PaparazziUAV - User contributions [en]

Modems

2008-10-30T03:26:04Z

Corybarton: /* Maxstream XBee Pro 2.4GHz (802.15.4, "Series 1") */

The Paparazzi autopilot features a 5V tolerant 3V TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate thru non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Modem|Airframe Configuration]] page.

== Maxstream XBee Pro 2.4GHz (802.15.4, "Series 1") ==

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1.6km (1 mile) range (Paparazzi tested to 2.5km (1.5 miles)). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices. For the plane, get the whip antenna version if you are not planning to build a custom antenna.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4Ghz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* price : ~32$
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}

=== Pinout ===

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
 

{|border="1"
|-valign="top"
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||
|-
|1
| +3.3v
| Power
|Red
|-
|2
|DOUT
|Tx output - connect to Autopilot Rx
|Green
|-
|3
|DIN
|Rx input - connect to Autopilot Tx
|Blue
|-
|10
|GND
| Ground
|Black
|}

The image view is from above, top, thus NOT at the side where the connector pins come out

=== Documentation ===

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]

== Maxstream XBee Pro XSC 900Mhz ==

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4Ghz video compatibility of their high end 900Mhz models. Sounds like the perfect modem for anyone who can use 900Mhz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900Mhz
* Output Power 100mW
* Sensitivity -100 dBm
* Data Rate: 9600 bps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : ~75 USD
|
|}
=== Documentation ===
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

== Maxstream 9XTend ==

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable power settings from 100mW to 1W. Testing has shown range up to 3.2km (2 miles) with 100mW.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : ~179 USD
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

=== Pinout ===

[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]

{| border="1"
|-valign="top"
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''
|-
||1||GND||1 (GND)||Ground
|-
||2||VCC||N/A (requires 5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)
|-
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX
|-
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX
|-
||7||Shutdown||N/A (requires 5V)||Permanently connect this pin to the 5V bus for normal operation
|}
Notes: 
* 9XTend can run on voltages as low as 2.8V but users are strongly advised against connecting any modem (especially high power models) to the sensitive 3.3V bus supplying the autopilot processor and sensors.
 

=== Documentation ===

* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]

== Aerocomm ==
Aerocomm's API mode is not yet implemented. Therefore they are used in transparent mode. Users are reporting these modems cause more interference with GPS reception then the Maxstream modem.

How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe).
* Output Power (w/ 2dBi antenna) 250 mW
* Sensitivity (@ full RF data rate) -103 dB
* RF Data Rate Up to 28.8 Kbps
* INterface Data Rate Up to 57.6 Kbps
* Power Draw (typical) 240 mA TX / 36 mA RX
* Supply Voltage 3.3v & 5V or 3.3v only
* Range (typical, depends on antenna & environment) Up to 15 kilometers line-of-sight
* Dimensions 49 x 42 x 5mm
* Weight < 21 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : ~80$
|
[[Image:ConnexLink_USB_RF_Modem.jpg|thumb|Aerocomm USB Stand-alone Modem]]
|-
|

=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : ~80$
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|

=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : ~80$
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Aerocomm AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Aerocomm AC4490 wiring example]]
 

{| border="1"
|+ Wiring the Aerocomm AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny Serial-1'''''||'''''Notes'''''
|-
||2||Tx||green||7||''(Note 1)''
|-
||3||Rx||blue||8||''(Note 1)''
|-
||5||GND||black||1|| -
|-
||10+11||VCC||red||2||+3.3v
|-
||17||C/D||white||3||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

=== Documentation ===
* [http://www.aerocomm.com/rf_transceiver_modules/ac4790_mesh-ready_transceiver.htm AC4790 product page]
* [http://www.aerocomm.com/docs/Datasheet_AC4790_HI.pdf AC4790 Datasheet]
* [http://www.aerocomm.com/docs/User_Manual_AC4790.pdf AC4790 Manual]
* [http://www.aerocomm.com/rf_transceiver_modules/ac4868_868mhz_rf_transceiver.htm AC4848 product page]
* [http://www.aerocomm.com/docs/Datasheet_AC4868_HI.pdf AC4868 Datasheet]
* [http://www.aerocomm.com/docs/User_Manual_AC4868.pdf AC4868 user manual]

== Radiotronix ==
These Radiotronix modems are used in transparent mode. Use the WI232EUR Evaluation Software for configuring the modems for the set speed. Connect /CMD and CTS for programming. The DTS version for the US market might cause severe interference with GPS reception, it is not recommended. For a nice ground station modem just add a FTDI232 USB->serial cable, a 3.3V regulator with 100nF capacitors from supplies to ground, solder a SMA cable/connector and put it in a nice case. Make sure you only connect RTS to /CMD if you want to reprogram the modem with the Evaluation software (see the open jumper connection in the picture, green wire) and leave it floating otherwise. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions.
{|
|
=== WI232EUR ===
* Frequency Band 868MHz (for Europe)
* Output Power 32 mW
* RF Data Rate Up to 76.8 kbps
* Interface Data Rate up to 115.2 kbps
* Power Draw (typical) 65 mA TX / 20 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 500 meters line-of-sight
* Dimensions 24 x 21 x 4mm
* Weight ~2 grams
* Interface solder connector
* Antenna solder connector
* price : ~25$
|
[[Image:Wi232eur_wiring.jpg|thumb|WI232EUR Modem]]
|-
|

=== Pinout ===

 

{| border="1"
|+ Wiring the WI232EUR to the Tiny
|-valign="top"
||'''''WI232 pins'''''||'''''Name'''''||'''''Tiny Serial-1'''''||'''''Notes'''''
|-
||6||TxD||7||''(Note 1)''
|-
||5||RxD||8||''(Note 1)''
|-
||15-18||GND||1|| -
|-
||19||VCC||2||+3.3v
|-
||4||/CMD||-||''(Note 2)''
|-
||7||CTS||-||''(Note 3)''
|}
''Note 1 : names are specified with respect to the Radiotronix module''

''Note 2 : connect to RTS to program device with Evaluation software''

''Note 3 : connect to CTS to program device with Evaluation software''

|
[[Image:Wi232eur_bopla.jpg|thumb|WI232EUR Modem in BOPLA case]]
|-
|
|}
=== Documentation ===
* [http://www.radiotronix.com/datasheets/new/eur_um.pdf WI232EUR data sheet]
* [http://www.radiotronix.com/datasheets/new/rk-eur_um.pdf WI232EUR user's manual]
* [http://www.radiotronix.com/downloads/software/EUR/setup.exe Evaluation software]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== "Sparkfun" Roving Networks (WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : ~45$
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

To connect to it, get the MAC address of the bluetooth modem

me@mybox:~$ hcitool scan
Scanning ...
00:06:66:00:53:AD FireFly-53AD

and make a virtual connection to a Bluetooth serial port

sudo rfcomm bind 0 00:06:66:00:53:AD

now you can use Bluetooth as /dev/rfcomm0 with the Paparazzi 'link'. You might need to restart 'link' in case you get out of range and it disconnects (tbd). Set the Tiny serial speed to 115200 as the modules come preconfigured to that.
|}

== Coronis WaveCard ==

These relatively inexpensive and light modules implement a Coronis proprietary protocol. Low power consumption - high latency - I would not recommend these modules mostly because of the low quality of the distribution and support. The documentation is rather poor and not easily available.

'''Suport for these modems has been removed from the airborne code on Dec 10th, 2007.'''
{|
|-valign="top"
|
* Frequency Band 400MHz, 868Mhz and 915MHz (3 versions)
* Output Power 25mW and 500mW (2 versions)
* Sensitivity -110 dBm (@ 9600 bps)
* Data Rate 100 Kbps
* Power Draw (typical) 45mA (25mW), 450mA (500mW) TX / 15 mA RX
* Supply Voltage ...
* Range (typical, depends on antenna & environment) Up to 1km (25mW) , 5km (500mW) line-of-sight
* Dimensions 30 x 28 x 7mm (25mW), 37 x 30 x 7mm (500mW)
* 50 ohm RF port for antenna connection
|
[[Image:wavecard.jpg|Coronis Wavecard]]
|}

=== Documentation ===

* [http://www.coronis-systems.com/produit.php?lang=EN&id=WCA www.coronis-systems.com]
* [[Media:CS-COM-SPRD-WAVECARD-E03B.pdf|Wavecard datasheet]]

== Video Transmitter Telemetry ==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, a video transmitter is needed. The paparazzi AP sends all telemetry data down with the video on the audio channel portion of the transmitter. This means that the transmitter must have an audio channel. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.
 

== Antennas ==

Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]]
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]]
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]]

DevGuide/DesignOverview

2008-10-21T14:53:43Z

Corybarton: /* Generating Doxygen Code Documentation */

== Airborne Functional Diagram ==
[[Image:functional_diagram.png]]

== Design Goals ==
-Static approach
-Modularity
-Hardware absraction
-Runtime efficiency

=== Static Approach ===
-only "things that needs to be changed during flight are changeable
-maximise compilation time resolutions

advantages
Error checking
Efficiency
Safety/Robustness

=== Modularity ===

[[Image:modularity.png]]

-Separation of concerns
-Maintenability
-Interface
-C provide no dedicated mechanism for modularity
-Main issues with modularity are configuration and dependancies

[[Image:dependancies_example.png]]

=== Hardware abstraction ===

-Segregate hardware dependant modules

[[Image:hardware_abstraction.png]]

=== Runtime Efficiency ===
It's very unlikely that we will change the serial port on which we connected our modem inflight.

bad :
switch(UART) {
case UART0 : UARTO_write(...); break;
case UART1 : UART1_write(...); break;
}

good :
#define UartWrite(x) UART ## _write(x)
UartWrite(...);

== Design Solutions ==

* Heavy pre-processor usage
* C code generation
* Heavy Makefile usage
* Conventions to define our own module layer

=== pre-processor ===

==== header selection ====

conf/airframes/funjet1.xml

<makefile>
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\"
</makefile>

generated var/FJ1/Makefile.ac

ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\"

sw/airborne/actuators.h
#include ACTUATORS

expanded by pre-processor to

#include "servos_4017_hw.h"

==== macros ====

conf/airframes/funjet1.xml
ap.CFLAGS += -DXBEE_UART=Uart1

sw/airborne/xbee.h
#define __XBeeLink(dev, _x) dev##_x
#define _XBeeLink(dev, _x) __XBeeLink(dev, _x)
#define XBeeLink(_x) _XBeeLink(XBEE_UART, _x)
#define XBeeBuffer() XBeeLink(ChAvailable())

expanded by pre-processor to

Uart1ChAvailable()

=== C code generation ===

For problems too complex to solve with the pre processor, we use custom compilers to generate code from a description in xml

