PaparazziUAV - User contributions [en]

Lisa/M v2.0

2012-08-10T13:18:06Z

Cwozny: /* Features */

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085] (optional as of 08/2012)
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (6 w/ second I2C bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus (2 x when using only the first 6 Servo PPM outputs)
* 1 x Micro USB
* 4 x status LEDs with attached test point
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

With mounted Aspirin IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer
* Barometer (as of Aspirin v2.1r1)

'''Lisa/M has pads for the BMP085 pressure sensor. Boards made before August 2012 had the BMP085 sensor mounted. Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1r1 which has the new MS5611-01BA03 barometric pressure sensor.'''

The drivers for the MS5611-01BA03 are work in progress and will be available in the master branch of the Paparazzi codebase soon. All help with testing and improving the driver are very welcome!

So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BAT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. There one has to choose, either use SERVO7 and SERVO8 '''OR''' the use ''second'' I2C bus (I2C1) if that one needs to be used for whatever reason. To use the servos 7 and 8 just set the define USE_SERVOS_7AND8 in your airframe file and you are good to go.

=== LEDs ===
Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs (LED_6, LED_7, LED_8) that are not populated by default (in favor of using ADC1-3 on the ANALOG1 connector).
By default the LEDs are use for:
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok
; LED_5, green : not set to anything by default

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BAT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BAT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
 

== Examples of Airborne Equipment Electrical Connections ==

=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===

[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]

When using cheap Chinese PWM motor controllers consider replacing their firmware with Simon Kirby firmware that you can find in his [https://github.com/sim-/tgy GitHub repository] to get useful performance of your multicopter!

=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===

[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]

This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.

=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]

=== Fixedwing, Spektrum Satellite Receivers ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]

=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===

[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]

Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example

=== R/C Receivers ===
One can use traditional PPM receivers as wel as Spektrum DSM2 or compatible receivers for flying your aircraft in manual mode during setup and test phase. The Lisa M can direcly connect to a Spectrum DSM2 satellite receiver. It is even possible to connect two satellite receivers for better redundancy or RC reception. It is

==== Bind your Spectrum DSM receiver ====

It is important to bind your receiver with your transmitter '''via your Lisa board''', not in any other way. The way to do this is via fiddly small molex pins

Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable

* On the connector ANALOG1 have a wire between the GND pin ADC1, located in the middle of the board
* Power up your autopilot board
* Hold the bind button on your '''transmitter''', while '''keeping it pressed''' switch on your transmitter
* Wait.. all light of receiver blink then go steady
* Let go of your transmitter bind button
* Power off your Lisa Board
* remove the wire between GND and ADC1 pins
* Repower your board, if you have servos connected and wiggle the RC transmitter sticks some sould move

That all, you are done. Only needs to be done '''once''' for your receiver.

=== Extra Input ===

Also UART pins can be used as general purpose I/O to be used for PPM input. By default connect your PPM out able receiver to servo pin 6. If you do not have or cannot create a PPM out able receiver, additionally a [[PPM_Encoder | PPM encoder board]] can be used to avoid receiver hardware modification.

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
 
 

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Uploading new software ==

New onboard software for the Lisa/M v2.0 can uploaded by connecting your PC via a micro-USB port to the autopilot board. For this the board need to contain a "luftboot" bootloader. All Lisa/M 2.0 from Transition Robotics Inc. come with luftboot already in the board.

An alternative to get your software/flightplane in the board is by using a JTAG connector connected via the 10-pin Samtec connector that is available on the board.

=== Using luftboot ===

First make sure you '''update to the latest stable Paparazzi version''', then you will have support for this bootloader method. By default use the associated DFU loader to program the firmware. Make sure that your airframe file is set to use Lisa/M 2.0 as it's target board.

Currently Paparazzi firmware does not contain the needed software to switch into bootloader mode using software only by USB. To circumvent this shortcoming, you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC1. Make sure you do not shortcircuit your board.

Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. If the status LEDs cycle up and down, it is in booatloader mode, ready to receive your new flightplan and autopilot control software upgdate.

Note that all of this won't be necessary in the future once a working USB stack stub is added to the latest Paparazzi.

[[File:Luftboot.gif|320px]]

You should disconnect the "Boot mode connector" after enforcing the bootloader. Pressing upload in the Paparazzi Center should now upload new code onto the board.

In the rare case you somehow have removed the luftboot bootloader, you can re-insert this Boatloader by following the instructions of ''Uploading the Paparazzi USB Bootloader''

=== Uploading the Paparazzi USB Bootloader ===

Reading or performing these steps is not needed if you got your Lisa/M 2.0 from Transition Robotics Inc., these boards come with luftboot already preloaded. But in the case you made a board yourself or somehow do not have a preloaded bootloader, or it is gone because of unknown cause, then read this section. It describes the process on how to upload/recover the luftboot bootloader on your Lisa/M 2.0.

[https://github.com/paparazzi/luftboot Luftboot] is a Paparazzi-compatible bootloader for STM32-based autopilots.
Depending on your vendor, your Lisa/M may already come with a bootloader, in which case you should skip to [[Lisa/M#Uploading new software]]

==== Required components ====

*Floss-JTAG debugger or Blacksphere mini JTAG
*Lisa/M board
*PC

==== Procedure ====
<ol>
<li>
Get the [https://github.com/paparazzi/luftboot Luftboot sourcecode from Github] via
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
</li>
<li>
Change directory into the luftboot/src folder
<source lang=bash>cd ./luftboot/src</source>
</li>
<li>
Build luftboot
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source>
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:
<source lang=bash>make clean && make flash DEV_SERIAL="LM2-020"</source>
</li>
</ol>

==== Connection Diagram ====

==== Boot Sequence ====

* Luftboot
** Check if ADC2 is configured as output pull down indicating software bootloader request
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode
** Setting the ADC2 pin to input pull up
** Checking if the ADC2 pin is low
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode
*** '''If ADC2 high:''' check if there is a payload at 0x8002000
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload
**** '''If payload not detected:''' initialize USB and stay in bootloader mode

==== Luftboot USB permissions ====

[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.

=== Using JTAG ===
If you are using the Lisa/M 2.0 target board you still can use JTAG for programming and debugging your paparazzi firmware. To use JTAG flashing configure the ''FLASH_MODE'' in your firmware section:
:<source lang="xml"><configure name="FLASH_MODE" value="JTAG"/></source>
Using JTAG will not overwrite the bootloader by default. To overwrite the luftboot bootloader configure
:<source lang="xml"><configure name="NO_LUFTBOOT" value="1"/></source>

* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

==== Quick JTAG Upload Guide ====
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

=== Serial Firmware Upload ===

Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten Luftboot accidentally and don´t have access to JTAG.

Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads

Now a boot sequence works as follows:
#BOOT1 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS
#Power the board and activate the bootloader program

The according bootloader script can be found at :
[https://github.com/jsnyder/stm32loader stm32loader from Github]
<source lang=bash>git clone https://github.com/jsnyder/stm32loader.git</source>

To reload Luftboot, upload luftboot.bin

Serial upload can also be used directly from paparazzi Center by adapting the right path in [https://github.com/paparazzi/paparazzi/blob/dev/conf/Makefile.stm32 Makefile.stm32] for the LOADER argument and setting

<define name="FLASH_MODE" value="SERIAL"/>

in the target section of the airframe configuration.

== Detailed Hardware Revision History ==

=== Changes Between LISA v1.1 and v2.0 ===

* Lots of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

== Hardware Change Requests ==

If you have a Lisa/M 2.0 and in the process of using it you come up with something you find annoying, dangerous, or restricting, add your hardware update requests here. Better still, modify the Lisa schematics yourself and show your new improvements if you are skilled enough to do this.

* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: Using a MS5611 is possible through using a Aspirin v2.1 board

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly inject CAN Molex into SPI. Thus a separate CAN and Power plug. Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense). Option to have thicker wire to be soldered to the board, for power hungry setups and other issues connectors for power are not a good idea.

* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 and bring the MS5611 back onto the Lisa/M board to reduce footprint, mass, and manufacturing cost once the 9150 becomes readily available.
[[Category:Lisa]] [[Category:User_Documentation]]

Lisa/M v2.0

2012-08-10T13:16:11Z

Cwozny: Grammar fix

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085]
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (6 w/ second I2C bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus (2 x when using only the first 6 Servo PPM outputs)
* 1 x Micro USB
* 4 x status LEDs with attached test point
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

With mounted Aspirin IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

'''Lisa/M has pads for the BMP085 pressure sensor. Boards made before August 2012 had the BMP085 sensor mounted. Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1r1 which has the new MS5611-01BA03 barometric pressure sensor.'''

The drivers for the MS5611-01BA03 are work in progress and will be available in the master branch of the Paparazzi codebase soon. All help with testing and improving the driver are very welcome!

So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BAT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. There one has to choose, either use SERVO7 and SERVO8 '''OR''' the use ''second'' I2C bus (I2C1) if that one needs to be used for whatever reason. To use the servos 7 and 8 just set the define USE_SERVOS_7AND8 in your airframe file and you are good to go.

=== LEDs ===
Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs (LED_6, LED_7, LED_8) that are not populated by default (in favor of using ADC1-3 on the ANALOG1 connector).
By default the LEDs are use for:
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok
; LED_5, green : not set to anything by default

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BAT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BAT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
 

== Examples of Airborne Equipment Electrical Connections ==

=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===

[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]

When using cheap Chinese PWM motor controllers consider replacing their firmware with Simon Kirby firmware that you can find in his [https://github.com/sim-/tgy GitHub repository] to get useful performance of your multicopter!

=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===

[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]

This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.

=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]

=== Fixedwing, Spektrum Satellite Receivers ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]

=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===

[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]

Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example

=== R/C Receivers ===
One can use traditional PPM receivers as wel as Spektrum DSM2 or compatible receivers for flying your aircraft in manual mode during setup and test phase. The Lisa M can direcly connect to a Spectrum DSM2 satellite receiver. It is even possible to connect two satellite receivers for better redundancy or RC reception. It is

==== Bind your Spectrum DSM receiver ====

It is important to bind your receiver with your transmitter '''via your Lisa board''', not in any other way. The way to do this is via fiddly small molex pins

Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable

* On the connector ANALOG1 have a wire between the GND pin ADC1, located in the middle of the board
* Power up your autopilot board
* Hold the bind button on your '''transmitter''', while '''keeping it pressed''' switch on your transmitter
* Wait.. all light of receiver blink then go steady
* Let go of your transmitter bind button
* Power off your Lisa Board
* remove the wire between GND and ADC1 pins
* Repower your board, if you have servos connected and wiggle the RC transmitter sticks some sould move

That all, you are done. Only needs to be done '''once''' for your receiver.

=== Extra Input ===

Also UART pins can be used as general purpose I/O to be used for PPM input. By default connect your PPM out able receiver to servo pin 6. If you do not have or cannot create a PPM out able receiver, additionally a [[PPM_Encoder | PPM encoder board]] can be used to avoid receiver hardware modification.

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
 
 

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Uploading new software ==

New onboard software for the Lisa/M v2.0 can uploaded by connecting your PC via a micro-USB port to the autopilot board. For this the board need to contain a "luftboot" bootloader. All Lisa/M 2.0 from Transition Robotics Inc. come with luftboot already in the board.

An alternative to get your software/flightplane in the board is by using a JTAG connector connected via the 10-pin Samtec connector that is available on the board.

=== Using luftboot ===

First make sure you '''update to the latest stable Paparazzi version''', then you will have support for this bootloader method. By default use the associated DFU loader to program the firmware. Make sure that your airframe file is set to use Lisa/M 2.0 as it's target board.

Currently Paparazzi firmware does not contain the needed software to switch into bootloader mode using software only by USB. To circumvent this shortcoming, you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC1. Make sure you do not shortcircuit your board.

Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. If the status LEDs cycle up and down, it is in booatloader mode, ready to receive your new flightplan and autopilot control software upgdate.

Note that all of this won't be necessary in the future once a working USB stack stub is added to the latest Paparazzi.

[[File:Luftboot.gif|320px]]

You should disconnect the "Boot mode connector" after enforcing the bootloader. Pressing upload in the Paparazzi Center should now upload new code onto the board.

In the rare case you somehow have removed the luftboot bootloader, you can re-insert this Boatloader by following the instructions of ''Uploading the Paparazzi USB Bootloader''

=== Uploading the Paparazzi USB Bootloader ===

Reading or performing these steps is not needed if you got your Lisa/M 2.0 from Transition Robotics Inc., these boards come with luftboot already preloaded. But in the case you made a board yourself or somehow do not have a preloaded bootloader, or it is gone because of unknown cause, then read this section. It describes the process on how to upload/recover the luftboot bootloader on your Lisa/M 2.0.

[https://github.com/paparazzi/luftboot Luftboot] is a Paparazzi-compatible bootloader for STM32-based autopilots.
Depending on your vendor, your Lisa/M may already come with a bootloader, in which case you should skip to [[Lisa/M#Uploading new software]]

==== Required components ====

*Floss-JTAG debugger or Blacksphere mini JTAG
*Lisa/M board
*PC

==== Procedure ====
<ol>
<li>
Get the [https://github.com/paparazzi/luftboot Luftboot sourcecode from Github] via
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
</li>
<li>
Change directory into the luftboot/src folder
<source lang=bash>cd ./luftboot/src</source>
</li>
<li>
Build luftboot
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source>
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:
<source lang=bash>make clean && make flash DEV_SERIAL="LM2-020"</source>
</li>
</ol>

==== Connection Diagram ====

==== Boot Sequence ====

* Luftboot
** Check if ADC2 is configured as output pull down indicating software bootloader request
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode
** Setting the ADC2 pin to input pull up
** Checking if the ADC2 pin is low
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode
*** '''If ADC2 high:''' check if there is a payload at 0x8002000
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload
**** '''If payload not detected:''' initialize USB and stay in bootloader mode

==== Luftboot USB permissions ====

[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.

=== Using JTAG ===
If you are using the Lisa/M 2.0 target board you still can use JTAG for programming and debugging your paparazzi firmware. To use JTAG flashing configure the ''FLASH_MODE'' in your firmware section:
:<source lang="xml"><configure name="FLASH_MODE" value="JTAG"/></source>
Using JTAG will not overwrite the bootloader by default. To overwrite the luftboot bootloader configure
:<source lang="xml"><configure name="NO_LUFTBOOT" value="1"/></source>

* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

==== Quick JTAG Upload Guide ====
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

=== Serial Firmware Upload ===

Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten Luftboot accidentally and don´t have access to JTAG.

Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads

Now a boot sequence works as follows:
#BOOT1 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS
#Power the board and activate the bootloader program

The according bootloader script can be found at :
[https://github.com/jsnyder/stm32loader stm32loader from Github]
<source lang=bash>git clone https://github.com/jsnyder/stm32loader.git</source>

To reload Luftboot, upload luftboot.bin

Serial upload can also be used directly from paparazzi Center by adapting the right path in [https://github.com/paparazzi/paparazzi/blob/dev/conf/Makefile.stm32 Makefile.stm32] for the LOADER argument and setting

<define name="FLASH_MODE" value="SERIAL"/>

in the target section of the airframe configuration.

== Detailed Hardware Revision History ==

=== Changes Between LISA v1.1 and v2.0 ===

* Lots of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

== Hardware Change Requests ==

If you have a Lisa/M 2.0 and in the process of using it you come up with something you find annoying, dangerous, or restricting, add your hardware update requests here. Better still, modify the Lisa schematics yourself and show your new improvements if you are skilled enough to do this.

* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: Using a MS5611 is possible through using a Aspirin v2.1 board

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly inject CAN Molex into SPI. Thus a separate CAN and Power plug. Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense). Option to have thicker wire to be soldered to the board, for power hungry setups and other issues connectors for power are not a good idea.

* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 and bring the MS5611 back onto the Lisa/M board to reduce footprint, mass, and manufacturing cost once the 9150 becomes readily available.
[[Category:Lisa]] [[Category:User_Documentation]]

Lisa/M v2.0

2012-08-10T13:14:33Z

Cwozny: Reworded hardware change request for MPU-9150

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085]
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (6 w/ second I2C bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus (2 x when using only the first 6 Servo PPM outputs)
* 1 x Micro USB
* 4 x status LEDs with attached test point
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

With mounted Aspirin IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

'''Lisa/M has pads for the BMP085 pressure sensor. Boards made before August 2012 had the BMP085 sensor mounted. Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1r1 which has the new MS5611-01BA03 barometric pressure sensor.'''

The drivers for the MS5611-01BA03 are work in progress and will be available in the master branch of the Paparazzi codebase soon. All help with testing and improving the driver are very welcome!

So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BAT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. There one has to choose, either use SERVO7 and SERVO8 '''OR''' the use ''second'' I2C bus (I2C1) if that one needs to be used for whatever reason. To use the servos 7 and 8 just set the define USE_SERVOS_7AND8 in your airframe file and you are good to go.

=== LEDs ===
Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs (LED_6, LED_7, LED_8) that are not populated by default (in favor of using ADC1-3 on the ANALOG1 connector).
By default the LEDs are use for:
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok
; LED_5, green : not set to anything by default

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BAT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BAT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
 

== Examples of Airborne Equipment Electrical Connections ==

=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===

[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]

When using cheap Chinese PWM motor controllers consider replacing their firmware with Simon Kirby firmware that you can find in his [https://github.com/sim-/tgy GitHub repository] to get useful performance of your multicopter!

=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===

[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]

This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.

=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]

=== Fixedwing, Spektrum Satellite Receivers ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]

=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===

[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]

Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example

=== R/C Receivers ===
One can use traditional PPM receivers as wel as Spektrum DSM2 or compatible receivers for flying your aircraft in manual mode during setup and test phase. The Lisa M can direcly connect to a Spectrum DSM2 satellite receiver. It is even possible to connect two satellite receivers for better redundancy or RC reception. It is

==== Bind your Spectrum DSM receiver ====

It is important to bind your receiver with your transmitter '''via your Lisa board''', not in any other way. The way to do this is via fiddly small molex pins

Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable

* On the connector ANALOG1 have a wire between the GND pin ADC1, located in the middle of the board
* Power up your autopilot board
* Hold the bind button on your '''transmitter''', while '''keeping it pressed''' switch on your transmitter
* Wait.. all light of receiver blink then go steady
* Let go of your transmitter bind button
* Power off your Lisa Board
* remove the wire between GND and ADC1 pins
* Repower your board, if you have servos connected and wiggle the RC transmitter sticks some sould move

That all, you are done. Only needs to be done '''once''' for your receiver.

=== Extra Input ===

Also UART pins can be used as general purpose I/O to be used for PPM input. By default connect your PPM out able receiver to servo pin 6. If you do not have or cannot create a PPM out able receiver, additionally a [[PPM_Encoder | PPM encoder board]] can be used to avoid receiver hardware modification.

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
 
 

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Uploading new software ==

New onboard software for the Lisa/M v2.0 can uploaded by connecting your PC via a micro-USB port to the autopilot board. For this the board need to contain a "luftboot" bootloader. All Lisa/M 2.0 from Transition Robotics Inc. come with luftboot already in the board.

An alternative to get your software/flightplane in the board is by using a JTAG connector connected via the 10-pin Samtec connector that is available on the board.

=== Using luftboot ===

First make sure you '''update to the latest stable Paparazzi version''', then you will have support for this bootloader method. By default use the associated DFU loader to program the firmware. Make sure that your airframe file is set to use Lisa/M 2.0 as it's target board.

Currently Paparazzi firmware does not contain the needed software to switch into bootloader mode using software only by USB. To circumvent this shortcoming, you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC1. Make sure you do not shortcircuit your board.

Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. If the status LEDs cycle up and down, it is in booatloader mode, ready to receive your new flightplan and autopilot control software upgdate.

Note that all of this won't be necessary in the future once a working USB stack stub is added to the latest Paparazzi.

[[File:Luftboot.gif|320px]]

You should disconnect the "Boot mode connector" after enforcing the bootloader. Pressing upload in the Paparazzi Center should now upload new code onto the board.

In the rare case you somehow have removed the luftboot bootloader, you can re-insert this Boatloader by following the instructions of ''Uploading the Paparazzi USB Bootloader''

=== Uploading the Paparazzi USB Bootloader ===

Reading or performing these steps is not needed if you got your Lisa/M 2.0 from Transition Robotics Inc., these boards come with luftboot already preloaded. But in the case you made a board yourself or somehow do not have a preloaded bootloader, or it is gone because of unknown cause, then read this section. It describes the process on how to upload/recover the luftboot bootloader on your Lisa/M 2.0.

[https://github.com/paparazzi/luftboot Luftboot] is a Paparazzi-compatible bootloader for STM32-based autopilots.
Depending on your vendor, your Lisa/M may already come with a bootloader, in which case you should skip to [[Lisa/M#Uploading new software]]

==== Required components ====

*Floss-JTAG debugger or Blacksphere mini JTAG
*Lisa/M board
*PC

==== Procedure ====
<ol>
<li>
Get the [https://github.com/paparazzi/luftboot Luftboot sourcecode from Github] via
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
</li>
<li>
Change directory into the luftboot/src folder
<source lang=bash>cd ./luftboot/src</source>
</li>
<li>
Build luftboot
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source>
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:
<source lang=bash>make clean && make flash DEV_SERIAL="LM2-020"</source>
</li>
</ol>

==== Connection Diagram ====

==== Boot Sequence ====

* Luftboot
** Check if ADC2 is configured as output pull down indicating software bootloader request
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode
** Setting the ADC2 pin to input pull up
** Checking if the ADC2 pin is low
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode
*** '''If ADC2 high:''' check if there is a payload at 0x8002000
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload
**** '''If payload not detected:''' initialize USB and stay in bootloader mode

==== Luftboot USB permissions ====

[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.

=== Using JTAG ===
If you are using the Lisa/M 2.0 target board you still can use JTAG for programming and debugging your paparazzi firmware. To use JTAG flashing configure the ''FLASH_MODE'' in your firmware section:
:<source lang="xml"><configure name="FLASH_MODE" value="JTAG"/></source>
Using JTAG will not overwrite the bootloader by default. To overwrite the luftboot bootloader configure
:<source lang="xml"><configure name="NO_LUFTBOOT" value="1"/></source>

* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

==== Quick JTAG Upload Guide ====
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

=== Serial Firmware Upload ===

Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten Luftboot accidentally and don´t have access to JTAG.

Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads

Now a boot sequence works as follows:
#BOOT1 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS
#Power the board and activate the bootloader program

The according bootloader script can be found at :
[https://github.com/jsnyder/stm32loader stm32loader from Github]
<source lang=bash>git clone https://github.com/jsnyder/stm32loader.git</source>

To reload Luftboot, upload luftboot.bin

Serial upload can also be used directly from paparazzi Center by adapting the right path in [https://github.com/paparazzi/paparazzi/blob/dev/conf/Makefile.stm32 Makefile.stm32] for the LOADER argument and setting

<define name="FLASH_MODE" value="SERIAL"/>

in the target section of the airframe configuration.

== Detailed Hardware Revision History ==

=== Changes Between LISA v1.1 and v2.0 ===

* Lots of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

== Hardware Change Requests ==

If you have a Lisa/M 2.0 and in the process of using it come up with thing you find annoying, dangerous or restricting, add you hadware update request here. Better still, modify the Lisa schematics yourself and show s your new improvements if you are skille enought to do this.

* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: Using a MS5611 is possible through using a Aspirin v2.1 board

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly inject CAN Molex into SPI. Thus a separate CAN and Power plug. Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense). Option to have thicker wire to be soldered to the board, for power hungry setups and other issues connectors for power are not a good idea.

* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 and bring the MS5611 back onto the Lisa/M board to reduce footprint, mass, and manufacturing cost once the 9150 becomes readily available.
[[Category:Lisa]] [[Category:User_Documentation]]

Bixler

2012-07-05T15:36:04Z

Cwozny: minor grammatical errors

{|
|-valign="top"
|[[Image:Bixler Table.jpg|thumb|left|Bixler]]
|
The HobbyKing Bixler is a very inexpensive airframe with very easy flight characteristics and reasonable payload capacity. Its price and crash resistant EPO foam construction makes this a plane well suited for beginners.
|}

== Features ==

* Kit price $37 USD
* EPO Foam construction
* Detachable canopy for access to internals
* Easy access cockpit
* Nice and stable slow flight especially for RC beginners

== Specifications ==
* Material: EPO Foam
* Wingspan: 1400mm
* Length: 925mm
* Wing Area: 26dm2
* Wing Loading: 25g/dm2
* Flying Weight: 650g
* Motor: 2620-1900kv Brushless Outrunner
* ESC: 20A w/BEC
* Servo: 4 x 9g
* Propeller: 6x5.5 recommended.

== Buy ==

Can be bought directly at HobbyKing [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=16545]

== Airframe configuration ==
A simple, sample airframe configuration file can be found in conf/airframes/examples/bixler_lisa_m_2.xml [https://github.com/paparazzi/paparazzi/blob/v3.9/conf/airframes/examples/bixler_lisa_m_2.xml]

Attention: No tuning values in this file yet! It is an untested setup.

== Cockpit ==
{|
|-valign="top"
|[[Image:Bixler Cockpit.jpg|thumb|left|Cockpit]]
|HobbyKing also offers a very simple plywood FPV mount which can be used to mount the autopilot. [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22731]

Note the [[Lisa/M]] board is mounted at a right angle which is the natural orientation of the IMU. This layout also makes wiring much simpler.

This way the IMU is far from the planes' centre of gravity. Mounting the IMU under the wings would be better, but much more complex.

The camera mount for the keyhole camera seen here proved not to be crash resistant enough.
|}

== Mods ==
The plane flies well out of the box. But some modifications are popular:

* Rudder servo can be moved back into the rudder. The original long pushrod in tube setup is far from perfect. Moving the servo into the tail wing will increase accuracy but will also move the centre of gravity severely to the rear. A lot of counterweights in the front will be needed.
* Increase rudder size either by gluing some strong paper or cardboard on the rudder to make it bigger or by cutting the tail fin at the whole length following the hinge and attaching a full height rudder.

Plenty of space is available inside, but much of this space is not very easy to access.
[[Image:Bixler Nose.jpg|thumb|left|Datalink antenna]]
Here the 2.4Ghz XBee telemetry antenna can be seen pushed out to one side. Pointing down in flight.

Large batteries can be fitted without problems.

== Build Tips ==

The foam hinges are very stiff and need to be exercised quite a bit by hand to make them move well.

Bixler

2012-07-05T15:33:53Z

Cwozny: minor grammatical errors

{|
|-valign="top"
|[[Image:Bixler Table.jpg|thumb|left|Bixler]]
|
The HobbyKing Bixler is a very inexpensive airframe with very easy flying characteristics and reasonable payload capacity. Its price and crash resistant EPO foam construction makes this a plane well suited for beginners.
|}

== Features ==

* Kit price $37 USD
* EPO Foam construction
* Detachable canopy for access to internals
* Easy access cockpit
* Nice and stable slow flight especially for RC beginners

== Specifications ==
* Material: EPO Foam
* Wingspan: 1400mm
* Length: 925mm
* Wing Area: 26dm2
* Wing Loading: 25g/dm2
* Flying Weight: 650g
* Motor: 2620-1900kv Brushless Outrunner
* ESC: 20A w/BEC
* Servo: 4 x 9g
* Propeller: 6x5.5 recommended.

== Buy ==

Can be bought directly at HobbyKing [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=16545]

== Airframe configuration ==
A simple, sample airframe configuration file can be found in conf/airframes/examples/bixler_lisa_m_2.xml [https://github.com/paparazzi/paparazzi/blob/v3.9/conf/airframes/examples/bixler_lisa_m_2.xml]

Attention: No tuning values in this file yet! It is an untested setup.

== Cockpit ==
{|
|-valign="top"
|[[Image:Bixler Cockpit.jpg|thumb|left|Cockpit]]
|HobbkyKing also offers a very simple plywood FPV mount which can be used to mount the autopilot. [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22731]

Note the [[Lisa/M]] board is mounted at a right angle which is the natural orientation of the IMU. This layout also makes wiring much simpler.

This way the IMU is far from the planes centre of gravity. Mounting the IMU under the wings would be better, but much more complex.

The camera mount for the keyhole camera seen here proved not to be crash resistant enough.
|}

== Mods ==
The plane flies well out of the box. But some modifications are popular:

* Rudder servo can be moved back into the rudder. The original long pushrod in tube setup is far from perfect. Moving the servo into the tail wing will increase accuracy but will also move the centre of gravity severely to the rear. A lot of counterweights in the front will be needed
* Increase rudder size. Either by gluing some strong paper or cardboard on the rudder to make it bigger or by cutting the tail fin at the whole length following the hinge and attaching a full height rudder.

Plenty of space is available inside. But much of this space is not very easy to access.
[[Image:Bixler Nose.jpg|thumb|left|Datalink antenna]]
Here the 2.4Ghz XBee telemetry antenna can be seen pushed out to one side. Pointing down in flight.

Large batteries can be fitted without problems.

== Build Tips ==

The foam hinges are very stiff and need to be exercised quite a bit by hand to make them move well.

Subsystems

2012-06-26T15:59:51Z

Cwozny: /* Available Subsystems */

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

Mostly a subsystem is a part offering a specific functionality with a
defined interface and can have multiple different implementations. (See <tt>sw/airborne/subsystems/...</tt>)

They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].

All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/firmwares/subsystems/...</tt>)

This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.

See [[FirmwareArchitecture]] for the differences to [[Modules]].

== Available Subsystems ==

{| class="wikitable" border="1"
! Name !! Types !! Firmwares !! Architecture !! Description
|-
|[[Subsystem/gps|gps]]
||
* ublox
* ublox_utm
* nmea
* mediatek_diy
* skytraq
|
* all
* fixedwing
* all
* all
* rotorcraft
|
* all
| GPS drivers
|-
|[[Subsystem/imu|imu]]
||
* aspirin_v1.0
* aspirin_v1.5
* aspirin_v2.1
* b2_v1.0
* b2_v1.1
* b2_v1.2
* yai
* aspirin_i2c
* aspirin2_i2c
* analog
* ppzuav
* crista
* crista_hmc5843
|
* all
* all
* all
* all
* all
* all
* all
* fixedwing
* fixedwing
* fixedwing
* fixedwing
* rotorcraft
* rotorcraft
|
* STM32
* STM32
* STM32
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
|| IMU drivers
Traditional IR sensors can be used for fixedwing

but an IMU subsystem is not required
|-
|-
|[[Subsystem/ahrs|ahrs]]
||
* float_dcm
* int_cmpl_euler
* int_cmpl_quat
* infrared
|
* all
|
* all
|| AHRS algorithms
|-
|[[Subsystem/radio_control|radio_control]]
||
* ppm
* spektrum
* datalink
|
* all
* all
* fixedwing
|
* all
* STM32
* all
| Radio Control implementations
|-
|[[Subsystem/telemetry|telemetry]]
||
* transparent
* transparent_usb
* xbee_api
|
* all
|
* all
* LPC21xx
* all
| Telemetry implementations
|-
|[[Subsystem/actuators|actuators]]
||
* mkk
* asctec
* asctec_v2
* pwm_supervision
* skiron
* heli
|
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
|
* all
* all
* all
* all
* all
* all
| Drivers for different ESCs for rotorcraft
Fixedwing ESCs and servos are

possible on all firmwares/architectures
|-
|[[Subsystem/stabilization|stabilization]]
||
* int_quat
* float_quat
* euler
|
* rotorcraft
* rotorcraft
* rotorcraft

|
* all
* all
* all
| Attitude control system for rotorcraft
|}

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

Subsystems

2012-06-26T15:58:30Z

Cwozny: /* Available Subsystems */

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

Mostly a subsystem is a part offering a specific functionality with a
defined interface and can have multiple different implementations. (See <tt>sw/airborne/subsystems/...</tt>)

They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].

