO ||CN2-9||ADBUS2<br />
|-<br />
|JTAG1 TMS ||CN2-12||ADBUS3<br />
|-<br />
|JTAG2 TCK ||CN3-26||BDBUS0<br />
|-<br />
|JTAG2 TDI ||CN3-25||BDBUS1<br />
|-<br />
|JTAG2 TDO ||CN3-24||BDBUS2<br />
|-<br />
|JTAG2 TMS ||CN3-23||BDBUS3<br />
|}<br />
<br />
<br />
===Use as FLOSS-JTAG===<br />
<br />
With the tool "FT_Prog" change the description the FT2232H to "FLOSS-JTAG".<br />
<br />
===Documentation===<br />
<br />
[http://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS_FT2232H.pdf FT2232H Datasheet] <br/><br />
[http://www.ftdichip.com/Support/Documents/DataSheets/Modules/DS_FT2232H_Mini_Module.pdf FT2232H Mini Module Datatsheet] <br/><br />
[http://at.mouser.com/ProductDetail/FTDI/FT2232H-MINI-MODULE/?qs=sGAEpiMZZMvOu2nvEqRMlAhGRrWaSCdm Mouser shop 22€]<br />
<br />
<br />
[[Category:Hardware]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=1BitSquared&diff=210191BitSquared2016-03-04T09:34:55Z<p>AutumnLeaves: /* Documentation */</p>
<hr />
<div><div style="float: right; width: 45%; overflow: hidden">[[Image:1bitsquared_logo.png|right|300px|1BitSquared LLC Logo]]</div><br />
<br />
[http://1bitsquared.com 1BitSquared] is a Design, Production and Consulting company, focusing on Open-Source Software and Electronics. [http://1bitsquared.com 1BitSquared] was founded in 2012 by [[User:Esden | Piotr Esden-Tempski]], longtime UAV and Embedded Systems Engineer with an extensive history developing Open-Source and Open-Hardware Systems. [[User:Esden | Piotr Esden-Tempski]] is one of the core developers of the Paparazzi UAV framework. <br />
[http://1bitsuared.com 1BitSquared] executes hardware and software design, development and manufacturing for a wide range of micro to nano UAV systems available on the market: from quadcopters to multicopters as well as airplanes, helicopters and transitioning vehicles.<br />
<br />
Our mission is to provide cutting edge, affordable, Open-Source Hardware and Software for the emerging personal nano UAV market for advanced hobbyists, as well as University and civilian research programs. Our hardware has applications in autonomous robotics research, FPV (First Person View), precision agriculture, drone journalism, environmental, meteorological and maritime monitoring & research, search and rescue, UAV competitions and innovative airborne platforms. Our aim is to make our hardware smaller and lighter than the rest of the hardware on the market. In the flying world everything is about weight and efficiency. If the autopilot is smaller and more efficient you can fly longer and carry more payload. <br />
<br />
Please feel free to [http://1bitsquared.com/pages/contact-us contact us]. <br />
<br />
= Documentation =<br />
<br />
Here is a list of wiki articles documenting some of the hardware designed and sold by [http://1bitsquared.com 1BitSquared]<br />
<br />
* [[Lisa/S]] Autopilot<br />
* [[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Nano Quadcopter]]<br />
* [[Lisa/MX]] Autopilot<br />
* [[Elle0|Elle0 Autopilot]]<br />
* [[G0|G0 GPS]]<br />
* [[R0|R0 Sub GHz Telemetry Modem]]<br />
* [[UU0| UU0 - USB to UART Adapter Dongle]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21018Other Hardware/Index2016-03-04T09:31:24Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Debug_Probes|<small>Debug Probes / JTAG</small>]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring<br><small>Tools and Connecting</small>]]<br />
*[[Tools|Tools<br><small>Logic Analyzer and Chargers</small>]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|<small>Antenna Trackers</small>]]<br />