==== example 1 : command laws, aka mixers ====
conf/airframes/funjet1.xml
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>

generated var/FJ1/airframe.h
#define SetActuatorsFromCommands(values) { \
uint16_t servo_value;\
float command_value;\
int16_t _var_aileron = values[COMMAND_ROLL] * AILEVON_AILERON_RATE;\
int16_t _var_elevator = values[COMMAND_PITCH] * AILEVON_ELEVATOR_RATE;\
[....]
command_value = _var_elevator + _var_aileron;\
command_value *= command_value>0 ? SERVO_AILEVON_LEFT_TRAVEL_UP : SERVO_AILEVON_LEFT_TRAVEL_DOWN;\
servo_value = SERVO_AILEVON_LEFT_NEUTRAL + (int16_t)(command_value);\
actuators[SERVO_AILEVON_LEFT] = ChopServo(servo_value, SERVO_AILEVON_LEFT_MIN, SERVO_AILEVON_LEFT_MAX);\
Actuator(SERVO_AILEVON_LEFT) = SERVOS_TICS_OF_USEC(actuators[SERVO_AILEVON_LEFT]);\

==== example 2 : flight plan ====

conf/flight plans/example.xml
<block name="For loop (circles wp 1)">
<for from="0" to="3" var="i">
<circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
</for>
<deroute block="Standby"/>
</block>
generated var/flight plan.h
Block(29) // For loop (circles wp 1)
switch(nav_stage) {
static int8_t _var_i;
static int8_t _var_i_to;
Stage(0)
_var_i = 0 - 1;
_var_i_to = 3;
Label(for_11)
Stage(1)
if (++_var_i > _var_i_to) Goto(endfor_12) else NextStageAndBreak();
Stage(2)
NavVerticalAutoThrottleMode(RadOfDeg(0.000000));
NavVerticalAltitudeMode(WaypointAlt(3), 0.);
NavCircleWaypoint(3, (DEFAULT_CIRCLE_RADIUS+(_var_i*10)));
if ((NavCircleCount()>1)) NextStageAndBreak();
break;
Stage(3)
Goto(for_11)
Label(endfor_12)
Stage(5)
NextBlock();
break;
}

=== Makefile ===

==== Connecting and configuring modules ====

ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1
ap.srcs += downlink.c xbee.c
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
ap.srcs += \$(SRC_ARCH)/uart_hw.c

==== Modules configuration ====

3 sources of configuration:
* airframe configuration file ( airframe.xml ) which "compiled" to C files and Makefile
* specific per module configuration file ( eg radio.xml, flightplan.xml) compiled to C code to allow factorization between airframes.
* specific per board configuration file ( eg tiny.h ) to describe modules configuration imposed by board routing

[[Image:modules_configuration.png]]

=== Conventions ===

== Generating Doxygen Code Documentation ==

A way to look at the includes and dependencies is to use the graphs generated with doxygen. After installing Paparazzi, install Doxygen:

sudo apt-get install doxygen graphviz

run the generation tool from the paparazzi3/ directory:

make doxygen

Now Doxygen will have generated html documentation(open this with any web browser) in your paparazzi3/dox/html folder.

To look at a list of all of the files used by the airborne software:
paparazzi3/dox/html/files.html
The main_ap.c will also interest you.
paparazzi3/dox/html/main__ap_8c.html

This is a sample of a Doxygen Graph:
[[Image:Autopilot_8h_incl.png|Include dependency graph for autopilot.h]]

File:Autopilot 8h incl.png

2008-10-21T14:50:25Z

Corybarton:

Telemetry

2008-10-16T22:08:02Z

Corybarton: /* GPS_SOL */

== Messages ==
The set of periodic messages sent over the downlink channel by an aircraft to the ground station is configurable
with the help of one XML file, located in the <tt>conf/telemetry</tt> directory. This file is called by <tt>conf/conf.xml</tt> and must follow the
<tt>telemetry.dtd</tt> syntax. The <tt>default.xml</tt> is provided as an example and should be suitable for most users:

<tt><!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Ap">
<mode name="default">
<message name="ATTITUDE" period="0.5"/>
<message name="PPRZ_MODE" period="5"/>
...
</mode>
<mode name="fast attitude">
<message name="ATTITUDE" period="0.1"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">
<message name="COMMANDS" period="1"/>
...
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
</mode>
</process>
</telemetry></tt>

===Specific Messages===

====GPS_SOL====
Specification in telemetry file
<message name="GPS_SOL" period="2.0"/>
Example from logfile(.data):
6.742 1 GPS_SOL 232 43 198 8

Meaning of tokens:
Timestamp, Aircraft-Number, GPS_SOL, Pacc, Sacc, PDOP, numSV
*Pacc = Position accuracy (units: CM)
*Sacc = Speed accuracy (units: CM/sec ?)
*PDOP = ?
*numSV = number of satellites detected

====PPRZ_MODE====
Specification in telemetry file
<message name="PPRZ_MODE" period="5."/>
Example from logfile(.data):
20.433 2 PPRZ_MODE 0 1 2 0 0 1

Meaning of tokens:
Timestamp, Aircraft-Number, PPRZ_MODE, ap_mode, ap_gaz, ap_horizontal, if_calib_mode, mcul_status
*ap_mode = (0 = MANUAL, 1 = AUTO1, 2 = AUTO2, 3 = HOME mode (Circle Home waypoint), 4 = NO_GPS (GPS not working), 5 = NB (?)
*ap_gaz = ?
*ap_horizontal = ?
*if_calib_mode = ?
*mcul_status = ?

===Configuring the Downlink Data Rate===

The limited throughput of our RF modems results in a need to carefully choose which data to send, as well as the frequency at which to send it. A sophisticated set of files and parameters have been developed in order to tailor the data downlink behavior automatically, manually, temporarily, or permanently according to any desired parameter. This allows the user to create an almost unlimited possibility of downlink configurations. For example:
* Tailor the data rate to work with very slow modems (9600 baud or slower)
* Reduce the data rate of some messages so that others can be increased:
*: Automatically send GPS data at a very high rate by sacrificing navigation data when not flying (to help GPS/RFI troubleshooting) then automatically reduce the GPS data rate and send normal navigation data when the launch is initiated.
*: Automatically switch to sending only position data upon landing to conserve power and increase the chance of the operator receiving a position packet when recovering a distant aircraft.
*: Manually send selected sensor data at very high speeds (60Hz) for real time tuning.
* Maintain independent telemetry configurations for aircraft with different modems, sensors, or mission profiles.

Any number of configuration files can be created in the <tt>conf/telemetry</tt> directory and selected from the <tt>conf/conf.xml</tt> file. The telemetry downlink is divided into two processes, '''Ap''' and '''Fbw''' each with a possible <tt>mode</tt> option. Any number of modes could be created, the default is the first in the sequence. A mode contains the list of messages to be sent as well as the period of each message in seconds. In this example, the '''ATTITUDE''' message will be sent by the '''Ap''' process at 2Hz in the default mode and at 10Hz in the '''fast attitude''' mode. The maximum allowed frequency is 60Hz (0.017s) and the maximum period is 1092s.

The mode can be chosen in the airframe file by setting the '''TELEMETRY_MODE_FBW''' constant:
<tt><define name="TELEMETRY_MODE_FBW" value="1"/></tt>
where the (default) first mode is numbered '''0'''.

This mode can also be changed dynamically with a datalink [[#Settings|setting]] or with a [[Flight_Plans#set|set]] stage in the flight plan.

Note that an (undocumented!) subset of the messages is required to be able to use ground station properly. So it is not advisable to completely remove messages for the '''Ap''' process listed in the default mode.

== Settings ==

The <tt>settings</tt> attribute in the description of the aircraft in <tt>conf.xml</tt> allows the user to specify a list of variables for which values can be changed in-flight:
<tt><aircraft
name="Microjet"
...
settings="settings/basic.xml"
...
/></tt>

with the <tt>basic.xml</tt> file located in <tt>conf/settings/</tt>. A <tt>dl_setting</tt> element in this file associates [[GCS#Settings|buttons or sliders in the GCS interface]] to autopilot variables:
<tt><!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="1000" MIN="-50" STEP="10" VAR="altitude_shift"/>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode">
<strip_button name="AUTO2" value="2"/>
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
<strip_button name="Launch" value="1"/>
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
</dl_settings>
</dl_settings>
</settings></tt>
where <tt>dl_settings</tt> elements can be nested at any depth. A <tt>dl_setting</tt> element just specifies the name of the variable, the allowed range for the setting (<tt>min</tt> and <tt>max</tt> attributes) and the minimal <tt>step</tt>.

A notebook page will be associated in the GUI to each <tt>dl_settings</tt> element. A slider will be associated to each <tt>dl_setting</tt> entry except if the range is small (typically less than 3) and discrete (step=1): in the latter case, a set of radio buttons will be displayed.

The <tt>strip_button</tt> element adds a button to the [[GCS#Strip|GCS strip]] for commonly used tasks like "Launch" or "Circle". Multiple buttons can be used to assign different values to the same variable.

The <tt>param</tt> attribute of a <tt>dl_setting</tt> element allows to specify the corresponding parameter in the airframe file in order to save a tuned value:
<tt><dl_setting max="0.3" min="-0.3" step="0.01" var="ir_roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/></tt>
where the <tt>unit</tt> attribute is required for the parameters which do not use the same unit than the corresponding variable (currently only for some angle parameters in degrees in the airframe file and in radians for the variable).

== R/C Transmitter Data Uplink (Obsolete) ==

With the advent of small modems such as the popular Zigbee-based models, the value of the R/C transmitter based data-link is substantially reduced and the audio-based downlink has also been removed from current hardware designs. Nevertheless, this feature may still prove useful for extremely minimal hardware configurations.
The <tt>tuning_rc.xml</tt> file is located in <tt>conf/settings</tt>.
<tt><aircraft
name="Microjet"
...
settings="settings/tuning_rc.xml"
...
/></tt>
A <tt>rc_settings</tt> element in this file associates switches and sliders of the RC to airborne variables:
<tt><!DOCTYPE settings SYSTEM "settings.dtd">

<settings>
<rc_settings>
<rc_mode NAME="AUTO1">
<rc_setting VAR="ir_pitch_neutral" RANGE="2" RC="gain_1_up" TYPE="float"/>
<rc_setting VAR="ir_roll_neutral" RANGE="-2" RC="gain_1_down" TYPE="float"/>
</rc_mode>
<rc_mode NAME="AUTO2">
<rc_setting VAR="course_pgain" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
<rc_setting VAR="pitch_of_roll" RANGE=".2" RC="gain_1_down" TYPE="float"/>
</rc_mode>
</rc_settings>
</settings></tt>
First, settings are sorted by mode (<tt>AUTO1</tt> or <tt>AUTO2</tt>). Then a setting is composed of a <tt>var</tt>iable name, a <tt>range</tt> (corresponding to the range of the RC slider) and a <tt>RC</tt> name. The RC name prefix can be ''gain_1'' or ''gain_2'', which corresponds to the <tt>GAIN1</tt> and <tt>GAIN2</tt> channels of your RC transmitter [[Radio_Control|configuration]]. The RC name suffix can be ''up'' or ''down'', which is related to the position of the <tt>CALIB</tt> switch on the RC transmitter.

