PaparazziUAV - User contributions [en]

Contributing

2017-11-28T12:43:38Z

Coppolam: typo

== How to contribute ==
There are lots of ways to contribute to Paparazzi and get involved. Contributions in the form of elaborating on and expanding documentation, wiki pages, tutorials and code fixes are always welcome and encouraged.

This page will give you a head start on how you can contribute.

=== Wiki ===

If you don't have a Wiki account yet join the [https://gitter.im/paparazzi/discuss Gitter channel] (there is an open chat button in the right lower corner of the page too) and ask and we will Create an account for you. We had to disable normal account creation due to spam attacks.

You can then immediately start adding information, cleaning up, or fixing typos. It is a tremendous contribution to the quality of the PaparazziUAV documentation when you do this! Just Do It:

[[Image:Just_Do_It.gif|400px]]

You do not need a lot of deep technical knowledge to be helpful. If you read something and it is not clear to you, ask for an explanation in the Gitter Chat and then do not forget to add that information to the Wiki.

Some information and links on how to edit the wiki can be found at [[Help:Editing|Help with Editing]].

Please be aware of past edits and page histories. Try not to remove this; if you are moving/renaming a page, use the '''move''' tab at the top of a page. This ensures the revision history is moved with the page.

=== Software development ===

[[File:AGoodCombinationSTM32ProgressnDebugging.jpg|300px|thumb|Left|Learning Tools]]

We use the distributed version control system [http://git-scm.com/ git]. The [http://github.com/paparazzi/paparazzi/ Papaprazzi master repository is hosted on Github].

Also see the [[Git|Git wiki page]] for more details about setting up Git and cloning the source-code and data repository.

Please also have a look at the [http://docs.paparazziuav.org/latest/styleguide.html Coding Style Guide].

Here is the short version if you already know git:
# Create an account on [http://github.com/ github].
# Fork the [http://github.com/paparazzi/paparazzi/ paparazzi repository] on github. (After logging in press the '''fork''' button).
# If you want to clone with SSH: '''git clone git@github.com:<yourname>/paparazzi.git''' Or with HTTPS: '''git clone <nowiki>https://github.com/<yourname>/paparazzi.git</nowiki>''' [https://help.github.com/articles/which-remote-url-should-i-use Which remote URL should I use?]
# '''git remote add upstream <nowiki>https://github.com/paparazzi/paparazzi.git</nowiki>'''
# '''git fetch upstream'''
# checkout a new branch based on the development branch (master): '''git checkout -b my_new_feature upstream/master'''
# fix/code and commit in logical units (with a [http://bit.ly/goodcommitmessages good commit message])
# push your feature/bugfix branch
# Send us a [http://help.github.com/pull-requests/ pull request] on github. (Or send patches to the mailing list).

=== Defects and Features ===
To report a Paparazzi defect or issue. Submit a feature request using the simple [https://github.com/paparazzi/paparazzi/issues issue tracker on github].

=== Continuous Integration Builds ===
There are [[Builds|build servers]] running some [[Builds/Tests|Continuous Integration tests]].

[[Category:Developer_Documentation]]

Contributing

2017-11-28T12:43:17Z

Coppolam: repo --> repository

== How to contribute ==
There are lots of ways to contribute to Paparazzi and get involved. Contributions in the form of elaborating on and expanding documentation, wiki pages, tutorials and code fixes are always welcome and encouraged.

This page will give you a head start on how you can contribute.

=== Wiki ===

If you don't have a Wiki account yet join the [https://gitter.im/paparazzi/discuss Gitter channel] (there is an open chat button in the right lower corner of the page too) and ask and we will Create an account for you. We had to disable normal account creation due to spam attacks.

You can then immediately start adding information, cleaning up, or fixing typos. It is a tremendous contribution to the quality of the PaparazziUAV documentation when you do this! Just Do It:

[[Image:Just_Do_It.gif|400px]]

You do not need a lot of deep technical knowledge to be helpful. If you read something and it is not clear to you, ask for an explanation in the Gitter Chat and then do not forget to add that information to the Wiki.

Some information and links on how to edit the wiki can be found at [[Help:Editing|Help with Editing]].