All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/firmwares/subsystems/...</tt>)

This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.

See [[FirmwareArchitecture]] for the differences to [[Modules]].

== Available Subsystems ==

{| class="wikitable" border="1"
! Name !! Types !! Firmwares !! Architecture !! Description
|-
|[[Subsystem/gps|gps]]
||
* ublox
* ublox_utm
* nmea
* mediatek_diy
* skytraq
|
* all
* fixedwing
* all
* all
* rotorcraft
|
* all
| GPS drivers
|-
|[[Subsystem/imu|imu]]
||
* aspirin_v1.0
* aspirin_v1.5
* aspirin_v2.1
* b2_v1.0
* b2_v1.1
* b2_v1.2
* yai
* aspirin_i2c
* aspirin2_i2c
* analog
* ppzuav
* crista
* crista_hmc5843
|
* all
* all
* all
* all
* all
* all
* all
* fixedwing
* fixedwing
* fixedwing
* fixedwing
* rotorcraft
* rotorcraft
|
* STM32
* STM32
* STM32
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
|| IMU drivers
Traditional IR sensors can be used for fixedwing

but an IMU subsystem is not required
|-
|-
|[[Subsystem/ahrs|ahrs]]
||
* float_dcm
* int_cmpl_euler
* int_cmpl_quat
* infrared
|
* all
|
* all
|| AHRS algorithms
|-
|[[Subsystem/radio_control|radio_control]]
||
* ppm
* spektrum
* datalink
|
* all
* all
* fixedwing
|
* all
* STM32
* all
| Radio Control implementations
|-
|[[Subsystem/telemetry|telemetry]]
||
* transparent
* transparent_usb
* xbee_api
|
* all
|
* all
* LPC21xx
* all
| Telemetry implementations
|-
|[[Subsystem/actuators|actuators]]
||
* mkk
* asctec
* asctec_v2
* pwm_supervision
* skiron
* heli
|
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
|
* all
* all
* all
* all
* all
* all
| Drivers for different ESCs for rotorcraft
Fixedwing ESCs and servos are

possible on all firmwares/architectures
|
|-
|[[Subsystem/stabilization|stabilization]]
||
* int_quat
* float_quat
* euler
|
* rotorcraft
* rotorcraft
* rotorcraft

|
* all
* all
* all
|
|}

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

Subsystems

2012-06-26T15:57:54Z

Cwozny: fixed formatting for stabilization

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

Mostly a subsystem is a part offering a specific functionality with a
defined interface and can have multiple different implementations. (See <tt>sw/airborne/subsystems/...</tt>)

They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].

All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/firmwares/subsystems/...</tt>)

This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.

See [[FirmwareArchitecture]] for the differences to [[Modules]].

== Available Subsystems ==

{| class="wikitable" border="1"
! Name !! Types !! Firmwares !! Architecture !! Description
|-
|[[Subsystem/gps|gps]]
||
* ublox
* ublox_utm
* nmea
* mediatek_diy
* skytraq
|
* all
* fixedwing
* all
* all
* rotorcraft
|
* all
| GPS drivers
|-
|[[Subsystem/imu|imu]]
||
* aspirin_v1.0
* aspirin_v1.5
* aspirin_v2.1
* b2_v1.0
* b2_v1.1
* b2_v1.2
* yai
* aspirin_i2c
* aspirin2_i2c
* analog
* ppzuav
* crista
* crista_hmc5843
|
* all
* all
* all
* all
* all
* all
* all
* fixedwing
* fixedwing
* fixedwing
* fixedwing
* rotorcraft
* rotorcraft
|
* STM32
* STM32
* STM32
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
|| IMU drivers
Traditional IR sensors can be used for fixedwing

but an IMU subsystem is not required
|-
|-
|[[Subsystem/ahrs|ahrs]]
||
* float_dcm
* int_cmpl_euler
* int_cmpl_quat
* infrared
|
* all
|
* all
|| AHRS algorithms
|-
|[[Subsystem/radio_control|radio_control]]
||
* ppm
* spektrum
* datalink
|
* all
* all
* fixedwing
|
* all
* STM32
* all
| Radio Control implementations
|-
|[[Subsystem/telemetry|telemetry]]
||
* transparent
* transparent_usb
* xbee_api
|
* all
|
* all
* LPC21xx
* all
| Telemetry implementations
|-
|[[Subsystem/actuators|actuators]]
||
* mkk
* asctec
* asctec_v2
* pwm_supervision
* skiron
* heli
|
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
|
* all
* all
* all
* all
* all
* all
| Drivers for different ESCs for rotorcraft
Fixedwing ESCs and servos are

possible on all firmwares/architectures
|
|-
|[[Subsystem/stabilization|stabilization]]
||
* int_quat
|
* rotorcraft
|
* all
|
|}

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

Subsystems

2012-06-26T15:57:05Z

Cwozny: added stabilization subsystem

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

Mostly a subsystem is a part offering a specific functionality with a
defined interface and can have multiple different implementations. (See <tt>sw/airborne/subsystems/...</tt>)

They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].

All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/firmwares/subsystems/...</tt>)

This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.

See [[FirmwareArchitecture]] for the differences to [[Modules]].

== Available Subsystems ==

{| class="wikitable" border="1"
! Name !! Types !! Firmwares !! Architecture !! Description
|-
|[[Subsystem/gps|gps]]
||
* ublox
* ublox_utm
* nmea
* mediatek_diy
* skytraq
|
* all
* fixedwing
* all
* all
* rotorcraft
|
* all
| GPS drivers
|-
|[[Subsystem/imu|imu]]
||
* aspirin_v1.0
* aspirin_v1.5
* aspirin_v2.1
* b2_v1.0
* b2_v1.1
* b2_v1.2
* yai
* aspirin_i2c
* aspirin2_i2c
* analog
* ppzuav
* crista
* crista_hmc5843
|
* all
* all
* all
* all
* all
* all
* all
* fixedwing
* fixedwing
* fixedwing
* fixedwing
* rotorcraft
* rotorcraft
|
* STM32
* STM32
* STM32
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
|| IMU drivers
Traditional IR sensors can be used for fixedwing

but an IMU subsystem is not required
|-
|-
|[[Subsystem/ahrs|ahrs]]
||
* float_dcm
* int_cmpl_euler
* int_cmpl_quat
* infrared
|
* all
|
* all
|| AHRS algorithms
|-
|[[Subsystem/radio_control|radio_control]]
||
* ppm
* spektrum
* datalink
|
* all
* all
* fixedwing
|
* all
* STM32
* all
| Radio Control implementations
|-
|[[Subsystem/telemetry|telemetry]]
||
* transparent
* transparent_usb
* xbee_api
|
* all
|
* all
* LPC21xx
* all
| Telemetry implementations
|-
|[[Subsystem/actuators|actuators]]
||
* mkk
* asctec
* asctec_v2
* pwm_supervision
* skiron
* heli
|
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
|
* all
* all
* all
* all
* all
* all
| Drivers for different ESCs for rotorcraft
Fixedwing ESCs and servos are

possible on all firmwares/architectures
|}

|-
|[[Subsystem/stabilization|stabilization]]
||
* int_quat
|
* rotorcraft
|
* all
||}

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

User:Cwozny

2012-06-15T18:42:47Z

Cwozny:

[http://clubs.asua.arizona.edu/~mavclub University of Arizona MAV] / [http://engr.arizona.edu/academic/index.php?ID=135 Engineering Interdisciplinary Senior Design Project]

We worked on a project entitled "Autopilot Integration on Micro Air Vehicles".

We started with these components:

Paparazzi Lisa/M 1.0 w/ Aspirin v1.0 IMU

GS407 (uBlox LEA-5H GPS Receiver)

Berg 4L RC Receiver

XBee Pro 900 MHz Modem

RangeVideo KX-1 CMOS Camera with 5.8 GHz Transmitter

Hybrid VTOL Fixed-wing w/ Contra-rotating Motors

And ended up using these components:

Paparazzi Lisa/M 2.0 w/ Aspirin v2.0 IMU

uBlox MAX-6Q GPS Receiver from CSGShop

Spektrum 2.4 GHz RC Receiver

XBee Pro 900 MHz Modem (for US)/XBee 868LP (for EU)

RangeVideo KX-1 CMOS Camera with 5.8 GHz Transmitter

Horizon Hobby Radian (as well as VTOL Mini-Vertigo)

Now I am working on my own hobby quadcopter based on Lisa/M 2.0 with Aspirin v2.0.

User:Cwozny

2012-06-15T18:41:53Z

Cwozny:

[http://clubs.asua.arizona.edu/~mavclub University of Arizona MAV] / [http://engr.arizona.edu/academic/index.php?ID=135 Engineering Interdisciplinary Senior Design Project]

We worked on a project entitled "Autopilot Integration on Micro Air Vehicles".

We started with these components:

Paparazzi Lisa/M 1.0 w/ Aspirin v1.0 IMU

GS407 (uBlox LEA-5H GPS Receiver)

Berg 4L RC Receiver

XBee Pro 900 MHz Modem

RangeVideo KX-1 CMOS Camera with 5.8 GHz Transmitter

Hybrid VTOL Fixed-wing w/ Contra-rotating Motors

and ended up using these components:

Paparazzi Lisa/M 2.0 w/ Aspirin v2.0 IMU

uBlox MAX-6Q GPS Receiver from CSGShop

Spektrum 2.4 GHz RC Receiver

XBee Pro 900 MHz Modem (for US)/XBee 868LP (for EU)

RangeVideo KX-1 CMOS Camera with 5.8 GHz Transmitter

Horizon Hobby Radian (as well as VTOL Mini-Vertigo)

Users

2012-06-15T18:37:43Z

Cwozny: edit for cwozny and u of a mav

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

== Wiki User Pages ==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ User Pages
|-
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Dconger Dconger]
|[http://paparazzi.enac.fr/wiki/User:MarcusWolschon MarcusWolschon]
|[http://paparazzi.enac.fr/wiki/User:Alfamyke Alfamyke]
|[http://paparazzi.enac.fr/wiki/User:Danstah Danstah]
|[http://paparazzi.enac.fr/wiki/User:Martinmm Martinmm]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:John_Burt John Burt]
|[http://paparazzi.enac.fr/wiki/User:SilaS SilaS]
|[http://paparazzi.enac.fr/wiki/User:Mecevans Mecevans]
|[http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU-FCUAV]
|[http://paparazzi.enac.fr/wiki/User:GPH Pierre-Selim]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Martinpi martinpi]
|[http://paparazzi.enac.fr/wiki/User:VAMK VAMK]
|[http://paparazzi.enac.fr/wiki/User:EldenC Elden_Crom]
|[http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison]
|[http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Marc Marc]
|[http://paparazzi.enac.fr/wiki/User:Bu5hm4nn Bu5hm4nn]
|[http://paparazzi.enac.fr/wiki/User:HWal HWal]
|[http://paparazzi.enac.fr/wiki/User:Aerodolphin Rui Costa]
|[http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:PaulCox Paul Cox]
|[http://paparazzi.enac.fr/wiki/User:Bruzzlee Bruzzlee]
|[http://paparazzi.enac.fr/wiki/User:Stspies Stspies]
|[http://paparazzi.enac.fr/wiki/User:Mzr Mzr]
|[http://brquad.blogspot.com AGRESSiVA]
|- style="background:bisque; color:black"
|add yourself here
|[http://paparazzi.enac.fr/wiki/User:Martial Martial Châteauvieux]
|[http://paparazzi.enac.fr/wiki/User:Christoph Christoph]
|
|
|}

== Developers ==
See [[Developers]]

== Paparazzi Users sorted geographically ==

===Asia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:wzxwyvippt@126.com WANGYAO]|| China || UMARIM,twog,tiny2.11 ||| 2008|| fly with Umarim v10 now, fully auto takeoff and landing
|- style="background:bisque; color:black"
| [mailto:zhaojinhust@gmail.com ZHAOJin]|| China || Tiny2.11 ||| 2011|| Just Finished my hand-soldered Tiny2.11 board. Welcome to my blog: freikorps.blogcn.com (CHINESE中文)
|- style="background:bisque; color:black"
| [mailto:wangcfan@163.com Wangcfan]|| China || Tiny2.11 ||| 2008 || The beginning, is now in learning phase;Learning in Tiny2.11 using the method of IMU!
|- style="background:bisque; color:black"

| [mailto:mnwxiaobao@gmail.com MNW]|| China || Tiny2.11 ||| 2009 || Just starting,having troubles with parts.
|- style="background:bisque; color:black"
| [mailto:shubhamearly@gmail.com Shubham]|| India || Tiny2.11 ||| 2009 || Writing the configuration code for airframe
|- style="background:bisque; color:black"
| [mailto:mundhra@gmail.com M Mundhra] || India || Tiny 1.3 ||| 2007 || Gain tuning on a flying wing configuration airframe
|- style="background:bisque; color:black"
| [mailto:ngkiangloong_at_hopetechnik.com Jianlun]|| Singapore || TWOG V1 ||| 2008 || trying to get TWOG onto an EasyStar. very much a newbie!
|- style="background:bisque; color:black"
| [mailto:praxmail@gmail.com prashanth] || India || Tiny 2.11 ||| 2008 || 6 autonomous flights till now, currently build a new wing like funjet
|- style="background:bisque; color:black"
| [mailto:spencerpangborn@gmail.com spencer] || Taipei, Taiwan || none ||| 2009 || research for now, hope to take aerial photos of Taipei City soon
|- style="background:bisque; color:black"
| [mailto:benybeejz@gmail.com benybee] || Bandar Lampung, Indonesia || Tiny13 1.1 ||| 2010 || trying to get wing dragon fully autonomus, for aireal photograph and research
|- style="background:bisque; color:black"
| [mailto:anilvanjare83@gmail.com Anil vanjare] || India || TWOG, Tiny v2.1,Umarim v10 ||| 2011 || ,working on Umarim board assembly with prashant
|}

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

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

|- style="background:lightgreen; color:black"
|Austria

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Martinpi Martin Piehslinger] || Vienna, Austria || Tiny 2.11 || 2008 || just starting

|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz, Austria || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.

|- style="background:lightgreen; color:black"
|France

|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.

|- style="background:bisque; color:black"
| [mailto:pvol_at_club.fr Philippe Volivert] || Paris, France || TWOG 2.12, EasyGlider, MPX3030 ||| July 2009 || Working on pan/tilt/roll camera

|- style="background:bisque; color:black"
| [mailto:thibaut.bergal@estaca.eu ESTACA Modélisme] || Paris, France || TWOG 2.11, Swift 2, MC22 ||| January 2010 || Starting

|- style="background:bisque; color:black"
| [mailto:limaiem@gmail.com Imed Limaiem] || Paris, France || TWOG 2.11, EPP-CF FPV ||| January 2010 || flight test; Town pollution measurement;

|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
| Toulouse
| Tiny v2.11 || Nov. 2008 || GWS Slow Stick flying in AUTO2 reliably. Starting on stabilized video and payload drops Skype: pauldanielcox Gtalk: [use email]

|- style="background:bisque; color:black"
| [mailto:charles-edmond.bichot@ec-lyon.fr Charles-Edmond Bichot] || Lyon, France || Tiny/YAPA, IR+GPS, XBee/smartphone ||| September 2009 || Teaching projects, solar cells, object detection in video / image

|- style="background:lightgreen; color:black"
|Germany

|- style="background:bisque; color:black"
| [mailto:maik.hoepfel_at_web.de Maik Hoepfel] || Berlin, Germany || TWOG, Borjet Maja, Futaba 9C 35 Mhz ||| August 2009 || Have flown different airframes and am flying a Borjet Maja right now; built a more rugged case and connecting board for PPRZ; taking surveying pictures

|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues

|- style="background:bisque; color:black"
| [[User:Flixr|Felix Ruess]] || Munich, Germany || Lisa/M, Lisa/L, Booz, Twog ||| 2008 || coding more than flying.... unfortunately

|- style="background:bisque; color:black"
| [[User:TheJJ|Jonas Jelten]] || Augsburg, Germany || just our airframe ||| 2010 || "P-Seminar" for the new G8 at our Gymnasium ([http://www.solarflugzeug.de.tc solarflugzeug.de.tc])

|- style="background:bisque; color:black"
| [[User:Christoph|Christoph Niemann]] || Bremen, Germany || Reely Condor with TWOG and Sparkfun Razor-IMU ||| 2010 || Several successful AUTO2-Flights.