Get Hardware

2008-10-07T18:11:26Z

Corybarton: link to comlaint thread fixed

As an open-source project, all source code and hardware plans are [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/hw/ freely available on the CVS Server] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

We encourage the distribution of hardware for profit or otherwise and invite any users with paparazzi-related hardware to post links and purchasing information on this page. Please use the [[Talk:Get_Hardware&action=edit|Discussion Tab]] to describe your experiences with any of these vendors.

<hr>

 
 
= [http://www.fmadirect.com FMA Direct] =
[[image:1888.gif|thumb|400px|FMA Direct]]
FMA is a good source of low cost IR sensors.
* [http://www.fmadirect.com/Detail.htm?item=1778&section=20 X-Y Sensor]
* [http://www.fmadirect.com/Detail.htm?item=1888&section=47 Z-Sensor]

 
= HALFBASE removed by Anton on 10/07/2008. Multiple people have claimed fraud. No delivery of product confirmed yet =
Some people have had problems with Halfbase. For more information see [http://lists.gnu.org/archive/cgi-bin/namazu.cgi?query=%22Order+from+HALFBASE%22&submit=Search&idxname=paparazzi-devel this thread] in the mailing list.
'''PLEASE READ BEFORE ORDERING'''.

 

= [http://mantiselec.com/paparazzi.html Mantis Electronics] =
[[image:lot1.jpg|thumb|400px|Mantis Electronics]]
Mantis Electronics is pleased to offer assembled Tiny 2.11, IR boards, GPS modules, USB-TTL interface boards, 3-Axis I2C/SPI accelerometer boards, and accessories for immediate order.
Our boards are solder paste stencilled, reflow soldered and 100% tested.
<h3>Our Items:</h3>
<ul>
<li>Tiny 2.11 assembled with LEA-4P and GPS antenna: $250 ($260 with Molex Picoblade connectors)
<li>2-Axis IR board with IR sensors: $75
<li>1-Axis IR board with IR sensors: $55
<li>u-blox LEA-4P GPS module: $75
<li>USB<->TTL Serial board: $15 (useful for programming and telemetry)
<li>3-Axis I2C/SPI accelerometer board: $35
<li>MLX90247 IR sensors: $12
<li>Tiny 2.11 bare PCB: $10
<li>2-Axis IR bare PCB: $5
<li>1-Axis IR bare PCB: $5
</ul>
Current lead time for orders is 3 weeks. USA shipping is $6. International shipping is $15.
 Please see our website [http://mantiselec.com/paparazzi.html http://mantiselec.com/paparazzi.html] to order.

 
= [http://www.olimex.com/pcb/ Olimex] =
[[image:pcb-green.jpg|thumb|400px|Olimex PCBs]]
Fast PCB Prototypes
[http://www.olimex.com/pcb/ www.olimex.com/pcb]

 
= [http://www.ppzuav.com/ PPZUAV] Get it now without issues. =
[[image:BUNDLE2BASIC.jpg|thumb|400px|PPZUAV]]

NEW: IN-STOCK READY TO PROGRAM AND SHIP: '''''Tiny2.11/TWOG now available now in stock ready to ship.''''' 
NEW: '''''[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=67 Bundles] that include the parts you need are now available.'''''
We know it can be daunting to discover Paparazzi and wonder what to do first. So we take care of the basics for you before shipping. Each [http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=35 Fully Assembled Tiny2.11] ready to program another feature the competition is just now starting to offer. How we do this: 
<ol>
<li>We load the bootloader
<li>configure the GPS module (LEA-5H Tiny2.11 we also update the GPS Firmware to the latest from u-blox)
<li>We load a sample tiny2.11 program into it.
<li>We verify it runs the program (LED1/RED flashes)
<li>Then acquires a 3D fix (LED2/GREEN flashes).
</ol>

For TWOG orders we load the USB Boot Loader for you before shipping. This means you can use the USB programming cable as soon as you receive your TWOG to program it.
This means when you order a TWOG or Tiny Autopilot you receive a tested, working, ready to configure for your aircraft Paparazzi Autopilot Assembly. Quite often new users will wonder if the Autopilot working so knowing it was configured and tested will help you focus on the real issue(s) and get flying faster.

Please eMail '''sales@ppzuav.com''' with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.

'''''Coming Soon: Paparazzi Designed (CVS) GPS external assembly (v1.3) for TWOG'''''

[http://www.ppzuav.com/osc/catalog Visit the PPZUAV WebStore]
<ul>
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=72 TWOG Bundle5]
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=67 Tiny2.11 Bundle1]
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=59 Assembled Tiny2.11 "LEA-5H GPS"] ('''latest u-blox GPS module''')
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=7 GPS Antenna]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=4_2 Autopilots] '''TWOG''', '''Tiny2.11 (In Stock Now)'''
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=6 Cables]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=8 GPS modules]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=5 IR Sensors]
<li>[http://ppzuav.com/osc/catalog/product_info.php?products_id=29 Tiny2.11 bare PCB]
<li>...and more...visit site for latest items added
</ul>

'''''ABOUT US:'''''
We are Paparazzi Project users ourselves. However we are also business people and know how to take care of our customers. Since our customers are University Faculty, students and Paparazzi Members our pricing includes an Academic discount. Since we do charge for the service we make sure you get the best service possible at a competative price. No issues, no hassles, shipped promptly and reliably. What you can expect:
<ol>
<li>We reply to all emails promptly. You can call us if you need to. We return all phone calls the same day.
<li>We keep most items in stock. If not it's something we can get in only a day or two.
<li>We spend a lot of time making sure your order is filled and shipped quickly
<li>Ask us questions, we will gladly either answer it or help you to contact the right people to get that answer
</ol>
For the latest product offerings please visit the Web Store [http://www.ppzuav.com/osc/catalog PPZUAV]

Important Information about [[PPZUAV_SHIPPING]]

 
= [http://www.sparkfun.com Sparkfun] =
[[image:P1030095.jpg|thumb|400px|Sparkfun]]
Sparkfun is a great source of miscelaneous electronics like:
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.

Telemetry

2008-09-29T03:22:51Z

Corybarton: /* Messages */

== Messages ==
The set of periodic messages sent over the downlink channel by an aircraft to the ground station is configurable
with the help of one XML file, located in the <tt>conf/telemetry</tt> directory. This file is called by <tt>conf/conf.xml</tt> and must follow the
<tt>telemetry.dtd</tt> syntax. The <tt>default.xml</tt> is provided as an example and should be suitable for most users:

<tt><!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Ap">
<mode name="default">
<message name="ATTITUDE" period="0.5"/>
<message name="PPRZ_MODE" period="5"/>
...
</mode>
<mode name="fast attitude">
<message name="ATTITUDE" period="0.1"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">
<message name="COMMANDS" period="1"/>
...
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
</mode>
</process>
</telemetry></tt>

===Specific Messages===

====GPS_SOL====
Specification in telemetry file
<message name="GPS_SOL" period="2.0"/>
Example from logfile(.data):
6.742 1 GPS_SOL 232 43 198 8

Meaning of tokens:
Timestamp, Aircraft-Number, GPS_SOL, Pacc, Sacc, PDOP, numSV
*Pacc = Position accuracy (units: CM)
*Sacc = Speed accuracy (units: CM/sec ?)
*PDOP = ?
*numSV = number of satellites detected

===Configuring the Downlink Data Rate===

The limited throughput of our RF modems results in a need to carefully choose which data to send, as well as the frequency at which to send it. A sophisticated set of files and parameters have been developed in order to tailor the data downlink behavior automatically, manually, temporarily, or permanently according to any desired parameter. This allows the user to create an almost unlimited possibility of downlink configurations. For example:
* Tailor the data rate to work with very slow modems (9600 baud or slower)
* Reduce the data rate of some messages so that others can be increased:
*: Automatically send GPS data at a very high rate by sacrificing navigation data when not flying (to help GPS/RFI troubleshooting) then automatically reduce the GPS data rate and send normal navigation data when the launch is initiated.
*: Automatically switch to sending only position data upon landing to conserve power and increase the chance of the operator receiving a position packet when recovering a distant aircraft.
*: Manually send selected sensor data at very high speeds (60Hz) for real time tuning.
* Maintain independent telemetry configurations for aircraft with different modems, sensors, or mission profiles.

Any number of configuration files can be created in the <tt>conf/telemetry</tt> directory and selected from the <tt>conf/conf.xml</tt> file. The telemetry downlink is divided into two processes, '''Ap''' and '''Fbw''' each with a possible <tt>mode</tt> option. Any number of modes could be created, the default is the first in the sequence. A mode contains the list of messages to be sent as well as the period of each message in seconds. In this example, the '''ATTITUDE''' message will be sent by the '''Ap''' process at 2Hz in the default mode and at 10Hz in the '''fast attitude''' mode. The maximum allowed frequency is 60Hz (0.017s) and the maximum period is 1092s.

The mode can be chosen in the airframe file by setting the '''TELEMETRY_MODE_FBW''' constant:
<tt><define name="TELEMETRY_MODE_FBW" value="1"/></tt>
where the (default) first mode is numbered '''0'''.

This mode can also be changed dynamically with a datalink [[#Settings|setting]] or with a [[Flight_Plans#set|set]] stage in the flight plan.

Note that an (undocumented!) subset of the messages is required to be able to use ground station properly. So it is not advisable to completely remove messages for the '''Ap''' process listed in the default mode.

== Settings ==

The <tt>settings</tt> attribute in the description of the aircraft in <tt>conf.xml</tt> allows the user to specify a list of variables for which values can be changed in-flight:
<tt><aircraft
name="Microjet"
...
settings="settings/basic.xml"
...
/></tt>

with the <tt>basic.xml</tt> file located in <tt>conf/settings/</tt>. A <tt>dl_setting</tt> element in this file associates [[GCS#Settings|buttons or sliders in the GCS interface]] to autopilot variables:
<tt><!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="1000" MIN="-50" STEP="10" VAR="altitude_shift"/>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode">
<strip_button name="AUTO2" value="2"/>
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
<strip_button name="Launch" value="1"/>
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
</dl_settings>
</dl_settings>
</settings></tt>
where <tt>dl_settings</tt> elements can be nested at any depth. A <tt>dl_setting</tt> element just specifies the name of the variable, the allowed range for the setting (<tt>min</tt> and <tt>max</tt> attributes) and the minimal <tt>step</tt>.

A notebook page will be associated in the GUI to each <tt>dl_settings</tt> element. A slider will be associated to each <tt>dl_setting</tt> entry except if the range is small (typically less than 3) and discrete (step=1): in the latter case, a set of radio buttons will be displayed.