Please be aware of past edits and page histories. Try not to remove this; if you are moving/renaming a page, use the '''move''' tab at the top of a page. This ensures the revision history is moved with the page.

=== Software development ===

[[File:AGoodCombinationSTM32ProgressnDebugging.jpg|300px|thumb|Left|Learning Tools]]

We use the distributed version control system [http://git-scm.com/ git]. The [http://github.com/paparazzi/paparazzi/ Papaprazzi master repository is hosted on Github].

Also see the [[Git|Git wiki page]] for more details about setting up Git and cloning the source-code and data repository.

Please also have a look at the [http://docs.paparazziuav.org/latest/styleguide.html Coding Style Guide].

Here is the short version if you already know git:
# Create an account on [http://github.com/ github].
# Fork the [http://github.com/paparazzi/paparazzi/ papaprazzi repository] on github. (After logging in press the '''fork''' button).
# If you want to clone with SSH: '''git clone git@github.com:<yourname>/paparazzi.git''' Or with HTTPS: '''git clone <nowiki>https://github.com/<yourname>/paparazzi.git</nowiki>''' [https://help.github.com/articles/which-remote-url-should-i-use Which remote URL should I use?]
# '''git remote add upstream <nowiki>https://github.com/paparazzi/paparazzi.git</nowiki>'''
# '''git fetch upstream'''
# checkout a new branch based on the development branch (master): '''git checkout -b my_new_feature upstream/master'''
# fix/code and commit in logical units (with a [http://bit.ly/goodcommitmessages good commit message])
# push your feature/bugfix branch
# Send us a [http://help.github.com/pull-requests/ pull request] on github. (Or send patches to the mailing list).

=== Defects and Features ===
To report a Paparazzi defect or issue. Submit a feature request using the simple [https://github.com/paparazzi/paparazzi/issues issue tracker on github].

=== Continuous Integration Builds ===
There are [[Builds|build servers]] running some [[Builds/Tests|Continuous Integration tests]].

[[Category:Developer_Documentation]]

DevGuide/CodeEditors

2017-11-28T10:38:17Z

Coppolam: Removed empty section

== Introduction ==

So you want to adjust the sourcecode to your wishes, get rid of some bugs that bother you and help to improve the code, great! While theoretically it all an be done with VI and command line instructions, learning to code for Paparazzi this way is a little cumbersome. Therefore it is a good idea to set up an IDE Integrated Development Environment.

As you may have noticed, this page is far from finished, it really would be great if you help to improve this page with even a small improvement.

== IDE for OCAML ==

We start of with OCAML IDE's first

=== EMACS ===
Tuareg is a really nice mode for Emacs. On Ubuntu/Debian just '''apt-get install tuareg-mode'''.

http://www.emacswiki.org/emacs/TuaregMode

=== Netbeans ===

==== Installation ====
First install a reasonable new Netbeans, e.g. v6.8 via the synaptic package manager in Ubuntu or use the commandline

==== OCAML Plugin ====

http://ocamlplugin.loki-a.com/index.php?title=Main_Page

# Start netbeans IDE
# Go to Netbean menu -Tools - Plugins

# Select tab - Settings
# Click the Add button

Name: Ocaml from Loki a
URL: http://ocamlplugin.loki-a.com/ocamlplugin/updates/updates.xml

# Then click the tab "Available plugins"
# Select for install from the list the "Ocaml Plugin"
# Click Install
# Click Install Then Next
# If you see "Signed but not trusted, ignore the message just click "continue"
# If it all worked, you will see "Install completed successfully, just click "Finish"

==== Syntax Highlighting ====

=== Eclipse ===

* [http://www.algo-prog.info/ocaide/ OcaIDE]
* [http://ocamldt.free.fr/ ODT: OCaml Development Tools]

OcaIDE seems to be the best option for Eclipse. Note that OcaIDE requires eclipse to run under Java 7.
No release of ODT since November 2013.

== IDE for Python ==

[http://www.jetbrains.com/pycharm/ PyCharm] is a great Python IDE with awesome completion, code assistance, debugger and git integration and much more...

== IDE for C and CPP ==

Next are the IDE's for C development

=== Eclipse ===

* [http://eclipse.org/cdt/ Eclipse CDT]
Typical process consists of compiling the autopilot code for given airframe in Paparazzi center, and then running the related debug configuration in Eclipse. The debugger will first recompile whole Paparazzi (e.g. running "make" in Paparazzi home directory), which is not really useful, but bearable.