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

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

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

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

|- style="background:lightgreen; color:black"
| Portugal

|- style="background:bisque; color:black"
| [mailto:azoreanuav_at_gmail.com Rui Costa] || Azores, Portugal || Outrunner Twinstar II with Tiny 2.11, Aerocomm datalink, 1W video tx ||| 2008 || Only ground test and software configuration.

|- style="background:bisque; color:black"
| [mailto:muralha_at_gmail.com Nuno Guedes] || Lamego, Portugal || Tiny 2.11 || 2008 || Starting

|- style="background:lightgreen; color:black"
|Switzerland

|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny v2.11, TWOG v1, EeePC as GCS, Multiplex FunJet & EasyStar ||| 2008 || Many successful flights.

|- style="background:bisque; color:black"
| [mailto:spam1_at_marzer.com CedricM] || Geneva, Switzerland || Tiny 2.11, Multiplex FunJet with video camera ||| 2008 || Many successful flights working on an osd module and weather probes.

|- style="background:bisque; color:black"
| [mailto:reto.buettner_at_gmail.com RetoB] || Meilen, Switzerland || TWOG, Tiny 2.11, Cougar, eHawk, Y-UAV, EzOSD, Scherrer UHF ||| 2010 || Many successful flights. See [http://www.aerovista.ch/news.html www.aerovista.ch] and [http://www.y-uav.com www.y-uav.com] for current status.

|- style="background:bisque; color:black"
| [mailto:schmiemi_at_students.zhaw.ch EmilioS] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Borjet Maja, UMARS||| 2010 || Many successful flights. See [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html UMARS] for current status.

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

|- style="background:bisque; color:black"
| [mailto:samuelbryner_gmx.ch Samuel B.] || Winterthur, Switzerland || Tiny 2.11, Multiplex Easyglider ||| 2010 || Just starting. No flight so far :/

|- style="background:bisque; color:black"
| [mailto:rmaurer@sunrise.ch RetoM] || Bottighofen, Switzerland || YAPA2/SparkFun-SEN-10121-6DOF-IMU, Multiplex Mentor, SebArt Wind S 50E ||| 2011 || Many flights successfully performed, including autostart/autolanding, many more to go ...

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

|- style="background:lightgreen; color:black"
| UK

|- style="background:bisque; color:black"
| [mailto:et@onyxnet.co.uk Alan K] || Middlesbrough, England || Tiny 2.11 & MaxStream ||| 2008 || Just starting.

|- style="background:bisque; color:black"
| [[User:G R|Gareth R]] || Sheffield, UK || Tiny 2.11, video, bunch of helicopters, Multiplex Mentor, Multiplex Funjet, Multiplex Fox, GWS Formosa ||| 2008 || Came 4th in EMAV09 (although won the Golden Balls award for courage in the face of adversity and exceptional partying). Many AUTO2 flights with a camera and XBee868s. Current main airframe is a GWS Formosa (they are so cheap!).

|- style="background:lightgreen; color:black"
| Other

|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3,2.11, Twog 1.0 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV. Successfull. Now using it on large gliders and jets.

|- style="background:bisque; color:black"
| [[ email = hendrix at vivodinet dot gr| Chris Efstathiou]] || Piraeus Hellas || tiny 2.11 on a Mpx EasyGlider, TWOG 1.3 on a Boomerang turbine jet ||| 2008 || The Easyglider is fully operational, still working on the jet which had his first flight with the TWOG at 25/1/2009

|- style="background:bisque; color:black"
| [[User:openuas|OpenUAS]] || Amsterdam, The Netherlands || TWOG, Tiny, Lisa/L and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed, IMU and strong wind integration

|- style="background:bisque; color:black"
| [mailto:sanarlab@yandex.ru Andrew Saenko] || Russia, St-Petersburg || Tiny 1.13, Tiny 2.11, two own hardware designs, 5 kg aerial photo plane, 2.5 kg survelliance uav, Easystar ||| 2007 || Use modified autopilot and GCS in professional tasks, add self desidned IMU

|- style="background:bisque; color:black"
| [mailto:chebuzz_at_gmail.com David "Buzz" Carlson] || Cyprus || Tiny 2.11, Lynx EDF & GWS SloStick, 9XTend datalink ||| 2008 || Quite a few AUTO2 flights. Plane currently grounded due to a TX run-in with a 1 year-old. Currently working on getting new TX and completing CBP store setup.

|- style="background:bisque; color:black"
| [mailto:kostalexis@ece.upatras.gr AneMos-Group] || Patras, Greece || Tiny 2.11, Quadrotor VTOL ||| 2008 || Working on IMU, Trying to implement Constrained Control for the quadrotor trajectory flight

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:VAMK Allan Ojala (VAMK)] || Vaasa, Finland || TWOG, with AC4790 radio and LEA-5H GPS ||| 2009 || Ditched the SIG Kadet. Built a new big plane TaigaCam. Self-build model made out of EPP and a plastic tube.

|- style="background:bisque; color:black"
| [mailto:alexandru.panait@ral.ro Phineas] || Bucharest, Romania || Tiny2.11 (PPZUAV) ||| November 2009 || Just started to set-up

|- style="background:bisque; color:black"
| [mailto:lukeiron@hotmail.com Luke] || Torino, Italy || TWOG ||| December 2009 || Close to mount the AP on my Mentor
|

|- style="background:bisque; color:black"
| [mailto:helgewal@gmail.com Helge] || Bergen, Norway || TWOG ||| 2009 || First Auto2 flight with Twinstar2 in October 2010

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

===North America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Mcurrie Matthew Currie] || Nanaimo, BC Canada || Tiny 13 v1.1 (Self-built) ||| November 2006 || Funjet + XBee

|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] [http://paparazzi.enac.fr/wiki/User:John_Burt wiki page]|| Portland, Oregon || Tiny v2.11 + LEA-4H (PPZUAV), Multiplex Cularis/Easystar, 9Xtend modem, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Initial flight tests w/ Easystar in AUTO1 & AUTO2.

|- style="background:bisque; color:black"
| [mailto:ogar0007@umn.edu Pat O'Gara] || St. Paul, MN || Tiny 2.11 and TWOG (PPZUAV) |||Oct. 2008 || Completed and flown FunJet and Minimag in Auto 2. Currently rebuilding MiniMag as an improved development platform.

|- style="background:bisque; color:black"
| [mailto:kochesj@gvsu.edu John Koches] || Muskegon, Michigan || Tiny 2.11 (PPZUAV) ||| 2007 || currently flying a 48 inch zagi, 80 inch under construction.

|- style="background:bisque; color:black"
| [mailto:Stdeguir@gmail.com Steve Deguir] || New York, New York || Tiny2.11+LEA-5H (PPZUAV), XbeePro 2.4, Berg4L, JR FMA ||| Feb 2009 ||

|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.

|- style="background:bisque; color:black"
| [mailto:mecevans@gmail.com Michael Evans] || Seaside(Monterey Bay), California || Tiny2.11 (PPZUAV) ||| Feb 2009 ||http://www.rcgroups.com/forums/showthread.php?t=1000937.

|- style="background:bisque; color:black"
| USU AggieAir Remote Sensing || Logan, UT || TWOG (PPZUAV) ||| January 2009 || Building 72" Flying Wings which will be used for remote sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://www.engr.usu.edu/wiki/index.php/OSAM USU OSAM-UAV] || Logan, UT || TWOG (PPZUAV) ||| June 2007 || 2x72" 5x48" 1x60" Flying Wings. Research backyard for AggieAir Remote Sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU Fuel Cell UAV] || Fort Collins, Co || Tiny 2.11 + LEA-5H (PPZUAV), 2.4Ghz XBPro ||| Mar 2009 || Maiden flight complete Feb 28. New Airframe in development.

|- style="background:bisque; color:black"
| [mailto:armz12@gmail.com Armen Gharibans] || La Jolla, California || Tiny2.11 (PPZUAV) ||| March 2009 || UCSD Project with Multiplex Mentor. Completed August 2, 2009. Several Successful Auto2 Flights. A LOT of help from David Conger.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:EldenC Elden Crom] || Tucson, AZ || Twog 1.0 ||| July 2009 || Multiplex Twinstar, XBee Pro. Several Successful Auto2 Flights. Working toward precise Auto-Takeoff and Auto-Land

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider] || Tucson, AZ || None, will use TWOG 1.0 ||| December 2009 || Super Dimona, Aerocomm. No Flight test. Working toward setting waypoints within Paparazzi code

|- style="background:bisque; color:black"
| [Reegan] || Lubbock, TX || Planning on Tiny 2.11 (PPZUAV), 900mhz XBPro |||Dec. 2009 || Gaining info to begin a collegiate project

|- style="background:bisque; color:black"
| Team UAV UALR Caleb Tenberge || Little Rock, AR || Using TWOG 1.0 ||| Feb 2010 || Using a Telemaster, we are learning the GCS and building our plane.

|- style="background:bisque; color:black"
| [mailto:changho.nam@asu.edu Arizona State University POLY - Capstone Team: Development of UAV /w surveillance System] || Mesa, AZ || Using TINY 2.1 - 2.4GHz Modem, CCD Camera /w 900 MHz Video Transmitter ||| March 2010 || 4-lbs Flying Wings. We made successful autonomous flights.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer] || Edmonton, AB, CAN || Nothing Yet ||| Jan 2011 || Obtaining Hardware

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

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

|- style="background:bisque; color:black"
| [mailto:piotr@esden.net Piotr Esden-Tempski] || Santa Cruz, CA || Lisa/L, Lisa/M, Aspirin, Quadshot, Rotorcraft ||| 2009 || Software and Hardware development as well as [http://thequadshot.com The Quadshot]

|- style="background:bisque; color:black"
| [http://clubs.asua.arizona.edu/~mavclub University of Arizona MAV] || Tucson, AZ || Lisa/M 2.0, Aspirin v2.0, uBlox MAX-6Q, XBee 900 Pro/868LP, Mini-Vertigo ||| 2005 || University of Arizona Micro Air Vehicle Club (competing in IMAVs with Paparazzi since 2003.)

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Cwozny Chris Wozny] || Nashua, New Hampshire || Lisa/M, Aspirin ||| 2008 || Currently building quadcopter around Lisa/M 2.0 platform.

|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Central America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:joschau@comcast.net Joekadet] || David Panama' || Tiny v2.11/LEA-4P, RF Modems XBee Pro 2.4 GHz (PPZUAV). Multiplex Mentor ||| 2008 || Seven flights now. Flights 6 & 7 in Auto2. Now only a matter of fine tuning.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===South America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:gustavoviolato@gmail.com Gustavo Violato] || São José dos Campos, Brasil || Tiny v2.11/LEA-4P, Modem XBee Pro 2.4 GHz Swift II ||| 2009 || Flying autonomously and enjoying it. Planning to use the system for flight test data acquisition and aircraft parameter recognition.
|- style="background:bisque; color:black"
| [mailto:agressiva@hotmail.com Eduardo Lavratti] || Porto Alegre - RS, Brasil || TWOG / BOOZ / LISA-M, UBLOX, Xbee900 60mw||| 2011 || Working with geoprocessing - developping new modules and sensors to paparazzi. [http://brquad.blogspot.com ACCENT AERiALS]
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Australia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:RH1N0 RH1N0] || Brisbane, QLD || TWOG, Multiplex Easystar, PPZGPS, H.264 live digital video, Ubiquiti modems ||| May 2011 || Multiple AUTO2 flights up to 40 min. Currently testing PPZIMU.
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| [mailto:reubenb87@gmail.com Reuben Brown]|| Gawler, SA || Tiny v2.11 ||| May 2009 || Getting the autopilot set up
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison] || Neutral Bay, NSW || Tiny v2.11, Vertical + Horizontal IR sensors, XBee PRO modems, Futaba T6EXAP TX, Futaba R136F RX, Funjet, MacBook laptop ||| August 2008 || Several flights in Auto1
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rufus Chris Gough] || Canberra || TWOG v2.11, EZ* || September 09 || not yet airborn
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Adam.A Adam Amos] || Sydney, NSW || TWOG, IMU, BORJET MAJA || March 2010 || see [http://www.rescuerobotics.com.au www.rescuerobotics.com.au] for current status
|}

===Africa===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:w1_th@yahoo.com W1th] || South Africa KZN || TWOG V1 ,LEA-5H GPS , RF Modems XBee Pro 868 (CheBuzz) ||| July 2009 || Got TWOG,GPS etc interfacing with Laptop and working , Have not done anything to it recently but...Made a website [http://sites.google.com/site/scarfclub/paparazi-uav SCARF Paparazzi-UAV] of my struggle ...
|- style="background:bisque; color:black"
| [mailto:willie.smit@nwu.ac.za Willie Smit] || South Africa NW || Tiny v2.11, LEA-4P GPS, RF Modems XBee Pro ||| April 2010 || We are currently doing test flights. Also doing research on obstacle avoidance.
|- style="background:bisque; color:black"
|}

==Need help adding your information?==
To have your information added by another paparazzi user, please send me an [http://www.rcgroups.com/forums/showpost.php?p=6575288&postcount=1 EMAIL] at with the
following:

*Name
*Email
*Location
*Hardware
*Join date
*Current activities / project status

[[Category:Community]]

Lisa/M v2.0

2012-06-15T12:57:55Z

Cwozny: Added suggestion of MPU-9150

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085]
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (6 w/ second I2C bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus (2 x when using only the first 6 Servo PPM outputs)
* 1 x Micro USB
* 4 x status LEDs with attached test point
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

With mounted Aspirin IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

A BMP085 pressure sensor is mounted directly on the board in the first batch of boards as this sensor is not provided by first batch of Aspirin IMU yet. It is however possible to solder a MS5611 sensor on the Aspirin 2.x . To be able to use this baromeric sensor software will be written and likely available late 2012. It would be great to help out if you are able to.

So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||ADC4, by default connected to LED7 cathode (Remove LED/resistor to use as ADC)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||ADC6, by default connected to LED8 cathode (Remove LED/resistor to use as ADC)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BAT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA. As such, SERVO7 and SERVO8 '''CAN NOT''' be used while the second I2C bus (I2C1) also needs to be used for some reason.

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BAT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BAT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
 

== Examples of Airborne Equipment Electrical Connections ==

=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===

[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]

When using cheap Chinese PWM motor controllers consider replacing their firmware with Simon Kirby firmware that you can find in his [https://github.com/sim-/tgy GitHub repository] to get useful performance of your multicopter!

=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===

[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]

This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.

