PaparazziUAV - User contributions [en]

TU Delft - Search and Rescue with AR Drone 2

2013-01-23T14:34:39Z

Bdelrue: /* Simulation */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. This under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. Also because the programming developed by Parrot were not used, motor drivers has to be obtained. In order to get the quadrotor actually to fly, [http://paparazzi.enac.fr/wiki/Main_Page paparazzi] was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data is obtained and actuators are controlled is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next, in chapter 5, we present how simulation was done. Finally the process of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project a repository was used, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[AR_Drone_2/FTP]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[AR_Drone_2/NAV board]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of three parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. The final part gives some aditional information on the paparazzi architecture. More information on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous. The this process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Search and Rescue with AR Drone 2

2013-01-23T14:28:01Z

Bdelrue: /* Paparazzi */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. This under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. Also because the programming developed by Parrot were not used, motor drivers has to be obtained. In order to get the quadrotor actually to fly, [http://paparazzi.enac.fr/wiki/Main_Page paparazzi] was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data is obtained and actuators are controlled is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next, in chapter 5, we present how simulation was done. Finally the process of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project a repository was used, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[AR_Drone_2/FTP]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[AR_Drone_2/NAV board]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of three parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. The final part gives some aditional information on the paparazzi architecture. More information on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous. The this process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Search and Rescue with AR Drone 2

2013-01-23T14:10:35Z

Bdelrue: /* General project information */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. This under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. Also because the programming developed by Parrot were not used, motor drivers has to be obtained. In order to get the quadrotor actually to fly, [http://paparazzi.enac.fr/wiki/Main_Page paparazzi] was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data is obtained and actuators are controlled is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next, in chapter 5, we present how simulation was done. Finally the process of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project a repository was used, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[AR_Drone_2/FTP]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[AR_Drone_2/NAV board]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous. The this process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Search and Rescue with AR Drone 2

2013-01-23T14:09:43Z

Bdelrue: /* Introduction */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. This under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. Also because the programming developed by Parrot were not used, motor drivers has to be obtained. In order to get the quadrotor actually to fly, [http://paparazzi.enac.fr/wiki/Main_Page paparazzi] was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data is obtained and actuators are controlled is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next, in chapter 5, we present how simulation was done. Finally the process of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[AR_Drone_2/FTP]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[AR_Drone_2/NAV board]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous. The this process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Search and Rescue with AR Drone 2

2013-01-23T14:08:42Z

Bdelrue: /* Introduction */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. This under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. Also because the programming developed by Parrot were not used, motor drivers has to be obtained. In order to get the quadrotor actually to fly, [http://paparazzi.enac.fr/wiki/Main_Page paparazzi] paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data was obtained and actuators are controlled is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next, in chapter 5, we present how simulation was done. Finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[AR_Drone_2/FTP]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[AR_Drone_2/NAV board]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous. The this process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Search and Rescue with AR Drone 2

2013-01-23T14:01:27Z

Bdelrue: /* Introduction */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying, paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data was obtained and actuators are controlled is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next, in chapter 5, we present how simulation was done. Finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[AR_Drone_2/FTP]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[AR_Drone_2/NAV board]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous. The this process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Autonomous Quadrotor

2013-01-23T13:52:43Z

Bdelrue: /* Objectives */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. The initial objective of both teams is similar, namely getting the AR Drone v2.0 to fly using the Paparazzi Software. However the path taken by each group to reach this objective will be different. In the second part of the project each group is then free to develop a cool or useful application for the AR Drone v2.0, now flying on the paparazzi software.

=== Objectives ===
So our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software. However each group will obtain this goal following a different path:
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by Parrot. They will need to interpret the data as provided by the program and determine what data to send back.

As mentioned, the second objective or part of the project was to come up with a cool or useful application for the AR Drone 2. Team 1 further developed the AR Drone 2 to include search and rescue applications. Team 2 decided to further develop the AR Drone 2 to be applicable is laser shooting games. Also each team had to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose and mount it to the AR Drone 2 using the USB connection on the board. More information on each project can be found following the links in the next section.