In case we want to work with a single aircraft and want Eclipse to also compile the autopilot code, we have to do the following:
# Import paparazzi into eclipse as normal
# in Project->Properties->C/C++ Build->Environment, add three variables
## Current_Airframe: set to the name of the airframe you want to build
## PAPARAZZI_HOME: set to the root paparazzi directory
## PAPARAZZI_SRC: set to the root paparazzi directory
# in Project->Properties->C/C++ Build
## in ''Builder Settings'' Tab
### Uncheck ''Use default build command''
### in build command put: ''make -f Makefile.ac AIRCRAFT=${Current_Airframe}''
## In Behavior Tab
### set the Build field to: ap.compile
### set the Clean field to:clean_ac

That will compile ''Current_Aiframe'' with target ''ac''. For this to work however you will first have to set the conf/conf.xml symlink to the correct location. This can be done using ''./start'' in your terminal from the root paparazzi directory.

We also recommend that you load the paparazzi code style into Eclipse, this can be done with the following:
# Navigate to Project->Properties->C/C++ General->Formatter
## Tick the ''Enable project specific settings'' tick box
## Import the Paparazzi profile from {root paparazzi directory}/paparazzi_code_profile_eclipse.xml

== Debugging tools ==

===GDB===
GDB can be used for quite effective Paparazzi debugging. Debugging [[RT_Paparazzi#Debugging_with_an_Eclipse_IDE|guide]] with Eclipse IDE was already described for [[RT_Paparazzi]], but the exact same steps can be used for classic Paparazzi. The guide is [[RT_Paparazzi#Debugging_with_an_Eclipse_IDE|here]]:

[[Category:Software]] [[Category:Developer_Documentation]]

Lisa/S

2017-11-28T10:24:16Z

Coppolam: Deleted empty section "Block diagrams"

[[File:tudelft_logo.jpg|left|120px|link=http://mavlab.lr.tudelft.nl/en/]]
[[File:1bitsquared_logo.png|left|120px|link=http://1bitsquared.com]]
[[Image:Lisa S V0 1 r2 on finger.jpg|300px|right]]

__TOC__

== Lisa/S ==

Lisa/S is a very small general purpose autopilot. The main goal of creating an autopilot of minimal size and weight, while providing enough functionality to enable fully autonomous operation.

=== Mechanical Dimensions ===

* '''Size: 20mm x 20mm x 5mm (0.787" x 0.787" x 0.197")'''
* '''Weight: 2.8g (0.1oz)'''

=== Features ===

* 72MHz 32bit ARM Cortex M3 MCU with 16KB RAM and 512KB Flash
* Combined 3 Axis Gyroscope and 3 Axis Accelerometer
* 3 Axis Magnetometer
* Barometer (Altimeter)
* Onboard U-Blox GPS
* Pads to simply connect a [[SuperbitRF|Superbit CYRF]] RC and telemetry module
* Switching buck/boost converter allowing wide range of power input making it perfect and stable for operation from a 1S LiPO cell.
* 2 MOSFET switches connected to PWM output channels
* 6 PWM (servo) outputs
* 1 UART port
* 1 CAN interface
* 1 Bind/Boot tact switch
* SWD programming/debugging interface
* Size: 20mm x 20mm x 5mm (0.787" x 0.787" x 0.197")
* Weight: 2.8g (0.1oz)

=== Pictures ===

[[Image:Lisa_s_v0_1_r2_top_ruler.jpg|300px]]
[[Image:Lisa_s_v0_1_r2_bottom_ruler.jpg|300px]]
[[Image:Lisa_s_v0_1_r2_top_superbit.jpg|300px]]
[[Image:Lisa_s_v0_1_r2_bottom_superbit.jpg|300px]]

So if you are ready to make your tiny plane fly autonomously,[http://1bitsquared.com/collections/frontpage/products/lisa-s you can already order one here]

== Where to Purchase ==

[[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] The Lisa/S Autopilot is available for purchase from [http://1bitsquared.com/products/lisa-s-starter-kit 1 BIT SQUARED].