The <tt>strip_button</tt> element adds a button to the [[GCS#Strip|GCS strip]] for commonly used tasks like "Launch" or "Circle". Multiple buttons can be used to assign different values to the same variable.

The <tt>param</tt> attribute of a <tt>dl_setting</tt> element allows to specify the corresponding parameter in the airframe file in order to save a tuned value:
<tt><dl_setting max="0.3" min="-0.3" step="0.01" var="ir_roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/></tt>
where the <tt>unit</tt> attribute is required for the parameters which do not use the same unit than the corresponding variable (currently only for some angle parameters in degrees in the airframe file and in radians for the variable).

== R/C Transmitter Data Uplink (Obsolete) ==

With the advent of small modems such as the popular Zigbee-based models, the value of the R/C transmitter based data-link is substantially reduced and the audio-based downlink has also been removed from current hardware designs. Nevertheless, this feature may still prove useful for extremely minimal hardware configurations.
The <tt>tuning_rc.xml</tt> file is located in <tt>conf/settings</tt>.
<tt><aircraft
name="Microjet"
...
settings="settings/tuning_rc.xml"
...
/></tt>
A <tt>rc_settings</tt> element in this file associates switches and sliders of the RC to airborne variables:
<tt><!DOCTYPE settings SYSTEM "settings.dtd">

<settings>
<rc_settings>
<rc_mode NAME="AUTO1">
<rc_setting VAR="ir_pitch_neutral" RANGE="2" RC="gain_1_up" TYPE="float"/>
<rc_setting VAR="ir_roll_neutral" RANGE="-2" RC="gain_1_down" TYPE="float"/>
</rc_mode>
<rc_mode NAME="AUTO2">
<rc_setting VAR="course_pgain" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
<rc_setting VAR="pitch_of_roll" RANGE=".2" RC="gain_1_down" TYPE="float"/>
</rc_mode>
</rc_settings>
</settings></tt>
First, settings are sorted by mode (<tt>AUTO1</tt> or <tt>AUTO2</tt>). Then a setting is composed of a <tt>var</tt>iable name, a <tt>range</tt> (corresponding to the range of the RC slider) and a <tt>RC</tt> name. The RC name prefix can be ''gain_1'' or ''gain_2'', which corresponds to the <tt>GAIN1</tt> and <tt>GAIN2</tt> channels of your RC transmitter [[Radio_Control|configuration]]. The RC name suffix can be ''up'' or ''down'', which is related to the position of the <tt>CALIB</tt> switch on the RC transmitter.

Tuning

2008-08-20T14:19:01Z

Corybarton:

This page provides some tips and guidelines for tuning a new aircraft. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID|PID Controllers]] before you begin. Use of the [[RTPlotter|real time plotter]] may help to visualize and understand the behavior of the control loops. Review [http://paparazzi.enac.fr/wiki/index.php/Image:Users_manual.pdf User Manual] as well.

== Sensors ==

=== Neutrals ===
* Put the aircraft in a styrofoam container or completely seal the IR sensors with styrofoam or similar blocks and get a reading of the neutrals for each axis. Also take the gyro neutrals at this time. Update your airframe file, flash the AP and re-check the neutrals.

Using the roll gyro as a worked example: Run up your GCS and ensure it
is communicating with your airframe. Make sure your airframe is roughly
level and that it cannot move. Now run the Messages Tool and the [[RTPlotter|real time plotter]] tool. The messages tool will have lots of flashing lights
indicating when it receives various telemetry packets. In the Messages
tool, Click on Gyro Rates and you should see a list of variables. Click
on Roll_ADC and drag and drop in onto the main window of the Real Time plotter. Now give it a while to build a stable graph.

Once things have been running this way for a while, in the Real Time
Plotter, click on Curves in the menu and select the
1:telemetry:GYRO_RATES:Roll_ADC entry. As you select it, you should see
the average and standard deviation values. We need the average value.
Jot down the number you have. I have -24.536.

Now go edit your airframe file and look for the ADC_ROLL_NEUTRAL value.
In my airframe file the value is 520. As my average value from the Plotter is a
negative figure, it indicates that the roll Neutral is too high, subtract the average value from the present setting. So I edited my airframe file to be 495.464 (520-24.536).

Recompile and reflash (Don't worry about restarting the GCS, The
messages program or the other running processes - they will catch up just
fine after flashing). Once the Board is back up and the plotter continues, reset it from the menu to get rid of the average. Watch it for a while and check that the line and acculmulated average is on or around 0. You are done. Use the same process for the IR sensors!

=== Directions ===
* Reverse any servos and make sure no mechanical binding occurs at the limits of travel in Manual mode.
* Take the plane outside and engage AUTO1. Bank and pitch the plane and verify that the controls respond in the correct direction. Note that your body will have a tremendous impact on the measured angles.
* Verify that AUTO1 stick movements respond in the correct direction - important!
* Move the plane rapidly to ensure the gyro response resists motion - increase the gain if needed for better visualization.

== R/C, Modem, and GPS ==
Make sure the GPS signal is strong (outdoors) - you should have a 3-D fix in less than 1 minute and at least some satellite signals above 40dB. The plane should not drift on the map by more than 10 meters. Perform a range test of R/C and modem signals.

== Trim ==
Important: You must never keep any trim, mixers, or rates in your R/C transmitter. R/C trim can be applied in flight but must be corrected and removed on the ground before attempting autonomous flight. Exponential can be useful and will not adversely affect AUTO1 flight but if "low rates" are needed they should be programmed on the same transmitter switch with AUTO1 so that you always have full travel in AUTO1.
* Fly the plane at what you feel is a suitable "cruise" throttle setting and set the trims. Note that setting in the GCS and try to return to that exact setting in subsequent tests. Enter that throttle setting in your airframe file.
* Check maximum pitch and roll response and adjust the mixer parameters or mechanical linkages after landing.
* Land and adjust the linkages. If necessary, the PPM values can be read from the GCS and servo neutrals adjusted electronically, but manual adjustment will produce far better results.
* Fly again to verify trim and control response. If satisfactory, check for any significant throttle-dependent roll. Again, this is best to correct mechanically but can be addressed with the ''AILERON_OF_THROTTLE'' mixer in the autopilot. Check also for any odd behavior at full throttle.
* Make sure that GPS and modem data is reliable during these test flights. Note particularly any tendency for the aircraft to appear to fly sideways on the map - this is an indication of weak GPS signals.

== Auto 1 ==
* Engage Auto1 and ''immediately'' make sure you can turn both left and right!
* Fly at your "cruise" throttle and adjust the ''ROLL_PGAIN'' until the plane doesn't quite oscillate
* Adjust the IR roll neutral as needed
* Verify adequate pitch response and adjust PITCH_PGAIN as needed
* Experiment with different throttle settings and tune P and D gains as needed

== Auto 2 ==
* Engage Auto2 and you're done!

==Alternate Tuning Procedure==
Danstah wrote up a tuning procedure on this website http://www.engr.usu.edu/wiki/index.php/OSAMtuning

==Other Misc things before flying==
It's very important to address the issue of low voltage cut-off before flying. There's a good chance that the LVC will kick in on the brushless ESC before the Paparazzi detects it. If this happens, the ESC cut's off throttle, and there's no way the autopilot knows this, the plane keeps loosing altitude, the autopilot tries to increase throttle, but the ESC does not respond, almost always leading to a mishap. To avoid this, either turn off the LVC on the ESC, OR, make sure the autopilot kills throttle first, by programming the CATASTROPHIC_BAT_LEVEL to something higher than the ESC LVC. For example, set CATASTROPHIC_BAT_LEVEL to 9.5V, and the ESC LVC at 9V. Don't ask how we know, it was a safe landing into a small tree :) No damage. BUT you cant get lucky always!

File:BU4051BCFchipConnections.JPG

2008-08-07T00:20:50Z

Corybarton: This is a diagram of the connections to the BU4051BCF chip in a Futaba T6EXAP transmitter.

This is a diagram of the connections to the BU4051BCF chip in a Futaba T6EXAP transmitter.

File:SwitchWiringDiagram.JPG

2008-08-06T23:57:44Z

Corybarton: 3 position switch wiring for installation into Futaba T6EXAP

3 position switch wiring for installation into Futaba T6EXAP

File:3positionswitch.JPG

2008-08-06T23:56:28Z

Corybarton: 3 position switch installed on channel 6 of Futaba T6EXAP transmitter.

3 position switch installed on channel 6 of Futaba T6EXAP transmitter.

Get Hardware

2008-08-06T18:57:28Z

Corybarton: Added link to thread discussing Halfbase.

The Paparazzi project began in 2003 with the goal of creating a free and open-source UAV guidance system which could be easily adapted to a wide variety of aircraft for a wide variety of applications. The system has since proved to be extremely successful and Paparazzi-based aircraft have won all top positions in every [[Gallery|flight contest]] in which they competed.

As an open-source project, all source code and hardware plans are freely available on the internet for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

Paparazzi is currently being developed by several universities and a team of enthusiast volunteers from around the world. It is used by private corporations, universities and hobbyists for an ever-increasing number of applications.
<hr>
<h2>[http://www.ppzuav.com/ PPZUAV] </h2>
NEW: '''''Tiny2.11 available now in stock ready to ship. We have both LEA-4P and LEA-5H models available. TWOG will also arrive in the next few days.'''''

PPZUAV has been providing Paparazzi Based products longer than anyone. Our experience shows and you can be confident you are buying from a company that has been providing Paparazi Hardware long before the competition started to copy us down to our e-commerce software and product mix. If their Web Store looks similar consider it proof we started something worth imitating. 
PPZUAV firsts:
<ol>
<li> first to offer Paparazzi Assemblies
<li> first to offer free USB programming cables with Assembled [http://ppzuav.com/osc/catalog/product_info.php?products_id=59 Tiny] Purchases
<li> first to offer free programming of the boot loader and GPS configuration with Assembled [http://ppzuav.com/osc/catalog/product_info.php?products_id=59 Tiny] Purchases
<li> first to stock inventory for assemblies
<li> first to use Lower Cost Offshore FAB and Assembly to pass on the savings to our customers
<li> first to offer educational discounts to Universities and Students
<li> first to offer WorldWide International Shipping using major carriers
<li> first to accept Major Credit cards as well as PayPal
<li> first to warranty our assemblies against manufacturing defects
</ol>

At PPZUAV we are leaders and will continue to do so. When it comes to doing the extras that make your purchase easier we are the first to do it. So order with confidence that we have done this longer, offer more value and will continue to provide exceptional service to all of our customers.