=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]

=== Fixedwing, Spektrum Satellite Receivers ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]

=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===

[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]

Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example

=== R/C Receivers ===
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Also UART pins can be used as general purpose I/O to be used for PPM input. By default connect your PPM out able receiver to servo pin 6. If you do not have or cannot create a PPM out able receiver, additionally a [[PPM_Encoder | PPM encoder board]] can be used to avoid receiver hardware modification.

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
 
 

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Programming ==

Lisa/M v2.0 can be programmed via its micro-USB port using the luftboot bootloader or with a JTAG via the 10-pin Samtec connector.
All Lisa/M 2.0 from Transition Robotics Inc. come with luftboot preloaded.

=== Using luftboot ===

Paparazzi git dev branch already has support for the bootloader and will by default use the associated DFU loader to program the firmware. (Don't forget to check that your airframe file is set to use Lisa/M 2.0 as its target board)

Currently Paparazzi firmware does not contain the needed USB stack stub to switch into bootloader mode using software.
To force the bootloader to run, bridge ADC2 and GND by making up a connector.
This won't be necessary in the future once the USB stack stub is added to Paparazzi.

Once the bridge connector is attached, attach the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode, and the status LEDs will cycle up and down:

[[File:Luftboot.gif|320px]]

You can and should disconnect the bridge connector after enforcing the bootloader.
Assuming your build target uses the Lisa/M board, pressing upload should now load code onto the board.

If you overwrite/remove luftboot you can recover it by following the instructions below:

=== Uploading the Paparazzi USB Bootloader ===

This section describes the process on how to upload/recover the luftboot bootloader on your Lisa/M 2.0. It is not needed if you got your Lisa/M 2.0 from Transition Robotics Inc. as the boards come with luftboot preloaded.

[https://github.com/paparazzi/luftboot Luftboot] is a Paparazzi-compatible bootloader for STM32-based autopilots.
Depending on your vendor, your Lisa/M may already come with a bootloader, in which case you should skip to [[Lisa/M#Programming]]

==== Required components ====
*Floss-JTAG debugger
*Lisa/M
*PC

==== Procedure ====
<ol>
<li>
Checkout [https://github.com/paparazzi/luftboot Luftboot from Github]
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
</li>
<li>
Change directory into the luftboot/src folder
<source lang=bash>cd ./luftboot/src</source>
</li>
<li>
Build luftboot
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source>
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:
<source lang=bash>make clean && make flash DEV_SERIAL="LM2-020"</source>
</li>
</ol>

==== Connection Diagram ====

==== Boot Sequence ====

* Luftboot
** Check if ADC2 is configured as output pull down indicating software bootloader request
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode
** Setting the ADC2 pin to input pull up
** Checking if the ADC2 pin is low
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode
*** '''If ADC2 high:''' check if there is a payload at 0x8002000
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload
**** '''If payload not detected:''' initialize USB and stay in bootloader mode

==== Luftboot USB permissions ====

stm32_mem.py needs permission to write to the the Luftboot USB device. (The error message is quite obscure due to the way python-libusb accesses the device)

[[Installation/Linux#Udev_rules|Copy the udev-rules file]] get write permissions.

=== JTAG ===
If you are using the Lisa/M 2.0 target board you still can use JTAG for programming and debugging your paparazzi firmware. Using JTAG will not overwrite the bootloader by default. You need to set NO_LUFTBOOT config in your airframe file to force overwrite.

* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

==== Quick JTAG Upload Guide ====
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

=== Serial Firmware Upload ===
Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten Luftboot accidentally and don´t have access to JTAG.

Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads

Now a boot sequence works as follows:
#BOOT1 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS
#Power the board and activate the bootloader program

The according bootloader script can be found at :
[https://github.com/jsnyder/stm32loader stm32loader from Github]
<source lang=bash>git clone https://github.com/jsnyder/stm32loader.git</source>

To reload Luftboot, upload luftboot.bin

Serial upload can also be used directly from paparazzi Center by adapting the right path in [https://github.com/paparazzi/paparazzi/blob/dev/conf/Makefile.stm32 Makefile.stm32] for the LOADER argument and setting

<define name="FLASH_MODE" value="SERIAL"/>

in the target section of the airframe configuration.

== Detailed Hardware Revision History ==

=== Changes Between v1.1 and v2.0 ===
* Lots of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

=== Changes Between v1.0 and v1.1 ===
* Removed pull-ups on the USB gpio
* Removed pull-ups on the CAN gpio
* Connected usb_vbus to pa9 (needed by the USBotg)
* Removed USB pullup transistor as usbotg has a built in pullup
* Swapped UART1 with UART3 (uart1 was used for gps and pa9 was it's tx line, to be able to talk to the gps unit uart3 is a better choice, as uart1 only has an rx line now it is a better choice for spektrum RX modules)
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* Added voltage selector jumpers to the RC RX connector; to enable powering of 3v3 or an 5v receivers
* Replaced vertical board solution with through hole servo pin headers (easier assembly)
* Servo connectors are in groups of two; for easier assembly
* Servo VBUS is connected together on all four layers; for lower resistance
* Moved LED's from under the analog2 connector; to be able to populate LED's and the connector
* Moved the RC RX connector a bit; to prevent crashing with the jtag plug
* Added one additional servo connector; now we have all 8 accessible through the standard servo connectors
* Fixed servo channel labeling to start at '''S0''' as it is the case on TWOG and Tiny autopilot boards
* Added secondary through hole picoblade USB connector for easier routing of USB inside an airframe
* ...

=== Changes Between v0.1 and v1.0 ===
* Switched to stm32f105 to be able to use usb and can at the same time
* Added alternative use of the adc lines as led output
* ...

=== Hardware Change Requests ===
* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: This upgrade will be available through Aspirin v2.0 --[[User:Esden|Esden]] 22:54, 5 January 2012 (CET)

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly inject CAN Molex into SPI.

* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 to reduce thickness and mass once it becomes readily available, maybe around Lisa/M 3.0 ;)

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

Lisa/M/Tutorial/RotorCraft

2012-06-10T16:45:56Z

Cwozny: Fixed grammatical error

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Tutorial</categorytree></div>

== Airframe Setup ==
A rotorcraft is basically an aircraft that uses propeller lift to keep itself in the air.
There are many types of rotorcrafts, but there are a couple of global classes:

'''Single rotor''' (helicopters) which divide into:
* Classic (with tail rotor);
* Co-axial (with two sets of counter rotating blades);
* All others (there are some other helis like Chinhook or Osprey).

'''Multirotor''' (copters) which are:
* 3 rotor Y type - this copter maintains yaw by tilting one of it's rotors with servo;
* 4 rotor X or + type - the trick is that two rotors spin "forward" and other two "backward", with some strong magic difference between spin rates is used to rotate the craft around. X and + types differ only with direction of movement: X moves with two rotors forward and + moves with one rotor, like this +>;
* 6 rotor * or Y type - first case is the same as 4 rotor with two additional arms, the other is virtually one 3Y rotor flipped and put under another 3Y rotor;
* 8 rotor *, V or X/+ type - first is 6* rotor + two more arms, second is like Asctech Falcon 8 and the third is 4X/+ type put one on another.

And if first class of rotorcrafts can use gyros only for yaw stabilization, multirotors need 3D (three axial) gyros to stabilize itself hovering which by the way do not guarantee that craft holds the spot, just not letting it fall on side.

== First Steps ==

'''Multirotors'''

Firstly you should choose correct airframe. If you're novice to copters quadrotor will be a good choice for several reasons: firstly it's most common type of copter, then most of hardware works with such setup "out of the box" and there is plenty information in mailing lists.
By the way, it would be a good idea to decide how do you want to use your copter. Generally it will allow you to choose correct motors and ESCs for copter.

ESC and motors should be chosen with weight economy in mind. i.e. good idea is to purchase ~600-1000 gram motors (NOT more unless you know what are you doing) and 15-25A ESCs depending on your motor current consumption.

Airframe typically consists of "center hub" and "rotor arms" which due to ease of aircraft control and low crushablity are made of light materials (for example aluminum for arms and perforated carbon for center hub).
There is a wide choice of ready to build aftermarket airframes if you don't want to bother with building one.

Generally there is only one important thing left it's balancing whole copter after you put it together.
There is one simple rule: ready to fly quadrotor should have it's center of gravity (COG) in the middle.
By "ready to fly" I mean - every equipment that should be placed on copter including battery and payload.

== Configure the autopilot ==
Generally: [[Rotorcraft_Configuration]]

== Partlists ==
I recognized that I spent a lot of time to search all compatible components. That list should help you to make your chose easier and faster.
{| class="wikitable" style="text-align:center;background:black; color:white"
|-
! User !! Type !! Propeller size !! Frame !! Motors !! ESC !! Telemetry !! RC Transmitter !! RC Receiver !! GPS !! Autopilot !! IMU
|- style="background:white; color:black"
| [[User:Bruzzlee|Bruzzlee]] || Quadrotor || 12" || Homebrew || Scorpion S-2215-900KV || ePower 30A 2-4S || [[User/LisaM/Tutorial/RotorCraft#Xbee|Xbee 60mW]] || Spektrum DX6i || HobbyKing Orange Satellite || [[User/LisaM/Tutorial/RotorCraft#GPS_GS407|GS407]] || Lisa/M || Aspirin
|- style="background:white; color:black"
| add your list here
|}

=== Xbee ===
[[Image:XbeeParts.JPG|thumb|Xbee parts photo]]

* 2.4GHz Duck Antenna RP-SMA - Large
* Interface Cable RP-SMA to U.FL (should fit to the Duck Antenna)
* XBee Explorer USB
* XBee Pro 60mW U.FL Connection - Series 1
* XBee Pro 60mW Wire Antenna - Series 1
* XBee Explorer Regulated

=== GPS GS407===
* 50 Channel GS407 Helical GPS Receiver
* GS407 Breakout Board

== Wiring (not tested!) ==
[[Image:LisaMWiring_Quadrotor.png|thumb|LisaM wiring for quadrotor]]
[[Image:LisaMWiring_Quadrotor_2.png|thumb|Alternative LisaM wiring for quadrotor]]

This scheme shows a possibility to connect the parts to the Lisa M. 
In this version, the board is powered by the 5V BEC of the Servo 1 ESC. 
Jumper J1 is bridged. The battery on I2C1/CAN is only needed to measure the actual battery voltage.

<pre style="color:red">--> This version is not tested yet!!! No warranty!!! <---</pre>

See following links for more informations: 
[[Lisa/M#Pinout]] 
[[Lisa/M#Schematic]] 
[[Lisa/M/Tutorial/FixedWing#RC_receiver]] 
[[Lisa/M/Tutorial/FixedWing#Power]]

== IMU calibration ==
Usually you get a calibration file from the supplier. If not you can calibrate you Aspirin IMU (or else) by following this Tutorial: 
[[ImuCalibration]]

How you get your Local Magnetic Field values is written down here: 
[[Subsystem/ahrs]] 

== Frame building ==
"Photo gallery" Bruzzlee: [[User/RotorCraft/Bruzzlee]]

----

[[Category:Tutorial]]

Module/GPS UBlox UCenter

2012-06-10T16:42:47Z

Cwozny: Fixed spelling error

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>
If you use a µ-blox GPS without flash memory, this module will take over the task of initializing the GPS for you when you power your autopilot.

It has auto-baudrate to detect the current GPS baudrate, and configures all message rates and communication ports. The module will send a DEBUG message that indicates the firmware version in your GPS, the previously selected GPS baudrate and the current (38k4).

It will configure the following settings:
* set baudrate to 38400
* enable the NAV_POSLLH, NAV_VELNED, NAV_STATUS, NAV_SVINFO, NAV_SOL
* disable UTM on old Lea4P by not sending NAV_POSUTM
* enable SBAS
* configure it to 3D only fix and Airborne 2G

Add the gps_ubx_ucenter [[Modules|module]] to the "modules" section in your aircraft configuration file:
<source lang="xml">
<modules>
...
<load name="gps_ubx_ucenter.xml"/>
</modules>
</source>

In some cases, you will need to specify which UART of the GPS you are using. The tiny/ppzgps use ublox_internal_port1 (the default) but if for instance you use a LS-SAM or I2C device you need to configure:

<source lang="xml">
<modules>
...
<load name="gps_ubx_ucenter.xml">
<define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
</load>
</modules>
</source>

[[Category:User_Documentation]] [[Category:Modules]]

Users

2012-06-09T04:45:58Z

Cwozny: /* North America */

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

== Wiki User Pages ==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ User Pages
|-
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Dconger Dconger]
|[http://paparazzi.enac.fr/wiki/User:MarcusWolschon MarcusWolschon]
|[http://paparazzi.enac.fr/wiki/User:Alfamyke Alfamyke]
|[http://paparazzi.enac.fr/wiki/User:Danstah Danstah]
|[http://paparazzi.enac.fr/wiki/User:Martinmm Martinmm]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:John_Burt John Burt]
|[http://paparazzi.enac.fr/wiki/User:SilaS SilaS]
|[http://paparazzi.enac.fr/wiki/User:Mecevans Mecevans]
|[http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU-FCUAV]
|[http://paparazzi.enac.fr/wiki/User:GPH Pierre-Selim]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Martinpi martinpi]
|[http://paparazzi.enac.fr/wiki/User:VAMK VAMK]
|[http://paparazzi.enac.fr/wiki/User:EldenC Elden_Crom]
|[http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison]
|[http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Marc Marc]
|[http://paparazzi.enac.fr/wiki/User:Bu5hm4nn Bu5hm4nn]
|[http://paparazzi.enac.fr/wiki/User:HWal HWal]
|[http://paparazzi.enac.fr/wiki/User:Aerodolphin Rui Costa]
|[http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:PaulCox Paul Cox]
|[http://paparazzi.enac.fr/wiki/User:Bruzzlee Bruzzlee]
|[http://paparazzi.enac.fr/wiki/User:Stspies Stspies]
|[http://paparazzi.enac.fr/wiki/User:Mzr Mzr]
|[http://brquad.blogspot.com AGRESSiVA]
|- style="background:bisque; color:black"
|add yourself here
|[http://paparazzi.enac.fr/wiki/User:Martial Martial Châteauvieux]
|[http://paparazzi.enac.fr/wiki/User:Christoph Christoph]
|
|
|}

== Developers ==
See [[Developers]]

== Paparazzi Users sorted geographically ==

===Asia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:wzxwyvippt@126.com WANGYAO]|| China || UMARIM,twog,tiny2.11 ||| 2008|| fly with Umarim v10 now, fully auto takeoff and landing
|- style="background:bisque; color:black"
| [mailto:zhaojinhust@gmail.com ZHAOJin]|| China || Tiny2.11 ||| 2011|| Just Finished my hand-soldered Tiny2.11 board. Welcome to my blog: freikorps.blogcn.com (CHINESE中文)
|- style="background:bisque; color:black"
| [mailto:wangcfan@163.com Wangcfan]|| China || Tiny2.11 ||| 2008 || The beginning, is now in learning phase;Learning in Tiny2.11 using the method of IMU!
|- style="background:bisque; color:black"

| [mailto:mnwxiaobao@gmail.com MNW]|| China || Tiny2.11 ||| 2009 || Just starting,having troubles with parts.
|- style="background:bisque; color:black"
| [mailto:shubhamearly@gmail.com Shubham]|| India || Tiny2.11 ||| 2009 || Writing the configuration code for airframe
|- style="background:bisque; color:black"
| [mailto:mundhra@gmail.com M Mundhra] || India || Tiny 1.3 ||| 2007 || Gain tuning on a flying wing configuration airframe
|- style="background:bisque; color:black"
| [mailto:ngkiangloong_at_hopetechnik.com Jianlun]|| Singapore || TWOG V1 ||| 2008 || trying to get TWOG onto an EasyStar. very much a newbie!
|- style="background:bisque; color:black"
| [mailto:praxmail@gmail.com prashanth] || India || Tiny 2.11 ||| 2008 || 6 autonomous flights till now, currently build a new wing like funjet
|- style="background:bisque; color:black"
| [mailto:spencerpangborn@gmail.com spencer] || Taipei, Taiwan || none ||| 2009 || research for now, hope to take aerial photos of Taipei City soon
|- style="background:bisque; color:black"
| [mailto:benybeejz@gmail.com benybee] || Bandar Lampung, Indonesia || Tiny13 1.1 ||| 2010 || trying to get wing dragon fully autonomus, for aireal photograph and research
|- style="background:bisque; color:black"
| [mailto:anilvanjare83@gmail.com Anil vanjare] || India || TWOG, Tiny v2.1,Umarim v10 ||| 2011 || ,working on Umarim board assembly with prashant
|}