== Pinout ==

For a good example with which pins to connect where go to [[Lisa/S/Tutorial/Nano_Quadcopter]]. For more pinout info the site of manufacturer [http://cdn.shopify.com/s/files/1/0245/8645/products/LisaS_pinout_61ab6205-3e69-4602-8fbc-4c27ac55bbc4_1024x1024.jpg]

== Servo connections ==

MOT1 (DC) = SERVO3 (PWM) = nb 0 (airframe)
MOT2 (DC) = SERVO4 (PWM) = nb 1 (airframe)
MOT3 (DC) = SERVO5 (PWM) = nb 2 (airframe)
MOT4 (DC) = SERVO6 (PWM) = nb 3 (airframe)
SERVO1 (PWM) = nb 4 (airframe, not compatible with I2C1)
SERVO2 (PWM) = nb 5 (airframe, not compatible with I2C1)

== Barometer ==

In order to use the barometer, you just need to add one line to your firmware block (in your airframe file) :

{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
<target name="ap" board="lisa_s_0.1">
...
</target>
...
<define name="USE_BAROMETER" value="TRUE"/>
...
</firmware>
</source>
}}

Once that line is added to the airframe file, you should be able to get the values of the barometer and paparazzi is going to take them into account when doing it's calculations.

Warning : the barometer doesn't seams to be working at a higher frequency than 120Hz in a fixed wing airframe. Than mean that in a fixed wing airframe the PERIODIC_FREQUENCY must be equal or lower than 120. In rotorcraft the barometer works fine.

== Schematics ==

[[Image:Lisa_s_0_1_r1_schematic.png|300px|thumb|none|Lisa/S V0.1 R1 Schematic]]
[[Image:Lisa_s_1_0_r12_schematic.png|300px|thumb|none|Lisa/S V1.0 R12 Schematic]]

== Pre-Release v0.1 ==

One of the earliest versions of the board which is still used in the [http://www.mavlab.info/ MAVlab] of the TU-Delft is the Lisa/S V0.1R2. If you are not working there, this info is of no importance to you...Else as a reminder to all: This version is slightly different from newer versions:

* The SWIO and GND pin from the Serial Wire Debug (SWD) headers are flipped, such that the order becomes TRACE-SWCLK-SWDIO-GND.
* There is no capacitor to enable a warm start for the GPS.
* Instead of four, only two brushed motors can be connected.

=Lisa/S Nano Quadcopter Kit Assembly Tutorial=

1. Go the the [[Lisa/S/Tutorial/Nano_Quadcopter|Lisa/S Nano Quadcopter Kit Assembly Tutorial]] Page to get a good explanation for how to connect your board to a Nano Quadcopter.

[[Category:Lisa]] [[Category:User_Documentation]] [[Category:Autopilots]]

Student Projects

2017-11-28T09:44:23Z

Coppolam: Fixed typo

This page is a collection of past and current Paparazzi based student projects.

Most of these projects use features or code that is not maintained by the core developer group and are not included in the master branch of the Paparazzi code base. If you want to adopt one of these orphan projects, fell free to contact the [[Contact|paparazzi developers]].

* [[Ipodrom]]: A GCS on a cell phone before the smart-phones
* [[POW|Paparazzi On the Web]]: A web-based GCS
* [[Corsica]]: A long endurance micro-UAV project
* [[Flight_log_book]]: Store your flight logs on a web server
* [[Mission_planning]]: Plan your missions for a fleet of MAV
* [[New_Gaia]]: A brand new environmental simulator
* [[TU Delft - Autonomous Quadrotor]]: An autonomous quadrotor without using ARDrone SDK
* [[TU Delft - StratoBlimp]]: An autonomous UAV launched from a balloon in the stratosphere.
* [[Autofocus|ENAC - Autofocus]]: User friendly IMU calibration tool

[[Category:Developer_Documentation]] [[Category:Projects]]

Links

2017-11-28T09:40:43Z

Coppolam: Directed blog link to proper webpage

== Paparazzi Blog ==
There is a blog about Paparazzi and related things at [http://blog.paparazziuav.org blog.paparazziuav.org].