We know it can be daunting to discover Paparazzi and wonder what to do first. So we take care of the basics for you before shipping. Each [http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=35 Fully Assembled Tiny2.11] ready to program another feature the competition is just now starting to offer. How we do this: 
<ol>
<li>We load the bootloader
<li>configure the GPS module
<li>We load a sample tiny2.11 program into it.
<li>We verify it runs the program (LED1/RED flashes)
<li>Then acquires a 3D fix (LED2/GREEN flashes).
</ol>
What you get is a working ready to configure for your aircraft assembly. Please eMail '''sales@ppzuav.com''' with any questions or special requests.


[http://www.ppzuav.com/osc/catalog Visit the PPZUAV WebStore]
<ul>
<li>'''''NEW'''''[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=59 Assembled Tiny2.11 "LEA-5H GPS"] ('''latest u-blox GPS module''')
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=7 GPS Antenna]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=4_2 Autopilots] '''TWOG''', '''Tiny2.11 (In Stock Now)'''
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=6 Cables]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=8 GPS modules]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=5 IR Sensors]
<li>[http://ppzuav.com/osc/catalog/product_info.php?products_id=29 Tiny2.11 bare PCB]
<li>...and more...visit site for latest items added
</ul>

'''''All Assemblies are factory assembled using robotic pick and place machines by [http://www.myropcb.com MyroPCB]. This assures all Products are exactly the same. Our lead time is now only 14 days! So if it's out of Stock We will have it quickly. The process is strictly controlled under ISO 9002 or ISO 9001 and IPC standards. The PCB Factory has been in operation since 1994 in ShenZhen China and the Assembly Factory has been in operation since 1998. Due to the low labor costs in China we are able to offer exceptional quality at an exceptional price.'''''

''Please check the [http://www.ppzuav.com/ PPZUAV website] often as we expand our product offering''.
 

<h2>Mantis Electronics [http://mantiselec.com (Website)]</h2>
Mantis Electronics is pleased to offer assembled Tiny 2.11, IR boards, GPS modules, USB-TTL interface boards, 3-Axis I2C/SPI accelerometer boards, and accessories for immediate order.
Our boards are solder paste stencilled, reflow soldered and 100% tested.
<h3>Our Items:</h3>
<ul>
<li>Tiny 2.11 assembled with LEA-4P and GPS antenna: $250 ($260 with Molex Picoblade connectors)
<li>2-Axis IR board with IR sensors: $75
<li>1-Axis IR board with IR sensors: $55
<li>u-blox LEA-4P GPS module: $75
<li>USB<->TTL Serial board: $15 (useful for programming and telemetry)
<li>3-Axis I2C/SPI accelerometer board: $35
<li>MLX90247 IR sensors: $12
<li>Tiny 2.11 bare PCB: $10
<li>2-Axis IR bare PCB: $5
<li>1-Axis IR bare PCB: $5
</ul>
Current lead time for orders is 3 weeks. USA shipping is $6. International shipping is $15.
 Please see our website http://mantiselec.com/paparazzi.html to order.

<h2>RCTECHNIX</h2>
After numerous requests i am working on supplying all pcb's , parts , gps etc and will be fully supporting the paparazzi projects now and in the future , so please bear with Richard & Myself David (cncbasher), whilst we gather stocks and manufacture pcb's etc , enquirys can be made direct to paparazzi.pcb@rctechnix.com if you wish , a web site is in the process( now up and running see below ) of being put together which will incorporate sales of everything papparazzi , we will even help in getting your own built projects going if you are stuck so long as it's paparazzi based ! too , Bare PCB'S are now available for tiny13 v1.1 , classix v0.99 & dual_ir incl free 1st class postage ,whilst we work on getting the shop up and running if you need bare pcb's , they can be purchased using Paypal from our website http://www.rctechnix.com . we are currently assembling a few for testing and will announce availability shortly of assembled boards and complete kits , along with wiring harness's , usb lead's , gps , antennas & zigbee modules etc.

Although the website is new , we hope to have stocks of almost everything you will need , and other rc supplies too .

<h2>"Halfbase" Mass Produce - [http://shop.halfbase.com Your Benefit!]</h2>

Some people have had problems with Halfbase. For more information see [http://lists.gnu.org/archive/cgi-bin/namazu.cgi?query=%22Order+from+HALFBASE%22&submit=Search&idxname=paparazzi-devel this thread] in the mailing list.

Whats Aviation required? A Calm & experienced Pilot! As for UAV, Realtime & Reliable System is essential! 
Each '''Tiny is handmade''' by '''SMT master''', '''to withstand the most extreme environment in mind!''' 
Each connection is very strong, with extra solder on every Grounding & connector! Whole available!

'''All Assembled Tiny v2.11 / TWOG, Now come standard 'ARTF'!'''

* '''FREE Pre-programming ~''',
# Pre-load the bootloader + USB Tunnel
# Pre-configure latest GPS module ( LEA-5H )
# Programming using Paparazzi
# Testing if, Tiny v2.11 Running is OK
# Testing if, GPS success Locating in (4Hz)

*'''FREE Cables''',

# miniUSB- USB, Programming Cable ( Sending 'Paparrazi Airframe setting' )
# miniUSB- Download, Programming Cable ( Reflash 'Bootcode/GPS config' )
# Power Cable, (Male + Female + Cable) Detachable
# 3,4pins IR Cable, Molex Picoblade type connector Cable, for your 1-asix & 2-asix IR sensor Boards.

*'''FREE 14pcs Pre-crimped both end 1.25mm Pico-blade 'Male connector Cables with 30cm long ~ '''

# 6pcs x 3 pins Cable
# 4pcs x 5 pins Cable
# 2pcs x 7 pins Cable
# 2psc x 8 pins Cable

*'''FREE Programming Adaptor:'''
# 1pcs x '''FTDI-chip FT232R 3.3v USB''' to Serial (Manual Jumper available to 3.3v/5v setting)
 
'''Status:- ~ All PCB, Kits & Assembled ready to ship - Next day! [http://shop.halfbase.com/index.php Live Stock available Now!] ~''' 
 
''''''▪~[http://shop.halfbase.com/product_info.php/products_id/37 Tiny v2.11 whole Kits: included "GPS LEA-5H + PicoBlade + USB Cable "$185"] ''' 
'''▪~ [http://shop.halfbase.com/index.php/cPath/32 Tiny V.2.11 Fully Assembled: GPS + PicoBlade + USB Cable: USD $285 ~ ] ▪ ''' 
▪ '''Now! ~ All Kit included "USB Programming Cable"!! ~ Class 3 Standard ! Wholesale availiable''' 

▪ 1-Axis IR board with IR sensors: $35 ▪ [http://shop.halfbase.com/product_info.php/products_id/46 1-Axis IR bare PCB: $0.5] 
▪ 2-Axis IR board with IR sensors: $55 ▪ [http://shop.halfbase.com/product_info.php/products_id/47 2-Axis IR bare PCB: $0.6] 
▪ MLX90247 IR sensors: $8, Nippon, Japan IR sensors: $5 
 
▪ UltraSonic Senor Module: $60, ▪ "UltraSonic Sensor (Transmitter/receiver) $10/pair" 
 
▪ u-blox LEA-4P / LEA-5H GPS [http://shop.halfbase.com/index.php/cPath/22 Module:] $55 ▪[http://shop.halfbase.com/product_info.php/products_id/38 GPS Ceramic Antenna - 25mm/18mm] $5.00 
 
▪ USB Programming Cable $10
▪ '''~ Picoblade 1.25mm (3/4/5/7/8)Pins, Male/Famale x 10 ~~ "$1 Only!" ~~'''

 
Fuselage :-
▪ [http://shop.halfbase.com/product_info.php/products_id/42 Discus 4m] Fiberglass + air-brake $360 ▪ Scorpio 2.6m $168 ▪ [http://shop.halfbase.com/product_info.php/products_id/40 Predator] - body only $120

 
Our intention is fully on Education Institute, we provide great discount offer to Research & institute!
 

Send your require order to sale@halfbase.com
or
Visit [http://uav.halfbase.com uav.halfbase.com]
 
 
''''All profit we made, fully goes into a Project base charity we currently establishing.'''' 
'''Aims to provide learning platform for school & institute, recruit interesting voluntary party to take parts, 
in assisting & directing, Lecture & Engineer those project ideas into reality, wisely & openly. 
We're working toward to a successful & sustainable establishment, and smooth project invention growing!''' evolve together!

== Olimex ==

Fast PCB Prototypes
[http://www.olimex.com/pcb/ olimex.com]

Simulation

2008-07-31T15:34:23Z

Corybarton: /* Why is it night in Flight Gear, if my sim is flying during the day? */

This page describes the steps needed to run a flight simulation from a new install.

== Initializing a New Installation ==
<tt>paparazzi-make init</tt>
to initialize your configuration files (in the <tt>~/paparazzi</tt> directory)
and then
<tt>paparazzi-make demo</tt>
If you are working in the <tt>paparazzi3</tt> source code, just start with <tt>make demo</tt>.

A '''control panel''' window is opened. Under the '''Sessions''' menu, choose '''Muret Sim''' ([http://maps.google.com/maps?f=q&hl=en&q=Muret,+France&ie=UTF8&om=1&z=13&iwloc=A Muret] is a village near Toulouse, France). This spawns several programs :
* '''Aircraft MJ5''' is the interface of a simulator program. It runs the same code than the one for the autopilot processor plus a rudimentary flight dynamic model. it allows you to test the interactions with the UAV and the flight plan execution.
* '''cockpitMM MJ5''' is a representation of a radio control transmitter used with this aircraft. It allows you to test the interactions available through that device.
* '''GCS''' ([[GCS|Ground Control Station]]) is the main window. It displays the track of the aircraft, as well as informations about the execution of its flight plans. This program provide menus for the datalink functions and is able to edit a flight plan.
* '''Gaia''' is the interface of the world simulator. It will distribute time ticks to the aircrafts simulator and allow acces to global parameters like wind, temperature used by the infrared sensor, and GPS coverage.

== Start the Simulation ==

Click the '''Boot''' button on the aircraft window. This boots your aircraft, as if you were powering the autopilot. The aircraft starts to send messages to the ground station. Its position and its flight parameters are displayed in the GCS window.

The map widget is able use many map formats and display them according to many projections. To make things simple, we start by using images from [http://maps.google.com Google]. Under the '''Maps''' menu in the GCS, choose '''GoogleMaps Fill'''. The program attempts to download the required satellite images from the Google servers. If it succeeds, you should now see the nice countryside of Muret. Navigation and other features of the map are described on the [[GCS#map|GCS]] page.

The lower part of the GCS displays the flight plan in a tree view. You see that the current flight plan is composed of four ''blocks'':
* '''survey road 1'''
* '''survey road 2'''
* '''wait'''
* '''go too far'''
Open the active block: the active ''stage'' in the block is highlighted.

== Fly ==

<tt><block name="survey road 1">
<go wp="road_start"/>
<go wp="road_end"/>
</block></tt>

This block is about the simplest you can write. It flies the aircraft to waypoint '''road_start''', then to waypoint '''road_end'''. The vertical control mode is unspecified and defaults to '''altitude hold'''. Being unspecified, the target altitude is the waypoint's one (250m for these two waypoints).