*[[Video|Video<br><small>Analog & Digital video systems</small>]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Hardware/Index&diff=21017Hardware/Index2016-03-04T09:27:13Z<p>AutumnLeaves: </p>
<hr />
<div>*[[Autopilots|Autopilots]]<br><small>Paparazzi supported aircraft control hardware</small><br />
*[[Sensors|Sensors]]<br><small>[[GPS]], [[IMU]], [[Sensors/Current|Current]], [[Sensors/Airspeed|Airspeed]], etc.</small><br />
*[[Modems|Modems]]<br><small>Digital radios for aircraft telemetry and more</small><br />
*[[GSC Hardware|Dedicated GSC Hardware]]<br><small>Hardware used for dedicated ground station computers</small><br />
*[[Other_Hardware|Other Hardware]]<br><small>[[Debug Probes]] / [[JTAG]], USB-UART, Video systems, Antenna Tracker, <br/>Connectors and Wiring, ESC, etc.</small><br />
*[[Get_Hardware|Get Hardware]]<br><small>How to get Paparazzi hardware</small><br />
<!-- This is a reusable index for the menu tree on the home page any and all text on this page will be displayed in the menu tree --></div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Hardware/Index&diff=21016Hardware/Index2016-03-04T09:23:45Z<p>AutumnLeaves: </p>
<hr />
<div>*[[Autopilots|Autopilots]]<br><small>Paparazzi supported aircraft control hardware</small><br />
*[[Sensors|Sensors]]<br><small>[[GPS]], [[IMU]], [[Sensors/Current|Current]], [[Sensors/Airspeed|Airspeed]], etc.</small><br />
*[[Modems|Modems]]<br><small>Digital radios for aircraft telemetry and more</small><br />
*[[GSC Hardware|Dedicated GSC Hardware]]<br><small>Hardware used for dedicated ground station computers</small><br />
*[[Other_Hardware|Other Hardware]]<br><small>Debug Probes / JTAG, USB-UART, Video systems, Antenna Tracker, <br/>Connectors and Wiring, ESC, etc.</small><br />
*[[Get_Hardware|Get Hardware]]<br><small>How to get Paparazzi hardware</small><br />
<!-- This is a reusable index for the menu tree on the home page any and all text on this page will be displayed in the menu tree --></div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Hardware/Index&diff=21015Hardware/Index2016-03-04T09:20:58Z<p>AutumnLeaves: </p>
<hr />
<div>*[[Autopilots|Autopilots]]<br><small>Paparazzi supported aircraft control hardware</small><br />
*[[Sensors|Sensors]]<br><small>[[IMU]], [[GPS]], [[Sensors/Current|Current]], [[Sensors/Airspeed|Airspeed]], etc.</small><br />
*[[Modems|Modems]]<br><small>Digital radios for aircraft telemetry and more</small><br />
*[[GSC Hardware|Dedicated GSC Hardware]]<br><small>Hardware used for dedicated ground station computers</small><br />
*[[Other_Hardware|Other Hardware]]<br><small>Debug Probes / JTAG, USB-UART, Video systems, Antenna Tracker, <br/>Connectors and Wiring, ESC, etc.</small><br />
*[[Get_Hardware|Get Hardware]]<br><small>How to get Paparazzi hardware</small><br />
<!-- This is a reusable index for the menu tree on the home page any and all text on this page will be displayed in the menu tree --></div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Hardware/Index&diff=21014Hardware/Index2016-03-04T09:19:04Z<p>AutumnLeaves: </p>
<hr />
<div>*[[Autopilots|Autopilots]]<br><small>Paparazzi supported aircraft control hardware</small><br />
*[[Sensors|Sensors]]<br><small>[[IMU]], [[GPS]], [[Sensors/Current|Current]], [[Sensors/Airspeed|Airspeed]], etc.</small><br />
*[[Modems|Modems]]<br><small>Digital radios for aircraft telemetry and more</small><br />
*[[GSC Hardware|Dedicated GSC Hardware]]<br><small>Hardware used for dedicated ground station computers</small><br />