== Paparazzi Youtube and Other Video Site Links ==

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

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

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

== Paparazzi teams/users/contributors ==

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

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

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

http://pfump.org

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

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

http://www.techhopups.com/

http://pixhawk.ethz.ch

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

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

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

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

http://www.openuas.org/

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

http://y-uav.com

http://www.umars.ch

== WikiNode ==

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

[[Category:User_Documentation]]

Module/AOA adc

2017-11-28T09:28:11Z

Coppolam: Fixed a couple more typos

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

== Introduction ==

AOA_adc is a simple module that has been written to test the flight behaviour with a Angle Of Attack sensor.

It reads the value of an defined ADC port and converts it to an angle.

=== Implementation option A ===

A mode variable named h_ctl_pitch_mode in the stabilization_attitude.c enables to switch between estimator_theta (IMU) and estimator_AOA to control the elevator.

=== Measurements ===

{TODO: description}

== Hardware ==

{TODO: image}

Angle of Attack ADC Sensor
*'''US DIGITAL MA3-A10-236-N'''
If you are using the analog version of this sensor, be sure to connect it to a 5V tolerant ADC on you autopilot. For instance ADC2 on Lisa/M is not 5V tolerant, so a voltage divider is needed to scale the signal down to 3.3V.
ModuleXML
*AOA_adc.xml
Code- and headerfile
*sw/airborne/modules/sensors
Settings file
*AOA_adc.xml

== Airframe Adjustments ==

* (1) '''Insert''' the software module in the airframe:
<source lang="xml">
<modules>
<load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_6"/>
<define name="AOA_OFFSET" value="-0.135000005364"/>
<define name="AOA_FILTER" value="0.875999987125"/>
<define name="USE_AOA"/>
</load>
</modules>
</source>
* Legend:
**The ACS_AOA defines on whitch port the US Digital Sensor is connected to.
**The AOA_OFFSET is needed to adjust the Zero rad mark in the normal flightposition. It can be changed with the AOA_adc.xml settings loaded.
**The AOA_FILTER describes the PT1 filter value of the angle. 0 = no filter
**Define USE_AOA to make the module work.

* (2) '''Load''' the settings XML in the GCS: AOA_adc.xml
* (3) Now you can turn on the pitch stabilization by setting the '''PITCH_Mode''' to 1
** PITCH_Mode = 0 --> estimator_thata from IMU (default)

[[Category:Modules]]

Module/AOA adc

2017-11-28T09:27:11Z

Coppolam: Fixed typo

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

== Introduction ==

AOA_adc is a simple module that is be written to test the flight behaviour with a Angle Of Attack sensor.

It reads the value of an defined ADC port and converts it to and angle.

=== Implementation option A ===

A mode variable named h_ctl_pitch_mode in the stabilization_attitude.c enables to switch between estimator_theta (IMU) and estimator_AOA to control the elevator.

=== Measurements ===

{TODO: description}

== Hardware ==

{TODO: image}

Angle of Attack ADC Sensor
*'''US DIGITAL MA3-A10-236-N'''
If you are using the analog version of this sensor, be sure to connect it to a 5V tolerant ADC on you autopilot. For instance ADC2 on Lisa/M is not 5V tolerant, so a voltage divider is needed to scale the signal down to 3.3V.
ModuleXML
*AOA_adc.xml
Code- and headerfile
*sw/airborne/modules/sensors
Settings file
*AOA_adc.xml

== Airframe Adjustments ==

* (1) '''Insert''' the software module in the airframe:
<source lang="xml">
<modules>
<load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_6"/>
<define name="AOA_OFFSET" value="-0.135000005364"/>
<define name="AOA_FILTER" value="0.875999987125"/>
<define name="USE_AOA"/>
</load>
</modules>
</source>
* Legend:
**The ACS_AOA defines on whitch port the US Digital Sensor is connected to.
**The AOA_OFFSET is needed to adjust the Zero rad mark in the normal flightposition. It can be changed with the AOA_adc.xml settings loaded.
**The AOA_FILTER describes the PT1 filter value of the angle. 0 = no filter
**Define USE_AOA to make the module work.

* (2) '''Load''' the settings XML in the GCS: AOA_adc.xml
* (3) Now you can turn on the pitch stabilization by setting the '''PITCH_Mode''' to 1
** PITCH_Mode = 0 --> estimator_thata from IMU (default)

[[Category:Modules]]