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

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

|- style="background:lightgreen; color:black"
|Austria

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Martinpi Martin Piehslinger] || Vienna, Austria || Tiny 2.11 || 2008 || just starting

|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz, Austria || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.

|- style="background:lightgreen; color:black"
|France

|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.

|- style="background:bisque; color:black"
| [mailto:pvol_at_club.fr Philippe Volivert] || Paris, France || TWOG 2.12, EasyGlider, MPX3030 ||| July 2009 || Working on pan/tilt/roll camera

|- style="background:bisque; color:black"
| [mailto:thibaut.bergal@estaca.eu ESTACA Modélisme] || Paris, France || TWOG 2.11, Swift 2, MC22 ||| January 2010 || Starting

|- style="background:bisque; color:black"
| [mailto:limaiem@gmail.com Imed Limaiem] || Paris, France || TWOG 2.11, EPP-CF FPV ||| January 2010 || flight test; Town pollution measurement;

|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
| Toulouse
| Tiny v2.11 || Nov. 2008 || GWS Slow Stick flying in AUTO2 reliably. Starting on stabilized video and payload drops Skype: pauldanielcox Gtalk: [use email]

|- style="background:bisque; color:black"
| [mailto:charles-edmond.bichot@ec-lyon.fr Charles-Edmond Bichot] || Lyon, France || Tiny/YAPA, IR+GPS, XBee/smartphone ||| September 2009 || Teaching projects, solar cells, object detection in video / image

|- style="background:lightgreen; color:black"
|Germany

|- style="background:bisque; color:black"
| [mailto:maik.hoepfel_at_web.de Maik Hoepfel] || Berlin, Germany || TWOG, Borjet Maja, Futaba 9C 35 Mhz ||| August 2009 || Have flown different airframes and am flying a Borjet Maja right now; built a more rugged case and connecting board for PPRZ; taking surveying pictures

|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues

|- style="background:bisque; color:black"
| [[User:Flixr|Felix Ruess]] || Munich, Germany || Lisa/M, Lisa/L, Booz, Twog ||| 2008 || coding more than flying.... unfortunately

|- style="background:bisque; color:black"
| [[User:TheJJ|Jonas Jelten]] || Augsburg, Germany || just our airframe ||| 2010 || "P-Seminar" for the new G8 at our Gymnasium ([http://www.solarflugzeug.de.tc solarflugzeug.de.tc])

|- style="background:bisque; color:black"
| [[User:Christoph|Christoph Niemann]] || Bremen, Germany || Reely Condor with TWOG and Sparkfun Razor-IMU ||| 2010 || Several successful AUTO2-Flights.

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

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

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

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

|- style="background:lightgreen; color:black"
| Portugal

|- style="background:bisque; color:black"
| [mailto:azoreanuav_at_gmail.com Rui Costa] || Azores, Portugal || Outrunner Twinstar II with Tiny 2.11, Aerocomm datalink, 1W video tx ||| 2008 || Only ground test and software configuration.

|- style="background:bisque; color:black"
| [mailto:muralha_at_gmail.com Nuno Guedes] || Lamego, Portugal || Tiny 2.11 || 2008 || Starting

|- style="background:lightgreen; color:black"
|Switzerland

|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny v2.11, TWOG v1, EeePC as GCS, Multiplex FunJet & EasyStar ||| 2008 || Many successful flights.

|- style="background:bisque; color:black"
| [mailto:spam1_at_marzer.com CedricM] || Geneva, Switzerland || Tiny 2.11, Multiplex FunJet with video camera ||| 2008 || Many successful flights working on an osd module and weather probes.

|- style="background:bisque; color:black"
| [mailto:reto.buettner_at_gmail.com RetoB] || Meilen, Switzerland || TWOG, Tiny 2.11, Cougar, eHawk, Y-UAV, EzOSD, Scherrer UHF ||| 2010 || Many successful flights. See [http://www.aerovista.ch/news.html www.aerovista.ch] and [http://www.y-uav.com www.y-uav.com] for current status.

|- style="background:bisque; color:black"
| [mailto:schmiemi_at_students.zhaw.ch EmilioS] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Borjet Maja, UMARS||| 2010 || Many successful flights. See [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html UMARS] for current status.

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

|- style="background:bisque; color:black"
| [mailto:samuelbryner_gmx.ch Samuel B.] || Winterthur, Switzerland || Tiny 2.11, Multiplex Easyglider ||| 2010 || Just starting. No flight so far :/

|- style="background:bisque; color:black"
| [mailto:rmaurer@sunrise.ch RetoM] || Bottighofen, Switzerland || YAPA2/SparkFun-SEN-10121-6DOF-IMU, Multiplex Mentor, SebArt Wind S 50E ||| 2011 || Many flights successfully performed, including autostart/autolanding, many more to go ...

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

|- style="background:lightgreen; color:black"
| UK

|- style="background:bisque; color:black"
| [mailto:et@onyxnet.co.uk Alan K] || Middlesbrough, England || Tiny 2.11 & MaxStream ||| 2008 || Just starting.

|- style="background:bisque; color:black"
| [[User:G R|Gareth R]] || Sheffield, UK || Tiny 2.11, video, bunch of helicopters, Multiplex Mentor, Multiplex Funjet, Multiplex Fox, GWS Formosa ||| 2008 || Came 4th in EMAV09 (although won the Golden Balls award for courage in the face of adversity and exceptional partying). Many AUTO2 flights with a camera and XBee868s. Current main airframe is a GWS Formosa (they are so cheap!).

|- style="background:lightgreen; color:black"
| Other

|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3,2.11, Twog 1.0 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV. Successfull. Now using it on large gliders and jets.

|- style="background:bisque; color:black"
| [[ email = hendrix at vivodinet dot gr| Chris Efstathiou]] || Piraeus Hellas || tiny 2.11 on a Mpx EasyGlider, TWOG 1.3 on a Boomerang turbine jet ||| 2008 || The Easyglider is fully operational, still working on the jet which had his first flight with the TWOG at 25/1/2009

|- style="background:bisque; color:black"
| [[User:openuas|OpenUAS]] || Amsterdam, The Netherlands || TWOG, Tiny, Lisa/L and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed, IMU and strong wind integration

|- style="background:bisque; color:black"
| [mailto:sanarlab@yandex.ru Andrew Saenko] || Russia, St-Petersburg || Tiny 1.13, Tiny 2.11, two own hardware designs, 5 kg aerial photo plane, 2.5 kg survelliance uav, Easystar ||| 2007 || Use modified autopilot and GCS in professional tasks, add self desidned IMU

|- style="background:bisque; color:black"
| [mailto:chebuzz_at_gmail.com David "Buzz" Carlson] || Cyprus || Tiny 2.11, Lynx EDF & GWS SloStick, 9XTend datalink ||| 2008 || Quite a few AUTO2 flights. Plane currently grounded due to a TX run-in with a 1 year-old. Currently working on getting new TX and completing CBP store setup.

|- style="background:bisque; color:black"
| [mailto:kostalexis@ece.upatras.gr AneMos-Group] || Patras, Greece || Tiny 2.11, Quadrotor VTOL ||| 2008 || Working on IMU, Trying to implement Constrained Control for the quadrotor trajectory flight

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:VAMK Allan Ojala (VAMK)] || Vaasa, Finland || TWOG, with AC4790 radio and LEA-5H GPS ||| 2009 || Ditched the SIG Kadet. Built a new big plane TaigaCam. Self-build model made out of EPP and a plastic tube.

|- style="background:bisque; color:black"
| [mailto:alexandru.panait@ral.ro Phineas] || Bucharest, Romania || Tiny2.11 (PPZUAV) ||| November 2009 || Just started to set-up

|- style="background:bisque; color:black"
| [mailto:lukeiron@hotmail.com Luke] || Torino, Italy || TWOG ||| December 2009 || Close to mount the AP on my Mentor
|

|- style="background:bisque; color:black"
| [mailto:helgewal@gmail.com Helge] || Bergen, Norway || TWOG ||| 2009 || First Auto2 flight with Twinstar2 in October 2010

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

===North America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Mcurrie Matthew Currie] || Nanaimo, BC Canada || Tiny 13 v1.1 (Self-built) ||| November 2006 || Funjet + XBee

|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] [http://paparazzi.enac.fr/wiki/User:John_Burt wiki page]|| Portland, Oregon || Tiny v2.11 + LEA-4H (PPZUAV), Multiplex Cularis/Easystar, 9Xtend modem, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Initial flight tests w/ Easystar in AUTO1 & AUTO2.

|- style="background:bisque; color:black"
| [mailto:ogar0007@umn.edu Pat O'Gara] || St. Paul, MN || Tiny 2.11 and TWOG (PPZUAV) |||Oct. 2008 || Completed and flown FunJet and Minimag in Auto 2. Currently rebuilding MiniMag as an improved development platform.

|- style="background:bisque; color:black"
| [mailto:kochesj@gvsu.edu John Koches] || Muskegon, Michigan || Tiny 2.11 (PPZUAV) ||| 2007 || currently flying a 48 inch zagi, 80 inch under construction.

|- style="background:bisque; color:black"
| [mailto:Stdeguir@gmail.com Steve Deguir] || New York, New York || Tiny2.11+LEA-5H (PPZUAV), XbeePro 2.4, Berg4L, JR FMA ||| Feb 2009 ||

|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.

|- style="background:bisque; color:black"
| [mailto:mecevans@gmail.com Michael Evans] || Seaside(Monterey Bay), California || Tiny2.11 (PPZUAV) ||| Feb 2009 ||http://www.rcgroups.com/forums/showthread.php?t=1000937.

|- style="background:bisque; color:black"
| USU AggieAir Remote Sensing || Logan, UT || TWOG (PPZUAV) ||| January 2009 || Building 72" Flying Wings which will be used for remote sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://www.engr.usu.edu/wiki/index.php/OSAM USU OSAM-UAV] || Logan, UT || TWOG (PPZUAV) ||| June 2007 || 2x72" 5x48" 1x60" Flying Wings. Research backyard for AggieAir Remote Sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU Fuel Cell UAV] || Fort Collins, Co || Tiny 2.11 + LEA-5H (PPZUAV), 2.4Ghz XBPro ||| Mar 2009 || Maiden flight complete Feb 28. New Airframe in development.

|- style="background:bisque; color:black"
| [mailto:armz12@gmail.com Armen Gharibans] || La Jolla, California || Tiny2.11 (PPZUAV) ||| March 2009 || UCSD Project with Multiplex Mentor. Completed August 2, 2009. Several Successful Auto2 Flights. A LOT of help from David Conger.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:EldenC Elden Crom] || Tucson, AZ || Twog 1.0 ||| July 2009 || Multiplex Twinstar, XBee Pro. Several Successful Auto2 Flights. Working toward precise Auto-Takeoff and Auto-Land

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider] || Tucson, AZ || None, will use TWOG 1.0 ||| December 2009 || Super Dimona, Aerocomm. No Flight test. Working toward setting waypoints within Paparazzi code

|- style="background:bisque; color:black"
| [Reegan] || Lubbock, TX || Planning on Tiny 2.11 (PPZUAV), 900mhz XBPro |||Dec. 2009 || Gaining info to begin a collegiate project

|- style="background:bisque; color:black"
| Team UAV UALR Caleb Tenberge || Little Rock, AR || Using TWOG 1.0 ||| Feb 2010 || Using a Telemaster, we are learning the GCS and building our plane.

|- style="background:bisque; color:black"
| [mailto:changho.nam@asu.edu Arizona State University POLY - Capstone Team: Development of UAV /w surveillance System] || Mesa, AZ || Using TINY 2.1 - 2.4GHz Modem, CCD Camera /w 900 MHz Video Transmitter ||| March 2010 || 4-lbs Flying Wings. We made successful autonomous flights.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer] || Edmonton, AB, CAN || Nothing Yet ||| Jan 2011 || Obtaining Hardware

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

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

|- style="background:bisque; color:black"
| [mailto:piotr@esden.net Piotr Esden-Tempski] || Santa Cruz, CA || Lisa/L, Lisa/M, Aspirin, Quadshot, Rotorcraft ||| 2009 || Software and Hardware development as well as [http://thequadshot.com The Quadshot]

|- style="background:bisque; color:black"
| [http://clubs.asua.arizona.edu/~mavclub University of Arizona MAV] || Tucson, AZ || Tiny 0.99, Tiny 1.1, TWOG 1.0, Lisa/M 1.0/2.0, Aspirin, VTOL Fixed-wing ||| 2005 || University of Arizona Micro Air Vehicle Club (competing in IMAVs with Paparazzi since 2003.)

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Cwozny Chris Wozny] || Nashua, New Hampshire || Lisa/M, Aspirin ||| 2008 || Currently building quadcopter around Lisa/M 2.0 platform now that I have moved on from U of AZ MAV.

|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Central America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:joschau@comcast.net Joekadet] || David Panama' || Tiny v2.11/LEA-4P, RF Modems XBee Pro 2.4 GHz (PPZUAV). Multiplex Mentor ||| 2008 || Seven flights now. Flights 6 & 7 in Auto2. Now only a matter of fine tuning.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===South America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:gustavoviolato@gmail.com Gustavo Violato] || São José dos Campos, Brasil || Tiny v2.11/LEA-4P, Modem XBee Pro 2.4 GHz Swift II ||| 2009 || Flying autonomously and enjoying it. Planning to use the system for flight test data acquisition and aircraft parameter recognition.
|- style="background:bisque; color:black"
| [mailto:agressiva@hotmail.com Eduardo Lavratti] || Porto Alegre - RS, Brasil || TWOG / BOOZ / LISA-M, UBLOX, Xbee900 60mw||| 2011 || Working with geoprocessing - developping new modules and sensors to paparazzi. [http://brquad.blogspot.com ACCENT AERiALS]
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Australia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:RH1N0 RH1N0] || Brisbane, QLD || TWOG, Multiplex Easystar, PPZGPS, H.264 live digital video, Ubiquiti modems ||| May 2011 || Multiple AUTO2 flights up to 40 min. Currently testing PPZIMU.
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| [mailto:reubenb87@gmail.com Reuben Brown]|| Gawler, SA || Tiny v2.11 ||| May 2009 || Getting the autopilot set up
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison] || Neutral Bay, NSW || Tiny v2.11, Vertical + Horizontal IR sensors, XBee PRO modems, Futaba T6EXAP TX, Futaba R136F RX, Funjet, MacBook laptop ||| August 2008 || Several flights in Auto1
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rufus Chris Gough] || Canberra || TWOG v2.11, EZ* || September 09 || not yet airborn
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Adam.A Adam Amos] || Sydney, NSW || TWOG, IMU, BORJET MAJA || March 2010 || see [http://www.rescuerobotics.com.au www.rescuerobotics.com.au] for current status
|}