*[[Other_Hardware|Other Hardware]]<br><small>Debug Probes / JTAG, USB-UART, Video systems, Antenna Tracker, Connectors and Wiring, ESC, etc.</small><br />
*[[Get_Hardware|Get Hardware]]<br><small>How to get Paparazzi hardware</small><br />
<!-- This is a reusable index for the menu tree on the home page any and all text on this page will be displayed in the menu tree --></div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21012Other Hardware/Index2016-03-04T09:12:41Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Video|Video<br><small>Analog & Digital video systems</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring<br><small>Tools and Connecting</small>]]<br />
*[[Tools|Tools<br><small>Logic Analyzer and Chargers</small>]]<br />
*[[Debug_Probes|<small>Debug Probes / JTAG</small>]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|<small>Antenna Trackers</small>]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=Other_Hardware/Index&diff=21011Other Hardware/Index2016-03-04T09:11:37Z<p>AutumnLeaves: </p>
<hr />
<div>*[[RC_Receivers_and_Radios|RC Receivers and Radios<br><small>PPM, PCM and 2.4GHz systems</small>]]<br />
*[[PPM_Encoder|PPM Encoder Boards<br><small>Get a PPM signal without any modifications to the receiver</small>]]<br />
*[[Video|Video<br><small>Analog & Digital video systems</small>]]<br />
*[[Serial_Adapter|Serial Adapters<br><small>USB <-> Serial adapters</small>]]<br />
*[[Connectors_and_Wiring|Connectors and Wiring<br><small>Tools and Connecting</small>]]<br />
*[[Tools|Tools<br><small>Logic Analyzer and Chargers</small>]]<br />
*[[Debug_Probes|<small>Debug Probes / JTAG</small>]]<br />
*[[ESC|ESC<br><small>Brushless motor controller</small>]]<br />
*[[Antenna_Tracker|Antenna Tracker<br><small>Antenna Trackers</small>]]</div>AutumnLeaveshttp://wiki.paparazziuav.org/w/index.php?title=JTAG&diff=21010JTAG2016-03-04T09:06:43Z<p>AutumnLeaves: /* Availability */</p>
<hr />
<div>=Introduction=<br />
<br />
A JTAG interface is designed for on-chip debugging. It can also be used to flash your firmware if you do not have a means to upload software via USB already. If you want to upload your own software or want to do serious Paparazzi development work, you will need a JTAG adapter like this.<br />
<br />
See also:<br />
* [[FirmwareFlashing#JTAG|firmware flashing via JTAG]]<br />
* [[DevGuide/GDB_OpenOCD_Debug|debugging with JTAG]]<br />
<br />
=JTAG Adapters=<br />
There are multiple Paparazzi-compatible devices available that support JTAG.<br />
<br />
Below you will find a list of JTAG devices that you can use in combination with Paparazzi UAV Hardware like the [[Lisa/MX]] boards. <br />
<br />
<br />
== Black Magic Probe ==<br />
<br />
[[Image:BMPM_1_top.jpg|500x500px]][[Image:BMPM_1_bottom.jpg|500x500px]]<br />
<br />
Some additional info about the Black Magic Probe is available on the [http://www.blacksphere.co.nz/main/blackmagic Black Sphere Technology website].<br />
The Black Magic Probe is available for purchase at the [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store]. <br />
<br />
<br />
Black Magic Probe is a JTAG and SWD Adapter used for debugging ARM MCUs.<br />
<br />
To use Black Magic Probe instead of FLOSS-JTAG or Luftboot for firmware flashing, append the following string to the upload command:<br />
<br />
On Linux:<br />
FLASH_MODE=JTAG_BMP BMP_PORT=/dev/ttyACM0<br />
On Mac OS:<br />
FLASH_MODE=JTAG_BMP BMP_PORT=/dev/cu.usbmodem<serial><br />
<br />
To make this the default flash method add this in the airframe file firmware section:<br />
<configure name="FLASH_MODE" value="JTAG_BMP"/><br />