In the Simulator, press the '''Launch''' button to simulate a hand launch. The autopilot detects the launch by monitoring the groundspeed. The flight time (in the aircraft label on the GCS) then starts to count.

Position of the aircraft is displayed on the map: the aircraft goes to the '''road_start''' waypoint (to the west) and then to the '''road_end''' waypoint (to the east). Current stage also changes accordingly in the flight plan display.

The orange triangle (the carrot) on the map is the point that the aircraft is navigating toward. The aircraft proceeds through the two waypoints then proceeds on to the next block.

== Fly forever ==

<tt><while cond="TRUE">
<go wp="road_start" from="road_end" hmode="route"/>
<go wp="road_end" from="road_start" hmode="route"/>
</while></tt>

This block is not much more complicated than the previous one. It shows another horizontal mode which is named '''route'''. The aircraft returns to waypoint '''road_start''' and then proceeds to '''road_end''' staying on the line between the waypoints. It is displayed on the map by a green line where the target point (the orange triangle) is moving along.

The two <tt>go</tt> stages are here inserted into a <tt>while</tt> element with an ever-true condition: the aircraft loops forever between the two waypoints.

== Circle ==

<tt><block name="circle">
<circle wp="road_end" ALT="ground_alt+50" radius="75"/>
</block></tt>

Jump to this block with double-click on the <tt>block</tt> line (or using the '''MJ5''' aircraft menu, '''Datalink''', '''Jump to block''', '''circle'''). The aircraft circles clockwise around the '''road_end''' waypoint.

== Fly too far ==

<tt>go wp="too far"
circle wp="too far" radius="50"</tt>

This block is here to demonstrate the ''home mode'' feature of the autopilot. The navigation system has a an allowed zone that it must not leave or it will enter an emergency navigation mode and circles the '''HOME''' waypoint until the further direction is received. This safety zone is displayed as a circle on the map.

Jump to this block by double-cliking on it.

The aircraft flies to the '''too far''' waypoint, cross the protection enveloppe and switches to ''home'' mode: the AP mode in the aircraft strip switches from '''AUTO2''' to '''HOME'''.

To get out of this mode and switch back to the default '''AUTO2''', click on the '''AUTO2''' button in the aircraft strip. The aircraft then flies again towards '''too far''' and again swithes to '''HOME''' mode.

== Move the waypoint ==

Waypoints are moveable during flight: You can left-click and drag the '''too far''' waypoint inside the blue safety circle. Get out of the '''HOME''' mode ('''AUTO2''' button) and the aircraft will go circling around the now not '''too far''' waypoint.

Click on the '''too far''' waypoint; A dialog box pops up. You can change the altitude of the waypoin by editing it with the keyboard or using the '''-10''' and '''+10''' buttons. CLick '''Ok''' and '''Send WPs'''. You can look at the altitude change in the aircraft strip.

You now can survey the line you want with the '''survey road 2''' block by moving the two waypoints. You can move them while the aircraft is flying from one to the other and the line will be updated in real-time.

== Change the environment ==

The '''Gaia''' interface allows the user to change:
* The wind: Set up a wind speed of 5m/s and observe the trajectory and the speed evolution (in the aircraft strip and in the '''PFD''' page of the notebook).
* The GPS coverage: Shut down the GPS ('''GPS OFF''') and observe the resulting mode ('''NO_GPS''') and trajectory. In this mode, the autopilot uses the failsafe roll, pitch and throttle settings defined in the airframe file. Note that in a real flight, an aircraft without GPS won't be able to send its position ... The simulation is cheating here !
* The time scale: If you are in a hurry ... (bug: adjusting the time scale may affect the navigation behavior)

== View the simulation in Flight Gear ==

To view the simulation in Flight Gear, do the following:
* In Paparazzi Center, add the -fg option plus the IP address of the machine running flightgear:
/home/your_username/paparazzi/paparazzi3/sw/simulator/launchsitl -a TJ1 -fg 127.0.0.1 -boot -norc
* Launch Flight Gear with the following command:
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp

=== Why is it night in Flight Gear, if my sim is flying during the day? ===
The time that is sent to Flight Gear is hard coded into the code, so if you try to view the output of the simulation and your simulated flight is located far from France, in Flight Gear, everything may be dark. If your simulated flight is in France, then you will always have daylight in Flight Gear. To fix this, do the following (you will need to have paparazzi-dev installed to do this):

* Get the Unix time during your '''local daylight hours''' by running the following command in your terminal:
date +%s
* In the file: paparazzi3/sw/simulator/fg.c find the line(line 44):
msg.cur_time = 3213092700ul;//time(NULL);
* Paste the output from "date +%s" in place of "3213092700"
* Now you will have to rebuild paparazzi, so in the terminal change to the paparazzi3 directory and run:
make clean
make
* In Paparazzi Center clean and rebuild your simulation
* Launch the simulation and Flight Gear, and Flight Gear should be flying in daylight.

Simulation

2008-07-31T15:32:59Z

Corybarton: /* Added information for linking to FLight Gear */

This page describes the steps needed to run a flight simulation from a new install.

== Initializing a New Installation ==
<tt>paparazzi-make init</tt>
to initialize your configuration files (in the <tt>~/paparazzi</tt> directory)
and then
<tt>paparazzi-make demo</tt>
If you are working in the <tt>paparazzi3</tt> source code, just start with <tt>make demo</tt>.

A '''control panel''' window is opened. Under the '''Sessions''' menu, choose '''Muret Sim''' ([http://maps.google.com/maps?f=q&hl=en&q=Muret,+France&ie=UTF8&om=1&z=13&iwloc=A Muret] is a village near Toulouse, France). This spawns several programs :
* '''Aircraft MJ5''' is the interface of a simulator program. It runs the same code than the one for the autopilot processor plus a rudimentary flight dynamic model. it allows you to test the interactions with the UAV and the flight plan execution.
* '''cockpitMM MJ5''' is a representation of a radio control transmitter used with this aircraft. It allows you to test the interactions available through that device.
* '''GCS''' ([[GCS|Ground Control Station]]) is the main window. It displays the track of the aircraft, as well as informations about the execution of its flight plans. This program provide menus for the datalink functions and is able to edit a flight plan.
* '''Gaia''' is the interface of the world simulator. It will distribute time ticks to the aircrafts simulator and allow acces to global parameters like wind, temperature used by the infrared sensor, and GPS coverage.

== Start the Simulation ==

Click the '''Boot''' button on the aircraft window. This boots your aircraft, as if you were powering the autopilot. The aircraft starts to send messages to the ground station. Its position and its flight parameters are displayed in the GCS window.

The map widget is able use many map formats and display them according to many projections. To make things simple, we start by using images from [http://maps.google.com Google]. Under the '''Maps''' menu in the GCS, choose '''GoogleMaps Fill'''. The program attempts to download the required satellite images from the Google servers. If it succeeds, you should now see the nice countryside of Muret. Navigation and other features of the map are described on the [[GCS#map|GCS]] page.

The lower part of the GCS displays the flight plan in a tree view. You see that the current flight plan is composed of four ''blocks'':
* '''survey road 1'''
* '''survey road 2'''
* '''wait'''
* '''go too far'''
Open the active block: the active ''stage'' in the block is highlighted.

== Fly ==

<tt><block name="survey road 1">
<go wp="road_start"/>
<go wp="road_end"/>
</block></tt>

This block is about the simplest you can write. It flies the aircraft to waypoint '''road_start''', then to waypoint '''road_end'''. The vertical control mode is unspecified and defaults to '''altitude hold'''. Being unspecified, the target altitude is the waypoint's one (250m for these two waypoints).

In the Simulator, press the '''Launch''' button to simulate a hand launch. The autopilot detects the launch by monitoring the groundspeed. The flight time (in the aircraft label on the GCS) then starts to count.

Position of the aircraft is displayed on the map: the aircraft goes to the '''road_start''' waypoint (to the west) and then to the '''road_end''' waypoint (to the east). Current stage also changes accordingly in the flight plan display.

The orange triangle (the carrot) on the map is the point that the aircraft is navigating toward. The aircraft proceeds through the two waypoints then proceeds on to the next block.

== Fly forever ==

<tt><while cond="TRUE">
<go wp="road_start" from="road_end" hmode="route"/>
<go wp="road_end" from="road_start" hmode="route"/>
</while></tt>

This block is not much more complicated than the previous one. It shows another horizontal mode which is named '''route'''. The aircraft returns to waypoint '''road_start''' and then proceeds to '''road_end''' staying on the line between the waypoints. It is displayed on the map by a green line where the target point (the orange triangle) is moving along.

The two <tt>go</tt> stages are here inserted into a <tt>while</tt> element with an ever-true condition: the aircraft loops forever between the two waypoints.

== Circle ==

<tt><block name="circle">
<circle wp="road_end" ALT="ground_alt+50" radius="75"/>
</block></tt>

Jump to this block with double-click on the <tt>block</tt> line (or using the '''MJ5''' aircraft menu, '''Datalink''', '''Jump to block''', '''circle'''). The aircraft circles clockwise around the '''road_end''' waypoint.

== Fly too far ==

<tt>go wp="too far"
circle wp="too far" radius="50"</tt>

This block is here to demonstrate the ''home mode'' feature of the autopilot. The navigation system has a an allowed zone that it must not leave or it will enter an emergency navigation mode and circles the '''HOME''' waypoint until the further direction is received. This safety zone is displayed as a circle on the map.

Jump to this block by double-cliking on it.

The aircraft flies to the '''too far''' waypoint, cross the protection enveloppe and switches to ''home'' mode: the AP mode in the aircraft strip switches from '''AUTO2''' to '''HOME'''.

To get out of this mode and switch back to the default '''AUTO2''', click on the '''AUTO2''' button in the aircraft strip. The aircraft then flies again towards '''too far''' and again swithes to '''HOME''' mode.

== Move the waypoint ==

Waypoints are moveable during flight: You can left-click and drag the '''too far''' waypoint inside the blue safety circle. Get out of the '''HOME''' mode ('''AUTO2''' button) and the aircraft will go circling around the now not '''too far''' waypoint.

Click on the '''too far''' waypoint; A dialog box pops up. You can change the altitude of the waypoin by editing it with the keyboard or using the '''-10''' and '''+10''' buttons. CLick '''Ok''' and '''Send WPs'''. You can look at the altitude change in the aircraft strip.

You now can survey the line you want with the '''survey road 2''' block by moving the two waypoints. You can move them while the aircraft is flying from one to the other and the line will be updated in real-time.