===Africa===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:w1_th@yahoo.com W1th] || South Africa KZN || TWOG V1 ,LEA-5H GPS , RF Modems XBee Pro 868 (CheBuzz) ||| July 2009 || Got TWOG,GPS etc interfacing with Laptop and working , Have not done anything to it recently but...Made a website [http://sites.google.com/site/scarfclub/paparazi-uav SCARF Paparazzi-UAV] of my struggle ...
|- style="background:bisque; color:black"
| [mailto:willie.smit@nwu.ac.za Willie Smit] || South Africa NW || Tiny v2.11, LEA-4P GPS, RF Modems XBee Pro ||| April 2010 || We are currently doing test flights. Also doing research on obstacle avoidance.
|- style="background:bisque; color:black"
|}

==Need help adding your information?==
To have your information added by another paparazzi user, please send me an [http://www.rcgroups.com/forums/showpost.php?p=6575288&postcount=1 EMAIL] at with the
following:

*Name
*Email
*Location
*Hardware
*Join date
*Current activities / project status

[[Category:Community]]

Users

2012-06-09T04:40:37Z

Cwozny: /* North America */

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

== Wiki User Pages ==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ User Pages
|-
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Dconger Dconger]
|[http://paparazzi.enac.fr/wiki/User:MarcusWolschon MarcusWolschon]
|[http://paparazzi.enac.fr/wiki/User:Alfamyke Alfamyke]
|[http://paparazzi.enac.fr/wiki/User:Danstah Danstah]
|[http://paparazzi.enac.fr/wiki/User:Martinmm Martinmm]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:John_Burt John Burt]
|[http://paparazzi.enac.fr/wiki/User:SilaS SilaS]
|[http://paparazzi.enac.fr/wiki/User:Mecevans Mecevans]
|[http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU-FCUAV]
|[http://paparazzi.enac.fr/wiki/User:GPH Pierre-Selim]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Martinpi martinpi]
|[http://paparazzi.enac.fr/wiki/User:VAMK VAMK]
|[http://paparazzi.enac.fr/wiki/User:EldenC Elden_Crom]
|[http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison]
|[http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:Marc Marc]
|[http://paparazzi.enac.fr/wiki/User:Bu5hm4nn Bu5hm4nn]
|[http://paparazzi.enac.fr/wiki/User:HWal HWal]
|[http://paparazzi.enac.fr/wiki/User:Aerodolphin Rui Costa]
|[http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer]
|- style="background:bisque; color:black"
|[http://paparazzi.enac.fr/wiki/User:PaulCox Paul Cox]
|[http://paparazzi.enac.fr/wiki/User:Bruzzlee Bruzzlee]
|[http://paparazzi.enac.fr/wiki/User:Stspies Stspies]
|[http://paparazzi.enac.fr/wiki/User:Mzr Mzr]
|[http://brquad.blogspot.com AGRESSiVA]
|- style="background:bisque; color:black"
|add yourself here
|[http://paparazzi.enac.fr/wiki/User:Martial Martial Châteauvieux]
|[http://paparazzi.enac.fr/wiki/User:Christoph Christoph]
|
|
|}

== Developers ==
See [[Developers]]

== Paparazzi Users sorted geographically ==

===Asia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:wzxwyvippt@126.com WANGYAO]|| China || UMARIM,twog,tiny2.11 ||| 2008|| fly with Umarim v10 now, fully auto takeoff and landing
|- style="background:bisque; color:black"
| [mailto:zhaojinhust@gmail.com ZHAOJin]|| China || Tiny2.11 ||| 2011|| Just Finished my hand-soldered Tiny2.11 board. Welcome to my blog: freikorps.blogcn.com (CHINESE中文)
|- style="background:bisque; color:black"
| [mailto:wangcfan@163.com Wangcfan]|| China || Tiny2.11 ||| 2008 || The beginning, is now in learning phase;Learning in Tiny2.11 using the method of IMU!
|- style="background:bisque; color:black"

| [mailto:mnwxiaobao@gmail.com MNW]|| China || Tiny2.11 ||| 2009 || Just starting,having troubles with parts.
|- style="background:bisque; color:black"
| [mailto:shubhamearly@gmail.com Shubham]|| India || Tiny2.11 ||| 2009 || Writing the configuration code for airframe
|- style="background:bisque; color:black"
| [mailto:mundhra@gmail.com M Mundhra] || India || Tiny 1.3 ||| 2007 || Gain tuning on a flying wing configuration airframe
|- style="background:bisque; color:black"
| [mailto:ngkiangloong_at_hopetechnik.com Jianlun]|| Singapore || TWOG V1 ||| 2008 || trying to get TWOG onto an EasyStar. very much a newbie!
|- style="background:bisque; color:black"
| [mailto:praxmail@gmail.com prashanth] || India || Tiny 2.11 ||| 2008 || 6 autonomous flights till now, currently build a new wing like funjet
|- style="background:bisque; color:black"
| [mailto:spencerpangborn@gmail.com spencer] || Taipei, Taiwan || none ||| 2009 || research for now, hope to take aerial photos of Taipei City soon
|- style="background:bisque; color:black"
| [mailto:benybeejz@gmail.com benybee] || Bandar Lampung, Indonesia || Tiny13 1.1 ||| 2010 || trying to get wing dragon fully autonomus, for aireal photograph and research
|- style="background:bisque; color:black"
| [mailto:anilvanjare83@gmail.com Anil vanjare] || India || TWOG, Tiny v2.1,Umarim v10 ||| 2011 || ,working on Umarim board assembly with prashant
|}

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

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

|- style="background:lightgreen; color:black"
|Austria

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Martinpi Martin Piehslinger] || Vienna, Austria || Tiny 2.11 || 2008 || just starting

|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz, Austria || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.

|- style="background:lightgreen; color:black"
|France

|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.

|- style="background:bisque; color:black"
| [mailto:pvol_at_club.fr Philippe Volivert] || Paris, France || TWOG 2.12, EasyGlider, MPX3030 ||| July 2009 || Working on pan/tilt/roll camera

|- style="background:bisque; color:black"
| [mailto:thibaut.bergal@estaca.eu ESTACA Modélisme] || Paris, France || TWOG 2.11, Swift 2, MC22 ||| January 2010 || Starting

|- style="background:bisque; color:black"
| [mailto:limaiem@gmail.com Imed Limaiem] || Paris, France || TWOG 2.11, EPP-CF FPV ||| January 2010 || flight test; Town pollution measurement;

|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
| Toulouse
| Tiny v2.11 || Nov. 2008 || GWS Slow Stick flying in AUTO2 reliably. Starting on stabilized video and payload drops Skype: pauldanielcox Gtalk: [use email]

|- style="background:bisque; color:black"
| [mailto:charles-edmond.bichot@ec-lyon.fr Charles-Edmond Bichot] || Lyon, France || Tiny/YAPA, IR+GPS, XBee/smartphone ||| September 2009 || Teaching projects, solar cells, object detection in video / image

|- style="background:lightgreen; color:black"
|Germany

|- style="background:bisque; color:black"
| [mailto:maik.hoepfel_at_web.de Maik Hoepfel] || Berlin, Germany || TWOG, Borjet Maja, Futaba 9C 35 Mhz ||| August 2009 || Have flown different airframes and am flying a Borjet Maja right now; built a more rugged case and connecting board for PPRZ; taking surveying pictures

|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues

|- style="background:bisque; color:black"
| [[User:Flixr|Felix Ruess]] || Munich, Germany || Lisa/M, Lisa/L, Booz, Twog ||| 2008 || coding more than flying.... unfortunately

|- style="background:bisque; color:black"
| [[User:TheJJ|Jonas Jelten]] || Augsburg, Germany || just our airframe ||| 2010 || "P-Seminar" for the new G8 at our Gymnasium ([http://www.solarflugzeug.de.tc solarflugzeug.de.tc])

|- style="background:bisque; color:black"
| [[User:Christoph|Christoph Niemann]] || Bremen, Germany || Reely Condor with TWOG and Sparkfun Razor-IMU ||| 2010 || Several successful AUTO2-Flights.

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

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

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

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

|- style="background:lightgreen; color:black"
| Portugal

|- style="background:bisque; color:black"
| [mailto:azoreanuav_at_gmail.com Rui Costa] || Azores, Portugal || Outrunner Twinstar II with Tiny 2.11, Aerocomm datalink, 1W video tx ||| 2008 || Only ground test and software configuration.

|- style="background:bisque; color:black"
| [mailto:muralha_at_gmail.com Nuno Guedes] || Lamego, Portugal || Tiny 2.11 || 2008 || Starting

|- style="background:lightgreen; color:black"
|Switzerland

|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny v2.11, TWOG v1, EeePC as GCS, Multiplex FunJet & EasyStar ||| 2008 || Many successful flights.

|- style="background:bisque; color:black"
| [mailto:spam1_at_marzer.com CedricM] || Geneva, Switzerland || Tiny 2.11, Multiplex FunJet with video camera ||| 2008 || Many successful flights working on an osd module and weather probes.

|- style="background:bisque; color:black"
| [mailto:reto.buettner_at_gmail.com RetoB] || Meilen, Switzerland || TWOG, Tiny 2.11, Cougar, eHawk, Y-UAV, EzOSD, Scherrer UHF ||| 2010 || Many successful flights. See [http://www.aerovista.ch/news.html www.aerovista.ch] and [http://www.y-uav.com www.y-uav.com] for current status.

|- style="background:bisque; color:black"
| [mailto:schmiemi_at_students.zhaw.ch EmilioS] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Borjet Maja, UMARS||| 2010 || Many successful flights. See [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html UMARS] for current status.

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

|- style="background:bisque; color:black"
| [mailto:samuelbryner_gmx.ch Samuel B.] || Winterthur, Switzerland || Tiny 2.11, Multiplex Easyglider ||| 2010 || Just starting. No flight so far :/

|- style="background:bisque; color:black"
| [mailto:rmaurer@sunrise.ch RetoM] || Bottighofen, Switzerland || YAPA2/SparkFun-SEN-10121-6DOF-IMU, Multiplex Mentor, SebArt Wind S 50E ||| 2011 || Many flights successfully performed, including autostart/autolanding, many more to go ...

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

|- style="background:lightgreen; color:black"
| UK

|- style="background:bisque; color:black"
| [mailto:et@onyxnet.co.uk Alan K] || Middlesbrough, England || Tiny 2.11 & MaxStream ||| 2008 || Just starting.

|- style="background:bisque; color:black"
| [[User:G R|Gareth R]] || Sheffield, UK || Tiny 2.11, video, bunch of helicopters, Multiplex Mentor, Multiplex Funjet, Multiplex Fox, GWS Formosa ||| 2008 || Came 4th in EMAV09 (although won the Golden Balls award for courage in the face of adversity and exceptional partying). Many AUTO2 flights with a camera and XBee868s. Current main airframe is a GWS Formosa (they are so cheap!).

|- style="background:lightgreen; color:black"
| Other

|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3,2.11, Twog 1.0 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV. Successfull. Now using it on large gliders and jets.

|- style="background:bisque; color:black"
| [[ email = hendrix at vivodinet dot gr| Chris Efstathiou]] || Piraeus Hellas || tiny 2.11 on a Mpx EasyGlider, TWOG 1.3 on a Boomerang turbine jet ||| 2008 || The Easyglider is fully operational, still working on the jet which had his first flight with the TWOG at 25/1/2009

|- style="background:bisque; color:black"
| [[User:openuas|OpenUAS]] || Amsterdam, The Netherlands || TWOG, Tiny, Lisa/L and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed, IMU and strong wind integration

|- style="background:bisque; color:black"
| [mailto:sanarlab@yandex.ru Andrew Saenko] || Russia, St-Petersburg || Tiny 1.13, Tiny 2.11, two own hardware designs, 5 kg aerial photo plane, 2.5 kg survelliance uav, Easystar ||| 2007 || Use modified autopilot and GCS in professional tasks, add self desidned IMU

|- style="background:bisque; color:black"
| [mailto:chebuzz_at_gmail.com David "Buzz" Carlson] || Cyprus || Tiny 2.11, Lynx EDF & GWS SloStick, 9XTend datalink ||| 2008 || Quite a few AUTO2 flights. Plane currently grounded due to a TX run-in with a 1 year-old. Currently working on getting new TX and completing CBP store setup.

|- style="background:bisque; color:black"
| [mailto:kostalexis@ece.upatras.gr AneMos-Group] || Patras, Greece || Tiny 2.11, Quadrotor VTOL ||| 2008 || Working on IMU, Trying to implement Constrained Control for the quadrotor trajectory flight

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:VAMK Allan Ojala (VAMK)] || Vaasa, Finland || TWOG, with AC4790 radio and LEA-5H GPS ||| 2009 || Ditched the SIG Kadet. Built a new big plane TaigaCam. Self-build model made out of EPP and a plastic tube.

|- style="background:bisque; color:black"
| [mailto:alexandru.panait@ral.ro Phineas] || Bucharest, Romania || Tiny2.11 (PPZUAV) ||| November 2009 || Just started to set-up

|- style="background:bisque; color:black"
| [mailto:lukeiron@hotmail.com Luke] || Torino, Italy || TWOG ||| December 2009 || Close to mount the AP on my Mentor
|

|- style="background:bisque; color:black"
| [mailto:helgewal@gmail.com Helge] || Bergen, Norway || TWOG ||| 2009 || First Auto2 flight with Twinstar2 in October 2010

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

===North America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Mcurrie Matthew Currie] || Nanaimo, BC Canada || Tiny 13 v1.1 (Self-built) ||| November 2006 || Funjet + XBee

|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] [http://paparazzi.enac.fr/wiki/User:John_Burt wiki page]|| Portland, Oregon || Tiny v2.11 + LEA-4H (PPZUAV), Multiplex Cularis/Easystar, 9Xtend modem, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Initial flight tests w/ Easystar in AUTO1 & AUTO2.

|- style="background:bisque; color:black"
| [mailto:ogar0007@umn.edu Pat O'Gara] || St. Paul, MN || Tiny 2.11 and TWOG (PPZUAV) |||Oct. 2008 || Completed and flown FunJet and Minimag in Auto 2. Currently rebuilding MiniMag as an improved development platform.

|- style="background:bisque; color:black"
| [mailto:kochesj@gvsu.edu John Koches] || Muskegon, Michigan || Tiny 2.11 (PPZUAV) ||| 2007 || currently flying a 48 inch zagi, 80 inch under construction.

|- style="background:bisque; color:black"
| [mailto:Stdeguir@gmail.com Steve Deguir] || New York,New York || Tiny2.11+LEA-5H (PPZUAV), XbeePro 2.4, Berg4L, JR FMA ||| Feb 2009 ||

|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.

|- style="background:bisque; color:black"
| [mailto:mecevans@gmail.com Michael Evans] || Seaside(Monterey Bay), California || Tiny2.11 (PPZUAV) ||| Feb 2009 ||http://www.rcgroups.com/forums/showthread.php?t=1000937.

|- style="background:bisque; color:black"
| USU AggieAir Remote Sensing || Logan, UT || TWOG (PPZUAV) ||| January 2009 || Building 72" Flying Wings which will be used for remote sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://www.engr.usu.edu/wiki/index.php/OSAM USU OSAM-UAV] || Logan, UT || TWOG (PPZUAV) ||| June 2007 || 2x72" 5x48" 1x60" Flying Wings. Research backyard for AggieAir Remote Sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU Fuel Cell UAV] || Fort Collins, Co || Tiny 2.11 + LEA-5H (PPZUAV), 2.4Ghz XBPro ||| Mar 2009 || Maiden flight complete Feb 28. New Airframe in development.

|- style="background:bisque; color:black"
| [mailto:armz12@gmail.com Armen Gharibans] || La Jolla, California || Tiny2.11 (PPZUAV) ||| March 2009 || UCSD Project with Multiplex Mentor. Completed August 2, 2009. Several Successful Auto2 Flights. A LOT of help from David Conger.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:EldenC Elden Crom] || Tucson, AZ || Twog 1.0 ||| July 2009 || Multiplex Twinstar, XBee Pro. Several Successful Auto2 Flights. Working toward precise Auto-Takeoff and Auto-Land

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider] || Tucson, AZ || None, will use TWOG 1.0 ||| December 2009 || Super Dimona, Aerocomm. No Flight test. Working toward setting waypoints within Paparazzi code

|- style="background:bisque; color:black"
| [Reegan] || Lubbock, TX || Planning on Tiny 2.11 (PPZUAV), 900mhz XBPro |||Dec. 2009 || Gaining info to begin a collegiate project

|- style="background:bisque; color:black"
| Team UAV UALR Caleb Tenberge || Little Rock, AR || Using TWOG 1.0 ||| Feb 2010 || Using a Telemaster, we are learning the GCS and building our plane.

|- style="background:bisque; color:black"
| [mailto:changho.nam@asu.edu Arizona State University POLY - Capstone Team: Development of UAV /w surveillance System] || Mesa, AZ || Using TINY 2.1 - 2.4GHz Modem, CCD Camera /w 900 MHz Video Transmitter ||| March 2010 || 4-lbs Flying Wings. We made successful autonomous flights.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Scdwyer Stephen Dwyer] || Edmonton, AB, CAN || Nothing Yet ||| Jan 2011 || Obtaining Hardware

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

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

|- style="background:bisque; color:black"
| [mailto:piotr@esden.net Piotr Esden-Tempski] || Santa Cruz, CA || Lisa/L, Lisa/M, Aspirin, Quadshot, Rotorcraft ||| 2009 || Software and Hardware development as well as [http://thequadshot.com The Quadshot]

|- style="background:bisque; color:black"
| [http://clubs.asua.arizona.edu/~mavclub University of Arizona MAV] || Tucson, AZ || Tiny 0.99, Tiny 1.1, TWOG 1.0, Lisa/M 1.0/2.0, Aspirin, VTOL Fixed-wing ||| 2005 || University of Arizona Micro Air Vehicle Club (competing in IMAVs with Paparazzi since 2003.)