=== Teams ===

More information on each project can be found here:

* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR Drone 2]]
** [[AR Drone 2/Motor driver]]
** [[AR Drone 2/Sensor specifications]]
** [[BU 353 specifications|GPS specifications]]

== Development ==
To try and keep you up to date with the most recent developments in this project we have created the [[Talk: TU Delft: AR Drone 2 - News|TU Delft: AR Drone 2 - News]] page. Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Installing Paparazzi on AR.Drone 2 ===
Installing Paparazzi on the AR Drone 2 is taking more effort than we initially expected. To make life easier for everyone that wants to use Paparazzi on the AR Drone 2 We have set up a AR-Drone 2: starters page. This page will guide you through that process step by step.

''Editors note: This page is not complete yet. We will let you know when it nears completion''

* [[AR-Drone 2: starters page]]

[[Category: TU Delft - Autonomous Quadrotor]]

TU Delft - Autonomous Quadrotor

2013-01-23T13:50:24Z

Bdelrue: /* TU Delft - Autonomous Quadrotor */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. The initial objective of both teams is similar, namely getting the AR Drone v2.0 to fly using the Paparazzi Software. However the path taken by each group to reach this objective will be different. In the second part of the project each group is then free to develop a cool or useful application for the AR Drone v2.0, now flying on the paparazzi software.

=== Objectives ===
So our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software. However as mentioned each group will obtain this goal following a different path:
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by Parrot. They will need to interpret the data as provided by the program and determine what data to send back.

As mentioned, the second objective or part of the project was to come up with a cool or useful application for the AR Drone 2. Team 1 further developed the AR Drone 2 to include search and rescue applications. Team 2 decided to further develop the AR Drone 2 to be applicable is laser shooting games. Also each team had to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose and mount it to the AR Drone 2 using the USB connection on the board. More information on each project can be found following the links in the next section.

=== Teams ===

More information on each project can be found here:

* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR Drone 2]]
** [[AR Drone 2/Motor driver]]
** [[AR Drone 2/Sensor specifications]]
** [[BU 353 specifications|GPS specifications]]

== Development ==
To try and keep you up to date with the most recent developments in this project we have created the [[Talk: TU Delft: AR Drone 2 - News|TU Delft: AR Drone 2 - News]] page. Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Installing Paparazzi on AR.Drone 2 ===
Installing Paparazzi on the AR Drone 2 is taking more effort than we initially expected. To make life easier for everyone that wants to use Paparazzi on the AR Drone 2 We have set up a AR-Drone 2: starters page. This page will guide you through that process step by step.

''Editors note: This page is not complete yet. We will let you know when it nears completion''

* [[AR-Drone 2: starters page]]

[[Category: TU Delft - Autonomous Quadrotor]]

TU Delft - Autonomous Quadrotor

2013-01-23T13:49:07Z

Bdelrue: /* Objectives */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. The initial objective of both teams is similar, namely getting the AR Drone v2.0 to fly using the Paparazzi Software. However the path taken by each group to reach this objective will be different. In the second part of the project each group is then free to develop a cool or useful application for the AR Drone v2.0, now flying on the paparazzi software.

=== Objectives ===
So our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software. However as mentioned each group will obtain this goal following a different path:
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by Parrot. They will need to interpret the data as provided by the program and determine what data to send back.

As mentioned, the second objective or part of the project was to come up with a cool or useful application for the AR Drone 2. Team 1 further developed the AR Drone 2 to include search and rescue applications. Team 2 decided to further develop the AR Drone 2 to be applicable is laser shooting games. Also each team had to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose and mount it to the AR Drone 2 using the USB connection on the board. More information on each project can be found following the links in the next section.

* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR Drone 2]]
** [[AR Drone 2/Motor driver]]
** [[AR Drone 2/Sensor specifications]]
** [[BU 353 specifications|GPS specifications]]

== Development ==
To try and keep you up to date with the most recent developments in this project we have created the [[Talk: TU Delft: AR Drone 2 - News|TU Delft: AR Drone 2 - News]] page. Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Installing Paparazzi on AR.Drone 2 ===
Installing Paparazzi on the AR Drone 2 is taking more effort than we initially expected. To make life easier for everyone that wants to use Paparazzi on the AR Drone 2 We have set up a AR-Drone 2: starters page. This page will guide you through that process step by step.

''Editors note: This page is not complete yet. We will let you know when it nears completion''

* [[AR-Drone 2: starters page]]

[[Category: TU Delft - Autonomous Quadrotor]]

TU Delft - Autonomous Quadrotor

2013-01-23T13:41:11Z

Bdelrue: /* TU Delft - Autonomous Quadrotor */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. The initial objective of both teams is similar, namely getting the AR Drone v2.0 to fly using the Paparazzi Software. However the path taken by each group to reach this objective will be different. In the second part of the project each group is then free to develop a cool or useful application for the AR Drone v2.0, now flying on the paparazzi software.

=== Objectives ===
So our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software. However as mentioned each group will obtain this goal following a different path:
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by Parrot. They will need to interpret the data as provided by the program and determine what data to send back.

As mentioned, the second objective or part of the project was to come up with a cool or useful application for the AR Drone 2. Team 1 further developed the AR Drone 2 to include search and rescue applications. Team 2 decided to further develop the AR Drone 2 to be applicable is laser shooting games. Also each team had to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose and mount it to the AR Drone 2 using the USB connection on the board. More information on each particular project can be found here:

* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR Drone 2]]
** [[AR Drone 2/Motor driver]]
** [[AR Drone 2/Sensor specifications]]
** [[BU 353 specifications|GPS specifications]]

== Development ==
To try and keep you up to date with the most recent developments in this project we have created the [[Talk: TU Delft: AR Drone 2 - News|TU Delft: AR Drone 2 - News]] page. Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Installing Paparazzi on AR.Drone 2 ===
Installing Paparazzi on the AR Drone 2 is taking more effort than we initially expected. To make life easier for everyone that wants to use Paparazzi on the AR Drone 2 We have set up a AR-Drone 2: starters page. This page will guide you through that process step by step.

''Editors note: This page is not complete yet. We will let you know when it nears completion''

* [[AR-Drone 2: starters page]]

[[Category: TU Delft - Autonomous Quadrotor]]

TU Delft - Autonomous Quadrotor

2013-01-23T13:40:54Z

Bdelrue: /* Objectives */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. The initial objective of both teams is similar, namely getting the AR Drone v2.0 to fly using the Paparazzi Software. However the path taken by each group to reach this objective will be different. In the second part of the project each group is then free to develop a cool or useful application for the AR Drone v2.0, now flying on the paparazzi software.

=== Objectives ===
So our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software. However as mentioned each group will obtain this goal following a different path:
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by Parrot. They will need to interpret the data as provided by the program and determine what data to send back.

As mentioned, the second objective or part of the project was to come up with a cool or useful application for the AR Drone 2. Team 1 further developed the AR Drone 2 to include search and rescue applications. Team 2 decided to further develop the AR Drone 2 to be applicable is laser shooting games. Also each team had to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose and mount it to the AR Drone 2 using the USB connection on the board. More information on each particular project can be found here:

=== Teams ===
* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR Drone 2]]
** [[AR Drone 2/Motor driver]]
** [[AR Drone 2/Sensor specifications]]
** [[BU 353 specifications|GPS specifications]]

== Development ==
To try and keep you up to date with the most recent developments in this project we have created the [[Talk: TU Delft: AR Drone 2 - News|TU Delft: AR Drone 2 - News]] page. Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Installing Paparazzi on AR.Drone 2 ===
Installing Paparazzi on the AR Drone 2 is taking more effort than we initially expected. To make life easier for everyone that wants to use Paparazzi on the AR Drone 2 We have set up a AR-Drone 2: starters page. This page will guide you through that process step by step.