== Change the environment ==

The '''Gaia''' interface allows the user to change:
* The wind: Set up a wind speed of 5m/s and observe the trajectory and the speed evolution (in the aircraft strip and in the '''PFD''' page of the notebook).
* The GPS coverage: Shut down the GPS ('''GPS OFF''') and observe the resulting mode ('''NO_GPS''') and trajectory. In this mode, the autopilot uses the failsafe roll, pitch and throttle settings defined in the airframe file. Note that in a real flight, an aircraft without GPS won't be able to send its position ... The simulation is cheating here !
* The time scale: If you are in a hurry ... (bug: adjusting the time scale may affect the navigation behavior)

== View the simulation in Flight Gear ==

To view the simulation in Flight Gear, do the following:
* In Paparazzi Center, add the -fg option plus the IP address of the machine running flightgear:
/home/your_username/paparazzi/paparazzi3/sw/simulator/launchsitl -a TJ1 -fg 127.0.0.1 -boot -norc
* Launch Flight Gear with the following command:
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp

=== Why is it night in Flight Gear, if my sim is flying during the day? ===
The time that is sent to Flight Gear is hard coded into the code, so if you try to view the output of the simulation and your simulated flight is located far from France, in Flight Gear, everything may be dark. If your simulated flight is in France, then you will always have daylight in Flight Gear. To fix this, do the following (you will need to have paparazzi-dev installed to do this):

* Get the Unix time during your '''local daylight hours''' by running the following command in your terminal:
date +%s
* In the file: paparazzi3/sw/simulator/fg.c find the line(line 44): "msg.cur_time = 3213092700ul;//time(NULL);"
* Paste the output from "date +%s" in place of "3213092700"
* The terminal change to the paparazzi3 directory and run:
make clean
make
* In Paparazzi Center clean and rebuild your simulation
* Launch the simulation and Flight Gear, and Flight Gear should be flying in daylight.

Hardware Installation

2008-07-30T21:40:59Z

Corybarton: /* Gyro */

==Autopilot==
The image below shows a Tiny V2 installed in a funjet. The dual IR sensor is also visible.
[[Image:Tiny_v2_1_Funjet_install.jpg]]

==Sensors==
===Gyro===

The gyro should be mounted with the PCB perpendicular to the X (roll) axis of the aircraft. So the PCB should be parallel to the YZ plane of the aircraft. The rotation about the X axis is not important.

===IR===
The sensor FOV is typically around 60-100 deg, depending on brand. Everything
emits heat, so you should try to keep the view as unobstructed as possible.
There is of course no way to mount the sensors such that they are perfectly
unobstructed and a complex set of calibration factors exist in the code to deal
with this. Just be sure to keep any obstructions symmetrical, particularly
difficult with pitch, and try to avoid having sun-heated surfaces in the FOV -
such as the top of a wing, tail, or fuselage.

Avoid placing sensors in the exhaust stream since oil buildup will certainly cause trouble and you may even have problems with hot exhaust. It's important to note that you cannot cover the sensors with any commonly available material - only very special materials will allow LWIR to pass.

Most importantly, keep any video/data transmitters away from the sensors and
their wires.

====Dual IR====
The mounting procedure of the Dual IR sensor is explained by the [http://www.fmadirect.com/support_docs/item_1049.pdf FMA CPD4 Manual] on pages 6 and 7.

Slightly different installation and setup procedures are explained on page 23 of the CPD4 Manual. For planes which:
*Have a low or mid wing, and exhaust flows under fuselage.
*Have a canopy.

====Single IR====
Mount the single IR sensor so that it is vertical when the aircraft is in level flight, and has an unobstructed view of the sky and ground. Helicopter blades will not obstruct the sensor's view.

===External GPS Antenna===

==Modems==
The picture below shows a modem install on a funjet, and the Dual IR sensor.

[[Image:PPZFJ01_install.JPG]]

==General Electrical Advice==
===Wiring Suggestions===
====Common Ground====
We had immediate success by connecting the motor chassis, the motor
mounting bracket, the minus of the motor driver supply, the minus of
the servo battery, the minus (ground) of the receivers onto a common
ground wire which we laid through the whole plane body from tip to
tail.
Actually we use a braid from a shielded cable. Remove the insulation,
then push the wire mesh shield ends together which makes it easy
to slide off the cable, then pull to full lenght again. Finally the
mesh was about 5 mm wide flat litz wire. Alternatively one could use
thin copper tape which is available from electronics suppliers.
High frequency currents run on the outer surface of the conductors,
therefore it is important to have as much surface as possible on the
ground wires. Connect each metal part to ground, e.g. motor mount.

====Twisted Cables====
Twisting is almost as good as shielding.
Twisted cables normally do not have to be shielded in moderate
environments. How does twisting work?

The electromagnetic field induces interference currents in the wires.
By twisting the wires we change the polarity of the
induced voltages every twist, and so the
disturbances cancel each other.

It is absolute necessary to twist the power cables
from the motor battery to the driver board, because
there run high pulsed currents and what is true for
reception, is also true for transmitting, and the
electric noise transmitted from the power cable will
cancel itself when run over twisted cables.
Needless to say, make the wires as short as possible,
from the battery to the driver to the motor.
Those components must be placed as near as possible,
especially the driver and the motor.

Always use twisted servo cables and remove those
3 pole flat cables from your design if possible!

====Ground Loops====
Grounding loops are not that much of concern as in audio
equipment or in microvolt sensors, but there is a general
simple rule to ground loops: avoid them.

====Ferrite Beads====
I do not recommend the use of ferrite beads, because if I need them,
my basic design is flawed. Sometimes ferrites help to overcome
problems, but I recommend to correctly design and install wirings and
shields the proper way. For example, I would lay out the interior of
a sensor compartment with thin copper foil or mesh or spray with
conductive paint to get a shielded chamber. Of course, I must take
care to connect all shields to ground on several places.

====Preventing and Fixing Interference====
All small-signal cables should be shielded, power cables twisted.
Signal inputs should have small capacitors to ground for
HF filtering, or an inductor + cap or a resistor + cap.
Power cables must have HF capacitors on both ends!
Electrolytic caps are not HF qualified.
Cables could be connected via "feed through capacitors"
and loaded with ferrite beads.
Ground connections between the boards should be short
and made of litz wires. Card cage should be lined with
copper foil and connected to common ground on many places.
And so on. Much to be tried out experimentally.

I would start to shield and filter the most sensitive circuitry.
Find the point of maximal sensitivity.
Switch off and on the various transmitters to identify the source.

Wrap the boards in thin copper sheet, and so on.
Line the complete electronics compartment with thin copper
and connect to ground.
Put a conductive "ground plane" where the antennas are mounted.
Adhesive copper shielding tape is available but you must put
solder dots all over the tape joints. Conductive paint spray
is also available. Create a HF "zero reference" plane where all ground
connections meet. "Star" grounding configuration is less important
to HF designs, but we must avoid wire loops.

Hardware Installation

2008-07-30T19:48:41Z

Corybarton: /* Dual IR */

==Autopilot==
The image below shows a Tiny V2 installed in a funjet. The dual IR sensor is also visible.
[[Image:Tiny_v2_1_Funjet_install.jpg]]

==Sensors==
===Gyro===

The gyro should be mounted with the PCB perpendicular to the X (roll) axis of the aircraft.

===IR===
The sensor FOV is typically around 60-100 deg, depending on brand. Everything
emits heat, so you should try to keep the view as unobstructed as possible.
There is of course no way to mount the sensors such that they are perfectly
unobstructed and a complex set of calibration factors exist in the code to deal
with this. Just be sure to keep any obstructions symmetrical, particularly
difficult with pitch, and try to avoid having sun-heated surfaces in the FOV -
such as the top of a wing, tail, or fuselage.

Avoid placing sensors in the exhaust stream since oil buildup will certainly cause trouble and you may even have problems with hot exhaust. It's important to note that you cannot cover the sensors with any commonly available material - only very special materials will allow LWIR to pass.

Most importantly, keep any video/data transmitters away from the sensors and
their wires.

====Dual IR====
The mounting procedure of the Dual IR sensor is explained by the [http://www.fmadirect.com/support_docs/item_1049.pdf FMA CPD4 Manual] on pages 6 and 7.

Slightly different installation and setup procedures are explained on page 23 of the CPD4 Manual. For planes which:
*Have a low or mid wing, and exhaust flows under fuselage.
*Have a canopy.

====Single IR====
Mount the single IR sensor so that it is vertical when the aircraft is in level flight, and has an unobstructed view of the sky and ground. Helicopter blades will not obstruct the sensor's view.

===External GPS Antenna===

==Modems==
The picture below shows a modem install on a funjet, and the Dual IR sensor.

[[Image:PPZFJ01_install.JPG]]

==General Electrical Advice==
===Wiring Suggestions===
====Common Ground====
We had immediate success by connecting the motor chassis, the motor
mounting bracket, the minus of the motor driver supply, the minus of
the servo battery, the minus (ground) of the receivers onto a common
ground wire which we laid through the whole plane body from tip to
tail.
Actually we use a braid from a shielded cable. Remove the insulation,
then push the wire mesh shield ends together which makes it easy
to slide off the cable, then pull to full lenght again. Finally the
mesh was about 5 mm wide flat litz wire. Alternatively one could use
thin copper tape which is available from electronics suppliers.
High frequency currents run on the outer surface of the conductors,
therefore it is important to have as much surface as possible on the
ground wires. Connect each metal part to ground, e.g. motor mount.

====Twisted Cables====
Twisting is almost as good as shielding.
Twisted cables normally do not have to be shielded in moderate
environments. How does twisting work?

The electromagnetic field induces interference currents in the wires.
By twisting the wires we change the polarity of the
induced voltages every twist, and so the
disturbances cancel each other.

It is absolute necessary to twist the power cables
from the motor battery to the driver board, because
there run high pulsed currents and what is true for
reception, is also true for transmitting, and the
electric noise transmitted from the power cable will
cancel itself when run over twisted cables.
Needless to say, make the wires as short as possible,
from the battery to the driver to the motor.
Those components must be placed as near as possible,
especially the driver and the motor.

Always use twisted servo cables and remove those
3 pole flat cables from your design if possible!

====Ground Loops====
Grounding loops are not that much of concern as in audio
equipment or in microvolt sensors, but there is a general
simple rule to ground loops: avoid them.

====Ferrite Beads====
I do not recommend the use of ferrite beads, because if I need them,
my basic design is flawed. Sometimes ferrites help to overcome
problems, but I recommend to correctly design and install wirings and
shields the proper way. For example, I would lay out the interior of
a sensor compartment with thin copper foil or mesh or spray with
conductive paint to get a shielded chamber. Of course, I must take
care to connect all shields to ground on several places.

====Preventing and Fixing Interference====
All small-signal cables should be shielded, power cables twisted.
Signal inputs should have small capacitors to ground for
HF filtering, or an inductor + cap or a resistor + cap.
Power cables must have HF capacitors on both ends!
Electrolytic caps are not HF qualified.
Cables could be connected via "feed through capacitors"
and loaded with ferrite beads.
Ground connections between the boards should be short
and made of litz wires. Card cage should be lined with
copper foil and connected to common ground on many places.
And so on. Much to be tried out experimentally.