<configure name="BMP_PORT" value="/dev/ttyACM0"/><br />
<br />
See the [[FirmwareFlashing]] page for other methods.<br />
<br />
=== Benefits ===<br />
<br />
There are good reasons to use the Black Magic Probe Mini instead of FLOSS-JTAG:<br />
<br />
*Lower cost<br />
*No need for OpenOCD as BMPM has a built in GDB server<br />
*Orders of magnitude faster as all the high speed protocol logic happens on the built-in STM32<br />
*Supports Serial Wire Debug (SWD)<br />
*Supports tracing using the SWD trace pin<br />
*No need for loading and unloading of FTDI drivers on Mac OS X<br />
<br />
===UART port===<br />
The pinout for the UART port on the back side of the BMP as seen on the image above and starting from the top is ground,rx,tx,3.3v . You can use this for receiving telemetry.<br />
<br />
===Upgrade BMP firmware===<br />
<br />
Check firmware version:<br />
$ sudo /usr/bin/arm-none-eabi-gdb<br />
(gdb) target extended-remote /dev/ttyACM0<br />
(gdb) monitor version<br />
<br />
To upgrade the brain of your Black Magic Probe, a.k.a. its firmware:<br />
<br />
- Download the compiled firmware from http://blacksphere.co.nz/builds/ (more info at https://github.com/blacksphere/blackmagic/wiki/Frequently-Asked-Questions)<br />
- Connect the Black Magic Probe while pressing the button<br />
- Download and run the stm32_mem.py script:<br />
$ git clone git://blackmagicdebug.git.sourceforge.net/gitroot/blackmagicdebug/blackmagicdebug<br />
$ cd blackmagicdebug/scripts<br />
$ ./stm32_mem.py blackmagic-XXXX.bin (this is the .bin file you downloaded in previous step)<br />
<br />
===Where to Purchase===<br />
<br />
Black Magic Probe is available through the [[File:1bitsquared_logo.png|50px|link=http://1bitsquared.com/products/black-magic-probe]] [http://1bitsquared.com/products/black-magic-probe 1BitSquared Store].<br />
<br />
== FLOSS JTAG ==<br />
<br />
The FLOSS JTAG is based on an FTDI chip that allows two simultaneous USB connections, which means that FLOSS JTAG allows JTAG and UART/COM connections.<br />
<br />
Let's take a look at upper side of the board. It contains JTAG connector (which is connected on photo) and two sets of RX/TX LEDs for JTAG and UART/COM interface separately. The JTAG connector is 2x5 pins, 0.05-inch pitch, and is compatible with the Samtec FFSD-05-D-06.00-01-N-RW-R ribbon cable.<br />
<br />
[[Image:Jtag-up.jpg]]<br />
<br />
On the other side of the board there is 4 pin UART/COM connector, which contains (from top to bottom in the image below): Ground (black), RX (orange), TX (yellow), and +5V (red)<br />
<br />
[[Image:Jtag-down.jpg]]<br />
<br />
Usage of board is pretty simple: JTAG can be used to upload firmware into the board and/or repair board with broken bootloader, and UART/COM interfaced can be used to make "COM port style" connection to the board. COM connection can be used for example for telemetry debug.<br />
<br />
More info available on the [http://randomprojects.org/wiki/Floss-JTAG randomprojects.org wiki].<br />
<br />
=== Availability ===<br />
<br />
Floss JTAG is currently discontinued and not in production. We recommend buying the [http://1bitsquared.com/products/black-magic-probe Black Magic Probe] instead.<br />
<br />
== FT2232H Mini Module ==<br />
<br />
Use ftdi prog to change the Description String into: FLOSS-JTAG. <br/><br />
More information for this board at [[Serial_Adapter]].<br />
<br />
[[Image:AlternativeFlossJtag.png|400px]]<br />
<br />
[[Category:Hardware]] [[Category:Software]] [[Category:Developer_Documentation]]</div>AutumnLeaves