''Editors note: This page is not complete yet. We will let you know when it nears completion''

* [[AR-Drone 2: starters page]]

[[Category: TU Delft - Autonomous Quadrotor]]

TU Delft - Autonomous Quadrotor

2013-01-23T13:30:28Z

Bdelrue: /* TU Delft - Autonomous Quadrotor */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. The initial objective of both teams is similar, namely getting the AR Drone v2.0 to fly using the Paparazzi Software. However the path taken by each group to reach this objective will be different. In the second part of the project each group is then free to develop a cool or useful application for the AR Drone v2.0, now flying on the paparazzi software.

=== Objectives ===
So our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software. However as mentioned each group will obtain this goal following a different path:
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by Parrot. They will need to interpret the data as provided by the program and determine what data to send back.

As mentioned, the second objective or part of the project was to come up with a cool or useful application the AR Drone 2. Also each team had to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose and mount it to the AR Drone 2 using the USB connection on the board. More information on each particular project can be found here:

=== Teams ===
* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR Drone 2]]
** [[AR Drone 2/Motor driver]]
** [[AR Drone 2/Sensor specifications]]
** [[BU 353 specifications|GPS specifications]]

== Development ==
To try and keep you up to date with the most recent developments in this project we have created the [[Talk: TU Delft: AR Drone 2 - News|TU Delft: AR Drone 2 - News]] page. Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Installing Paparazzi on AR.Drone 2 ===
Installing Paparazzi on the AR Drone 2 is taking more effort than we initially expected. To make life easier for everyone that wants to use Paparazzi on the AR Drone 2 We have set up a AR-Drone 2: starters page. This page will guide you through that process step by step.

''Editors note: This page is not complete yet. We will let you know when it nears completion''

* [[AR-Drone 2: starters page]]

[[Category: TU Delft - Autonomous Quadrotor]]

TU Delft - Autonomous Quadrotor

2013-01-23T13:08:44Z

Bdelrue: /* TU Delft - Autonomous Quadrotor */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of dr. ir. M. Wisse and ir. B. D. W. Remes. The initial objective of both teams is similar, namely getting the AR Drone v2.0 to fly using the Paparazzi Software. However the path taken by each group to reach this objective will be different. In the second part of the project each group is then free to develop a cool or useful application for the AR Drone v2.0, now flying on the paparazzi software.

=== Objectives ===
So our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software. However as mentioned each group will obtain this goal following a different path:
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by Parrot. They will need to interpret the data as provided by the program and determine what data to send back.

As mentioned, the second objective includes a cool or usefull aplication for wath we was ontaeined after objective one. is that each team has to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose and mount it to the AR Drone 2 using the USB connection on the board.

=== Project Contents ===
* [[AR Drone 2]]
** [[AR Drone 2/Motor driver]]
** [[AR Drone 2/Sensor specifications]]
** [[BU 353 specifications|GPS specifications]]

=== Teams ===
* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

== Development ==
To try and keep you up to date with the most recent developments in this project we have created the [[Talk: TU Delft: AR Drone 2 - News|TU Delft: AR Drone 2 - News]] page. Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Installing Paparazzi on AR.Drone 2 ===
Installing Paparazzi on the AR Drone 2 is taking more effort than we initially expected. To make life easier for everyone that wants to use Paparazzi on the AR Drone 2 We have set up a AR-Drone 2: starters page. This page will guide you through that process step by step.