I would start to shield and filter the most sensitive circuitry.
Find the point of maximal sensitivity.
Switch off and on the various transmitters to identify the source.

Wrap the boards in thin copper sheet, and so on.
Line the complete electronics compartment with thin copper
and connect to ground.
Put a conductive "ground plane" where the antennas are mounted.
Adhesive copper shielding tape is available but you must put
solder dots all over the tape joints. Conductive paint spray
is also available. Create a HF "zero reference" plane where all ground
connections meet. "Star" grounding configuration is less important
to HF designs, but we must avoid wire loops.

Hardware Installation

2008-07-30T19:45:15Z

Corybarton: /* Gyro */

==Autopilot==
The image below shows a Tiny V2 installed in a funjet. The dual IR sensor is also visible.
[[Image:Tiny_v2_1_Funjet_install.jpg]]

==Sensors==
===Gyro===

The gyro should be mounted with the PCB perpendicular to the X (roll) axis of the aircraft.

===IR===
The sensor FOV is typically around 60-100 deg, depending on brand. Everything
emits heat, so you should try to keep the view as unobstructed as possible.
There is of course no way to mount the sensors such that they are perfectly
unobstructed and a complex set of calibration factors exist in the code to deal
with this. Just be sure to keep any obstructions symmetrical, particularly
difficult with pitch, and try to avoid having sun-heated surfaces in the FOV -
such as the top of a wing, tail, or fuselage.

Avoid placing sensors in the exhaust stream since oil buildup will certainly cause trouble and you may even have problems with hot exhaust. It's important to note that you cannot cover the sensors with any commonly available material - only very special materials will allow LWIR to pass.

Most importantly, keep any video/data transmitters away from the sensors and
their wires.

====Dual IR====
The mounting procedure of the Dual IR sensor is very well explained by the [http://www.fmadirect.com/support_docs/item_1049.pdf FMA CPD4 Manual] on pages 6 and 7.

Slightly different installation and setup procedures are explained on page 23 of the CPD4 Manual. For planes which:
*Have a low or mid wing, and exhaust flows under fuselage.
*Have a canopy.

====Single IR====
Mount the single IR sensor so that it is vertical when the aircraft is in level flight, and has an unobstructed view of the sky and ground. Helicopter blades will not obstruct the sensor's view.

===External GPS Antenna===

==Modems==
The picture below shows a modem install on a funjet, and the Dual IR sensor.

[[Image:PPZFJ01_install.JPG]]

==General Electrical Advice==
===Wiring Suggestions===
====Common Ground====
We had immediate success by connecting the motor chassis, the motor
mounting bracket, the minus of the motor driver supply, the minus of
the servo battery, the minus (ground) of the receivers onto a common
ground wire which we laid through the whole plane body from tip to
tail.
Actually we use a braid from a shielded cable. Remove the insulation,
then push the wire mesh shield ends together which makes it easy
to slide off the cable, then pull to full lenght again. Finally the
mesh was about 5 mm wide flat litz wire. Alternatively one could use
thin copper tape which is available from electronics suppliers.
High frequency currents run on the outer surface of the conductors,
therefore it is important to have as much surface as possible on the
ground wires. Connect each metal part to ground, e.g. motor mount.

====Twisted Cables====
Twisting is almost as good as shielding.
Twisted cables normally do not have to be shielded in moderate
environments. How does twisting work?

The electromagnetic field induces interference currents in the wires.
By twisting the wires we change the polarity of the
induced voltages every twist, and so the
disturbances cancel each other.

It is absolute necessary to twist the power cables
from the motor battery to the driver board, because
there run high pulsed currents and what is true for
reception, is also true for transmitting, and the
electric noise transmitted from the power cable will
cancel itself when run over twisted cables.
Needless to say, make the wires as short as possible,
from the battery to the driver to the motor.
Those components must be placed as near as possible,
especially the driver and the motor.

Always use twisted servo cables and remove those
3 pole flat cables from your design if possible!

====Ground Loops====
Grounding loops are not that much of concern as in audio
equipment or in microvolt sensors, but there is a general
simple rule to ground loops: avoid them.

====Ferrite Beads====
I do not recommend the use of ferrite beads, because if I need them,
my basic design is flawed. Sometimes ferrites help to overcome
problems, but I recommend to correctly design and install wirings and
shields the proper way. For example, I would lay out the interior of
a sensor compartment with thin copper foil or mesh or spray with
conductive paint to get a shielded chamber. Of course, I must take
care to connect all shields to ground on several places.

====Preventing and Fixing Interference====
All small-signal cables should be shielded, power cables twisted.
Signal inputs should have small capacitors to ground for
HF filtering, or an inductor + cap or a resistor + cap.
Power cables must have HF capacitors on both ends!
Electrolytic caps are not HF qualified.
Cables could be connected via "feed through capacitors"
and loaded with ferrite beads.
Ground connections between the boards should be short
and made of litz wires. Card cage should be lined with
copper foil and connected to common ground on many places.
And so on. Much to be tried out experimentally.

I would start to shield and filter the most sensitive circuitry.
Find the point of maximal sensitivity.
Switch off and on the various transmitters to identify the source.

Wrap the boards in thin copper sheet, and so on.
Line the complete electronics compartment with thin copper
and connect to ground.
Put a conductive "ground plane" where the antennas are mounted.
Adhesive copper shielding tape is available but you must put
solder dots all over the tape joints. Conductive paint spray
is also available. Create a HF "zero reference" plane where all ground
connections meet. "Star" grounding configuration is less important
to HF designs, but we must avoid wire loops.

Hardware Installation

2008-07-29T20:06:57Z

Corybarton:

==Autopilot==
The image below shows a Tiny V2 installed in a funjet. The dual IR sensor is also visible.
[[Image:Tiny_v2_1_Funjet_install.jpg]]

==Sensors==
===Gyro===

===IR===
The sensor FOV is typically around 60-100 deg, depending on brand. Everything
emits heat, so you should try to keep the view as unobstructed as possible.
There is of course no way to mount the sensors such that they are perfectly
unobstructed and a complex set of calibration factors exist in the code to deal
with this. Just be sure to keep any obstructions symmetrical, particularly
difficult with pitch, and try to avoid having sun-heated surfaces in the FOV -
such as the top of a wing, tail, or fuselage.

Avoid placing sensors in the exhaust stream since oil buildup will certainly cause trouble and you may even have problems with hot exhaust. It's important to note that you cannot cover the sensors with any commonly available material - only very special materials will allow LWIR to pass.

Most importantly, keep any video/data transmitters away from the sensors and
their wires.

====Dual IR====
The mounting procedure of the Dual IR sensor is very well explained by the [http://www.fmadirect.com/support_docs/item_1049.pdf FMA CPD4 Manual] on pages 6 and 7.

Slightly different installation and setup procedures are explained on page 23 of the CPD4 Manual. For planes which:
*Have a low or mid wing, and exhaust flows under fuselage.
*Have a canopy.

====Single IR====
Mount the single IR sensor so that it is vertical when the aircraft is in level flight, and has an unobstructed view of the sky and ground. Helicopter blades will not obstruct the sensor's view.

===External GPS Antenna===

==Modems==
The picture below shows a modem install on a funjet, and the Dual IR sensor.

[[Image:PPZFJ01_install.JPG]]

==General Electrical Advice==
===Wiring Suggestions===
====Common Ground====
We had immediate success by connecting the motor chassis, the motor
mounting bracket, the minus of the motor driver supply, the minus of
the servo battery, the minus (ground) of the receivers onto a common
ground wire which we laid through the whole plane body from tip to
tail.
Actually we use a braid from a shielded cable. Remove the insulation,
then push the wire mesh shield ends together which makes it easy
to slide off the cable, then pull to full lenght again. Finally the
mesh was about 5 mm wide flat litz wire. Alternatively one could use
thin copper tape which is available from electronics suppliers.
High frequency currents run on the outer surface of the conductors,
therefore it is important to have as much surface as possible on the
ground wires. Connect each metal part to ground, e.g. motor mount.

====Twisted Cables====
Twisting is almost as good as shielding.
Twisted cables normally do not have to be shielded in moderate
environments. How does twisting work?

The electromagnetic field induces interference currents in the wires.
By twisting the wires we change the polarity of the
induced voltages every twist, and so the
disturbances cancel each other.

It is absolute necessary to twist the power cables
from the motor battery to the driver board, because
there run high pulsed currents and what is true for
reception, is also true for transmitting, and the
electric noise transmitted from the power cable will
cancel itself when run over twisted cables.
Needless to say, make the wires as short as possible,
from the battery to the driver to the motor.
Those components must be placed as near as possible,
especially the driver and the motor.

Always use twisted servo cables and remove those
3 pole flat cables from your design if possible!

====Ground Loops====
Grounding loops are not that much of concern as in audio
equipment or in microvolt sensors, but there is a general
simple rule to ground loops: avoid them.

====Ferrite Beads====
I do not recommend the use of ferrite beads, because if I need them,
my basic design is flawed. Sometimes ferrites help to overcome
problems, but I recommend to correctly design and install wirings and
shields the proper way. For example, I would lay out the interior of
a sensor compartment with thin copper foil or mesh or spray with
conductive paint to get a shielded chamber. Of course, I must take
care to connect all shields to ground on several places.

====Preventing and Fixing Interference====
All small-signal cables should be shielded, power cables twisted.
Signal inputs should have small capacitors to ground for
HF filtering, or an inductor + cap or a resistor + cap.
Power cables must have HF capacitors on both ends!
Electrolytic caps are not HF qualified.
Cables could be connected via "feed through capacitors"
and loaded with ferrite beads.
Ground connections between the boards should be short
and made of litz wires. Card cage should be lined with
copper foil and connected to common ground on many places.
And so on. Much to be tried out experimentally.

I would start to shield and filter the most sensitive circuitry.
Find the point of maximal sensitivity.
Switch off and on the various transmitters to identify the source.

Wrap the boards in thin copper sheet, and so on.
Line the complete electronics compartment with thin copper
and connect to ground.
Put a conductive "ground plane" where the antennas are mounted.
Adhesive copper shielding tape is available but you must put
solder dots all over the tape joints. Conductive paint spray
is also available. Create a HF "zero reference" plane where all ground
connections meet. "Star" grounding configuration is less important
to HF designs, but we must avoid wire loops.

File:Tiny v2 1 Funjet install.jpg

2008-07-29T19:58:35Z

Corybarton:

File:PPZFJ01 install.JPG

2008-07-29T19:57:08Z

Corybarton: Closeup of funjet showing dual IR sensor mount and xbee modem.

Closeup of funjet showing dual IR sensor mount and xbee modem.