''Editors note: This page is not complete yet. We will let you know when it nears completion''

* [[AR-Drone 2: starters page]]

[[Category: TU Delft - Autonomous Quadrotor]]

TU Delft - Search and Rescue with AR Drone 2

2013-01-23T12:04:24Z

Bdelrue: /* General project information */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying, paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next, in chapter 5, we present how simulation was done. Finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[AR_Drone_2/FTP]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[AR_Drone_2/NAV board]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous. The this process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Search and Rescue with AR Drone 2

2013-01-23T12:02:40Z

Bdelrue: /* Introduction */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying, paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next, in chapter 5, we present how simulation was done. Finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[AR_Drone_2/FTP]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[AR_Drone_2/NAV board]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous. The this process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Search and Rescue with AR Drone 2

2012-11-22T13:46:14Z

Bdelrue:

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubunutu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR.Drone 2 - Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

The last part of this project consist of making the AR.Drone2 Autonomous. The this process consist of 4 branches:

*[[Autonomous flight of Paparazzi AR.Drone2]]
*[[Multidirectional distance measurement AR.Drone2]]
*[[Object Avoidance AR.Drone2]]
*[[Fail safe AR.Drone2]]

=== Search and Rescue Features===

*[[Mapping AR.Drone2]]
*[[Hull Desing AR.Drone2]]
*[[Optical flow AR.Drone2]]
*[[Immage recognitionAR.Drone2]]

TU Delft - Search and Rescue with AR Drone 2

2012-11-22T13:26:35Z

Bdelrue: /* Introduction */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubunutu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR.Drone 2 - Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Search and Rescue==

=== Autonomous===

The last part of this project consist of making the AR.Drone2 Autonomous. The this process consist of 4 branches:

*[[Autonomous flight of Paparazzi]]
*[[Multidirectional distance measurement]]
*[[Object Avoidance]]
*[[Fail safe]]

=== Features===

TU Delft - Search and Rescue with AR Drone 2

2012-11-22T13:25:16Z

Bdelrue:

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubunutu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR.Drone 2 - Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Search and Rescue==

=== Autonomous===

The last part of this project consist of making the AR.Drone2 Autonomous. The this process consist of 4 branches:

*[[Autonomous flight of Paparazzi]]
*[[Multidirectional distance measurement]]
*[[Object Avoidance]]
*[[Fail safe]]

=== Features===

TU Delft - Search and Rescue with AR Drone 2

2012-11-22T13:23:37Z

Bdelrue: /* Autonomous */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubunutu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR.Drone 2 - Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

The last part of this project consist of making the AR.Drone2 Autonomous. The this process consist of 4 branches:

*[[Autonomous flight of Paparazzi]]
*[[Multidirectional distance measurement]]
*[[Object Avoidance]]
*[[Fail safe]]

Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS

2012-11-16T16:35:12Z

Bdelrue:

== Requirements==

*Download Virtualbox 4.1.22 for Windows Hosts
*Download Ubuntu 12.04 LTS (I recommend 32 bit)

== Installing Vritual Box==

*After downloading the latest VirtualBox (VirtualBox-4.1.22-80657-Win.exe) installer run it
*Press next
*Press next
*Choose which options you would like and press next
*Your network connection will temporarily go down, press yes
*Press install
*You now installed Oracle VM VirtualBox, press finish

== Creating New Virtual Machine==

*Start Vrtual Box
*Press new
*Fill in a name, select Linux as operating system and Ubuntu as version. Press next
*Select the amount of RAM you'd like to use, press next
*Press next
*Select VDI and press next
*If you are lazy choose dynamically allocated. If you want speed choose fixed size. The second option takes more time to complete.
*Give al least 20GB
*Press Construct

== Install Ubuntu on your Virtual Machine==

*Start your previously created VM by selecting it in the lsit and then press the Start button.
*Press next
*Select the Ubuntu ISO you downloaded(vb. ubuntu-12.04.1-desktop-i386.iso) and press next
*Press Start
*Select your language and press Install Ubuntu
*Select Download updates while installing and Install third-party software. Press continue
*Select Erase Disk and install Ubuntu and press continue
*Press Install now
*Tell ubuntu where you live, press continue
*Select your keyboard and press continue
*Fill in your credentials and press continue
*Press restart now

Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS

2012-11-16T16:34:42Z

Bdelrue:

== Requirements==

*Download Virtualbox 4.1.22 for Windows Hosts
*Download Ubuntu 12.04 LTS (I recommend 32 bit)

== Installing Vritual Box==

*After downloading the latest VirtualBox (VirtualBox-4.1.22-80657-Win.exe) installer run it
*Press continue
*Press continue
*Choose which options you would like and press continue
*Your network connection will temporarily go down, press yes
*Press install
*You now installed Oracle VM VirtualBox, press finish

== Creating New Virtual Machine==

*Start Vrtual Box
*Press new
*Fill in a name, select Linux as operating system and Ubuntu as version. Press next
*Select the amount of RAM you'd like to use, press next
*Press next
*Select VDI and press next
*If you are lazy choose dynamically allocated. If you want speed choose fixed size. The second option takes more time to complete.
*Give al least 20GB
*Press Construct

== Install Ubuntu on your Virtual Machine==

*Start your previously created VM by selecting it in the lsit and then press the Start button.
*Press next
*Select the Ubuntu ISO you downloaded(vb. ubuntu-12.04.1-desktop-i386.iso) and press next
*Press Start
*Select your language and press Install Ubuntu
*Select Download updates while installing and Install third-party software. Press continue
*Select Erase Disk and install Ubuntu and press continue
*Press Install now
*Tell ubuntu where you live, press continue
*Select your keyboard and press continue
*Fill in your credentials and press continue
*Press restart now

Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS

2012-11-16T16:33:46Z

Bdelrue: Created page with "== Requirements== *Download Virtualbox 4.1.22 for Windows Hosts *Download Ubuntu 12.04 LTS (I recommend 32 bit) == Installing Vritual Box== *After downloading the latest Virtu…"

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T16:04:04Z

Bdelrue: /* General project information */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubunutu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T15:43:51Z

Bdelrue: /* General project information */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubunutu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box.

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T15:42:35Z

Bdelrue: /* Connecting */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubunutu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T15:42:12Z

Bdelrue: /* General project information */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubunutu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T15:35:28Z

Bdelrue:

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information==

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T15:26:46Z

Bdelrue: /* Paparazzi */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== Project files==

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T15:20:38Z

Bdelrue:

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== Project files==

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found here: [[installation]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T15:17:02Z

Bdelrue: /* General project information */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information ==

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found here: [[installation]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T15:16:02Z

Bdelrue:

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

First some general information about the project in given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 6.

== General project information ==

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch bij executing the following command "git checkout minor1". The related project: [[TU Delft - Lasergame with Autonomous AR Drone]] can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found here: [[installation]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T11:32:45Z

Bdelrue: /* Paparazzi */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found here: [[installation]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T11:21:19Z

Bdelrue: /* Simulation */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone.

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T11:05:38Z

Bdelrue:

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone.

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section.

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T13:18:44Z

Bdelrue: /* Simulation */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone.

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section.

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T13:06:20Z

Bdelrue: /* Simulation */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone.

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, the control loops and other constants had to be dertermined. For this simulation was used. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section.

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T13:05:12Z

Bdelrue: /* Simulation */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone.

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, the control loops and other constants had to be dertermined, which was done by simulation. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section.

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T12:57:34Z

Bdelrue: /* Compiling */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone.

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T12:56:56Z

Bdelrue: /* Paparazzi */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone.

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T12:55:25Z

Bdelrue:

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T12:54:36Z

Bdelrue: /* Paparazzi on Drone */

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T12:42:48Z

Bdelrue: /* Paparazzi on Drone */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi on Drone==

Now the necessary raw data ould be obtained and the actuators could be controlled, it's time to integrate

=== Using Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

AR Drone 2/NAV board

2012-11-15T12:25:29Z

Bdelrue:

At the time we were investingating the NAV board we were also looking into drivers for the motor. From that research we found that the device name for the motors was /dev/ttyO1. Next in the AR.Drone SDK, which we don't use for programming, we found a file called ardrone_common_config.h[https://projects.ardrone.org/embedded/ardrone-api/d3/d19/ardrone__common__config_8h-source.html] in which the navboard command numbers are listed. This list does not give a lot of information, but does give us an indication to get started.

There are at least 3 commands that seem usefull:
00032 ADC_CMD_STARTACQ = 1, // to start the acquisition
00033 ADC_CMD_STOPACQ = 2, // to stop the acquisition
00034 ADC_CMD_RESYNC = 3, // to restart the acquisition

After starting the acquisition and performing a hexdump on the data read from /dev/ttyO1 we could see the data flowing in:

echo -e -n "\1" > /dev/ttyO1
dd if=/dev/ttyO1 count=1 bs=60 | hexdump -C

Returns a part of a stream that looks like this:

00000000 '''3a''' 00 85 2c fc 07 e8 07 e8 09 d8 ff 3e 00 fc ff |:..,........>...|
00000010 9b 00 d7 d9 6c 03 00 00 00 00 ae 0e 00 00 00 00 |....l...........|
00000020 00 00 00 00 01 00 ca 25 30 00 06 00 01 00 93 80 |.......%0.......|
00000030 00 00 6c e6 0c 00 fe ff 1a 00 14 c0 '''3a''' 00 86 2c |..l.........:..,|
00000040 fc 07 e8 07 e8 09 d9 ff 3c 00 fb ff 9b 00 d3 d9 |........<.......|
00000050 6c 03 00 00 00 00 ae 0e 00 00 00 00 00 00 00 00 |l...............|
00000060 01 00 ca 25 30 00 06 00 01 00 93 80 00 00 6c e6 |...%0.........l.|
00000070 0c 00 fe ff 1a 00 0f c0 '''3a''' 00 87 2c fc 07 e8 07 |........:..,....|
...

The stream of data consisted of 60 byte long sequences of which the first byte always seemed to be 3a = 58.
This number is the size of the payload, which are the bytes after 3a 00. We do not know the purpose of the 00 after 3a.

After this we realized that it would be hard to find the offsets of the sensor data by just looking at the stream above. We built a driver that logged the data in a tabular way.
By doing this we could then rotate the AR.Drone2 around one axis and then look what values were changing in the log file. For acceleration and gyroscope data we used a simmilar technique.

AR Drone 2/NAV board

2012-11-15T12:17:22Z

Bdelrue: Created page with "== Navigation board == Reverse engineering the navigation board was a lot harder than we first thought when we began the project. At the time we found out the device name for the…"

== Navigation board ==
Reverse engineering the navigation board was a lot harder than we first thought when we began the project.
At the time we found out the device name for the motors it was obvious that /dev/ttyO1 would have to be the navboard.
In the AR.Drone SDK, which we don't use for programming, we found a file called ardrone_common_config.h[https://projects.ardrone.org/embedded/ardrone-api/d3/d19/ardrone__common__config_8h-source.html] in which the navboard command numbers are listed. This list does not give a lot of information, but does give us an indication to get started.

There are at least 3 commands that seem usefull:
00032 ADC_CMD_STARTACQ = 1, // to start the acquisition
00033 ADC_CMD_STOPACQ = 2, // to stop the acquisition
00034 ADC_CMD_RESYNC = 3, // to restart the acquisition

After starting the acquisition and performing a hexdump on the data read from /dev/ttyO1 we could see the data flowing in:

echo -e -n "\1" > /dev/ttyO1
dd if=/dev/ttyO1 count=1 bs=60 | hexdump -C

Returns a part of a stream that looks like this:

00000000 '''3a''' 00 85 2c fc 07 e8 07 e8 09 d8 ff 3e 00 fc ff |:..,........>...|
00000010 9b 00 d7 d9 6c 03 00 00 00 00 ae 0e 00 00 00 00 |....l...........|
00000020 00 00 00 00 01 00 ca 25 30 00 06 00 01 00 93 80 |.......%0.......|
00000030 00 00 6c e6 0c 00 fe ff 1a 00 14 c0 '''3a''' 00 86 2c |..l.........:..,|
00000040 fc 07 e8 07 e8 09 d9 ff 3c 00 fb ff 9b 00 d3 d9 |........<.......|
00000050 6c 03 00 00 00 00 ae 0e 00 00 00 00 00 00 00 00 |l...............|
00000060 01 00 ca 25 30 00 06 00 01 00 93 80 00 00 6c e6 |...%0.........l.|
00000070 0c 00 fe ff 1a 00 0f c0 '''3a''' 00 87 2c fc 07 e8 07 |........:..,....|
...

The stream of data consisted of 60 byte long sequences of which the first byte always seemed to be 3a = 58.
This number is the size of the payload, which are the bytes after 3a 00. We do not know the purpose of the 00 after 3a.

After this we realized that it would be hard to find the offsets of the sensor data by just looking at the stream above. We built a driver that logged the data in a tabular way.
By doing this we could then rotate the AR.Drone2 around one axis and then look what values were changing in the log file. For acceleration and gyroscope data we used a simmilar technique.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T11:42:53Z

Bdelrue: /* Connecting */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi on Drone==

Now the necessary raw data ould be obtained and the actuators could be controlled, it's time to integrate

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T11:41:39Z

Bdelrue: /* Data acquisition */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

For transferring files the File Transfer Protocol (FTP) used in this project, was FileZille. Files can be transferred to the AR Drone2 as described next: (dino of iemand and ners, kan je dit aanvullen?)

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi on Drone==

Now the necessary raw data ould be obtained and the actuators could be controlled, it's time to integrate

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T11:38:51Z

Bdelrue: /* Connecting */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the drivers section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

For transferring files the File Transfer Protocol (FTP) used in this project, was FileZille. Files can be transferred to the AR Drone2 as described next: (dino of iemand and ners, kan je dit aanvullen?)

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi on Drone==

Now the necessary raw data ould be obtained and the actuators could be controlled, it's time to integrate

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T11:34:43Z

Bdelrue: /* Connecting */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the drivers section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

The actual connecting was done using Telnet.

*[[Telnet AR.Drone2]]

After installing Telnet a connecting can be established in the following manner: (dino of iemand andners, kan je dit aanvullen?)

*[[FTP AR.Drone2]]

For transferring files the File Transfer Protocol (FTP) used in this project, was FileZille. Files can be transferred to the AR Drone2 as described next: (dino of iemand andners, kan je dit aanvullen?)

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi on Drone==

Now the necessary raw data ould be obtained and the actuators could be controlled, it's time to integrate

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T11:29:31Z

Bdelrue: /* Motor driver */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the drivers section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

==== Telnet====

The actual connecting was done using Telnet. After installing Telnet a connecting can be established in the following manner: (dino of iemand andners, kan je dit aanvullen?)

==== FTP====

For transferring files the File Transfer Protocol (FTP) used in this project, was FileZille. Files can be transferred to the AR Drone2 as described next: (dino of iemand andners, kan je dit aanvullen?)

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi on Drone==

Now the necessary raw data ould be obtained and the actuators could be controlled, it's time to integrate

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-15T11:26:34Z

Bdelrue: /* GPS */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The highly maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 in a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will concern with the subject of making the quadrotor autonomous.

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the drivers section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and for example access it from your current operating system using virtual box.

==== Telnet====

The actual connecting was done using Telnet. After installing Telnet a connecting can be established in the following manner: (dino of iemand andners, kan je dit aanvullen?)

==== FTP====

For transferring files the File Transfer Protocol (FTP) used in this project, was FileZille. Files can be transferred to the AR Drone2 as described next: (dino of iemand andners, kan je dit aanvullen?)

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi on Drone==

Now the necessary raw data ould be obtained and the actuators could be controlled, it's time to integrate

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.