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Cwozny Chris Wozny] || Nashua, NH || Lisa/M, Aspirin ||| 2008 || Currently building quadcopter around Lisa/M 2.0 platform now that I have graduated and am no longer apart of U of AZ MAV.

|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Central America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:joschau@comcast.net Joekadet] || David Panama' || Tiny v2.11/LEA-4P, RF Modems XBee Pro 2.4 GHz (PPZUAV). Multiplex Mentor ||| 2008 || Seven flights now. Flights 6 & 7 in Auto2. Now only a matter of fine tuning.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===South America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:gustavoviolato@gmail.com Gustavo Violato] || São José dos Campos, Brasil || Tiny v2.11/LEA-4P, Modem XBee Pro 2.4 GHz Swift II ||| 2009 || Flying autonomously and enjoying it. Planning to use the system for flight test data acquisition and aircraft parameter recognition.
|- style="background:bisque; color:black"
| [mailto:agressiva@hotmail.com Eduardo Lavratti] || Porto Alegre - RS, Brasil || TWOG / BOOZ / LISA-M, UBLOX, Xbee900 60mw||| 2011 || Working with geoprocessing - developping new modules and sensors to paparazzi. [http://brquad.blogspot.com ACCENT AERiALS]
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Australia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:RH1N0 RH1N0] || Brisbane, QLD || TWOG, Multiplex Easystar, PPZGPS, H.264 live digital video, Ubiquiti modems ||| May 2011 || Multiple AUTO2 flights up to 40 min. Currently testing PPZIMU.
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| [mailto:reubenb87@gmail.com Reuben Brown]|| Gawler, SA || Tiny v2.11 ||| May 2009 || Getting the autopilot set up
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison] || Neutral Bay, NSW || Tiny v2.11, Vertical + Horizontal IR sensors, XBee PRO modems, Futaba T6EXAP TX, Futaba R136F RX, Funjet, MacBook laptop ||| August 2008 || Several flights in Auto1
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rufus Chris Gough] || Canberra || TWOG v2.11, EZ* || September 09 || not yet airborn
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Adam.A Adam Amos] || Sydney, NSW || TWOG, IMU, BORJET MAJA || March 2010 || see [http://www.rescuerobotics.com.au www.rescuerobotics.com.au] for current status
|}

===Africa===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:w1_th@yahoo.com W1th] || South Africa KZN || TWOG V1 ,LEA-5H GPS , RF Modems XBee Pro 868 (CheBuzz) ||| July 2009 || Got TWOG,GPS etc interfacing with Laptop and working , Have not done anything to it recently but...Made a website [http://sites.google.com/site/scarfclub/paparazi-uav SCARF Paparazzi-UAV] of my struggle ...
|- style="background:bisque; color:black"
| [mailto:willie.smit@nwu.ac.za Willie Smit] || South Africa NW || Tiny v2.11, LEA-4P GPS, RF Modems XBee Pro ||| April 2010 || We are currently doing test flights. Also doing research on obstacle avoidance.
|- style="background:bisque; color:black"
|}

==Need help adding your information?==
To have your information added by another paparazzi user, please send me an [http://www.rcgroups.com/forums/showpost.php?p=6575288&postcount=1 EMAIL] at with the
following:

*Name
*Email
*Location
*Hardware
*Join date
*Current activities / project status

[[Category:Community]]

Lisa/M/Tutorial/FixedWing

2012-05-05T05:41:44Z

Cwozny: /* Intro */

= Intro =

This article is meant as a tutorial on how to assemble, wire up, and mount devices in a fixed wing aircraft based on [[Lisa/M]] for a maiden flight on Autopilot. We will use a Multiplex Mentor as example.

For this we need:

1x Mentor RC Aircraft

1x XBee XSC Modem

1x RC Receiver

1x uBlox LEA5 GPS module

= Setup Hardware =

To test hardware, supply VIN with 5-7V from a Battery Eliminator Circuit (BEC). This is much safer and more power efficient. Plug in your battery into VBATT which will let the Lisa/M monitor the actual battery voltage. The allowed power range is 5V through to something over 20V, apparently, but something like 11-16V is around the range you get from 3 or 4 cell LiPo batteries.

Also, make sure that if your avionics are powered up that your remaining electronics are not floating at battery + voltage level. This can happen if you power Lisa/M separately from your motor controllers for example. It either may happen that you connect your battery to the motor controllers high side first or you have a N-Fet switch that is disconnecting ground. (Courtesy of Esden)

When limiting the current via a power supply, ampere ratings shouldn't be too important as long as it isn't too low. The board takes what it needs. Normal operation with XBee, Spektrum Satellite, and GPS attached seems to draw ~200 mA.

== IMU ==

The [[LisaM|Lisa/M]] can be purchased with the [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] already soldered to it. Otherwise, you can solder an [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] on it yourself.

== GPS ==

On connector UART1 we will connect the GPS receiver. A [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] will be uses in the basic setup

== Servos ==

=== ESC ===

The ESC which stand for Electronic Speed Control to contol the motor speed will be connected to servo pins S1. We will also solder the VBAT connection to the positive battery terminal from the ESC so Lisa/M can monitor the battery voltage.

=== Aileron ===

To Pin S2 we connect the left aileron servo. Left side is left is as seen from the back of the airframe. And to pin S5 we connect the right aileron cable

=== Elevator ===

On Pin S3 the Elevator servo cable

=== Rudder ===

On Pin S4 the rudder servo cable

== RC Receiver ==

To be able to test your UAS a RC receiver comes in very handy. One must realize without a receiver an well tuned airframe can fly very well, however for initial tests adding a receiver makes life so much easier. The documentation here will describe how to connect and setup such an RC receiver.

=== PPM Receiver ===

A modified RC receiver with full PPM out can be used to control the AP board from the ground. How to get a receiver with full PPM out or modify an existing one [http://paparazzi.enac.fr/wiki/RC_Receivers_and_Radios#PPM_Based_Systems can be found here.]

PPM is at the moment sharing a line with servo6, because it's the way it was wired on a Lisa/L board. It would be trivial to adapt the driver to use another line. look at sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c . If you manage to do so please adjust the text on this page also.

=== Satellite Receiver ===

Connecting a 2.4GHz Spectrum or compatible receiver

[[Image:Lisa_M_V1_0_satellite_receiver_connection_labeled.png|500px]]

It is very well possible to connect another 2.4Ghz receiver, however the software to interact with that device must at the moment be written by oneself. The advantage of Opensource is that it is possible. Sharing your coding work would be great and in line with the GPL license.

== Telemetry==

An [[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee XSC]] wireless data module will be used to enable to receive telemetry data. While not needed for fully autonomous flight it is very beneficial to have telemetry data. We will connect the transmitter to connector UART2

== Power ==

=== Jumpers ===

[[Image:LisaM_V1_0_top_jumpers_and_leds.png|500px]][[Image:LisaM_V1_0_bottom_jumpers.png|450px]]

It is possible to reconfigure the electrical system on [[Lisa/M]] using the supply jumpers. On the boards the Jumper are not real jmper but a spot where we can solder or unsolder a "Bridge" to make or break the connection. In our case the ESC will supply both the servos and the board with power from the main battery. This is the default setup of [[Lisa/M]], so there is no need to solder anything on the board.

* JP1 connects the servo power rail to V_IN rail.
* JP2 connects the battery rail (used by default only for battery voltage measurement) to the V_IN rail.
* JP3 bypasses the +5V voltage regulator and connects V_IN to the +5V rail.
* JP4 connects the V_IN rail to the VCC pin on the UART2 connector.
* JP5 connects the +3V3 rail to the VCC pin on the UART2 connector.
* JP6 connects the V_IN rail to the VCC pin on the UART1 connector.
* JP7 connects the +3V3 rail to the VCC pin on the UART1 connector.

= Setup Software =

== Bootloader ==

To awake the hardware from sleep and activate the "brain" a so called "bootloader" is used. <s>At the moment there is no bootloader code released yet for Paparazzi and this type of board. If there was, you would not need [[JTAG]] to change the software in your [[Lisa/M]] and only a USB cable would suffice to upload a new flight plan (just as it is now with a LPC21-based Paparazzi Autopilot board like the [[Twog_v1|TWOG]].) If you are good at writing bootloaders for the STM please add your code to the Paparazzi repository.</s>

== Uploading Firmware ==

For the board to perform some sort of action, a "brain" a.k.a firmware must be uploaded to the board. This is done by way of a JTAG cable or USB cable. More info on uploading firmware can be found [[Lisa/M#Programming]]. <s>If you do not have such a cable, it is not possible to upload your flight plan firmware to the board. You can order this cable a various hardware suppliers. The cable design is also open source, you could opt to make one yourself, but that is not trivial.</s>

== IMU Calibration ==

If you didn't make the board yourself, then you probably got a calibration file (.xml) from your board supplier. If you didn't receive a calibration file then follow the steps for [http://paparazzi.enac.fr/wiki/ImuCalibration onboard IMU calibration].

= Pre-flight Checklist=

Double-check that you connected everything correctly. Then switch on your transmitter and power up your board.

= Flying =

This page does not contain information about flying the aircraft. A look around on this wiki or elsewhere on the internet can help you out.

[[Category:User_Documentation]]

Lisa/M/Tutorial/FixedWing

2012-05-05T05:40:44Z

Cwozny: /* Servos */

= Intro =

This article is meant as a tutorial on how to assemble, wire up, and mount devices in a fixed wing aircraft based on [[Lisa/M]] for a maiden flight on Autopilot. We will use a Multiplex Mentor as example.

For this we need:

1x Mentor RC Aircraft

1x XBee 900 PRO

1x RC Receiver

1x uBlox LEA5 GPS module

= Setup Hardware =

To test hardware, supply VIN with 5-7V from a Battery Eliminator Circuit (BEC). This is much safer and more power efficient. Plug in your battery into VBATT which will let the Lisa/M monitor the actual battery voltage. The allowed power range is 5V through to something over 20V, apparently, but something like 11-16V is around the range you get from 3 or 4 cell LiPo batteries.

Also, make sure that if your avionics are powered up that your remaining electronics are not floating at battery + voltage level. This can happen if you power Lisa/M separately from your motor controllers for example. It either may happen that you connect your battery to the motor controllers high side first or you have a N-Fet switch that is disconnecting ground. (Courtesy of Esden)

When limiting the current via a power supply, ampere ratings shouldn't be too important as long as it isn't too low. The board takes what it needs. Normal operation with XBee, Spektrum Satellite, and GPS attached seems to draw ~200 mA.

== IMU ==

The [[LisaM|Lisa/M]] can be purchased with the [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] already soldered to it. Otherwise, you can solder an [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] on it yourself.

== GPS ==

On connector UART1 we will connect the GPS receiver. A [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] will be uses in the basic setup

== Servos ==

=== ESC ===

The ESC which stand for Electronic Speed Control to contol the motor speed will be connected to servo pins S1. We will also solder the VBAT connection to the positive battery terminal from the ESC so Lisa/M can monitor the battery voltage.

=== Aileron ===

To Pin S2 we connect the left aileron servo. Left side is left is as seen from the back of the airframe. And to pin S5 we connect the right aileron cable

=== Elevator ===

On Pin S3 the Elevator servo cable

=== Rudder ===

On Pin S4 the rudder servo cable

== RC Receiver ==

To be able to test your UAS a RC receiver comes in very handy. One must realize without a receiver an well tuned airframe can fly very well, however for initial tests adding a receiver makes life so much easier. The documentation here will describe how to connect and setup such an RC receiver.

=== PPM Receiver ===

A modified RC receiver with full PPM out can be used to control the AP board from the ground. How to get a receiver with full PPM out or modify an existing one [http://paparazzi.enac.fr/wiki/RC_Receivers_and_Radios#PPM_Based_Systems can be found here.]

PPM is at the moment sharing a line with servo6, because it's the way it was wired on a Lisa/L board. It would be trivial to adapt the driver to use another line. look at sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c . If you manage to do so please adjust the text on this page also.

=== Satellite Receiver ===

Connecting a 2.4GHz Spectrum or compatible receiver

[[Image:Lisa_M_V1_0_satellite_receiver_connection_labeled.png|500px]]

It is very well possible to connect another 2.4Ghz receiver, however the software to interact with that device must at the moment be written by oneself. The advantage of Opensource is that it is possible. Sharing your coding work would be great and in line with the GPL license.

== Telemetry==

An [[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee XSC]] wireless data module will be used to enable to receive telemetry data. While not needed for fully autonomous flight it is very beneficial to have telemetry data. We will connect the transmitter to connector UART2

== Power ==

=== Jumpers ===

[[Image:LisaM_V1_0_top_jumpers_and_leds.png|500px]][[Image:LisaM_V1_0_bottom_jumpers.png|450px]]

It is possible to reconfigure the electrical system on [[Lisa/M]] using the supply jumpers. On the boards the Jumper are not real jmper but a spot where we can solder or unsolder a "Bridge" to make or break the connection. In our case the ESC will supply both the servos and the board with power from the main battery. This is the default setup of [[Lisa/M]], so there is no need to solder anything on the board.

* JP1 connects the servo power rail to V_IN rail.
* JP2 connects the battery rail (used by default only for battery voltage measurement) to the V_IN rail.
* JP3 bypasses the +5V voltage regulator and connects V_IN to the +5V rail.
* JP4 connects the V_IN rail to the VCC pin on the UART2 connector.
* JP5 connects the +3V3 rail to the VCC pin on the UART2 connector.
* JP6 connects the V_IN rail to the VCC pin on the UART1 connector.
* JP7 connects the +3V3 rail to the VCC pin on the UART1 connector.

= Setup Software =

== Bootloader ==

To awake the hardware from sleep and activate the "brain" a so called "bootloader" is used. <s>At the moment there is no bootloader code released yet for Paparazzi and this type of board. If there was, you would not need [[JTAG]] to change the software in your [[Lisa/M]] and only a USB cable would suffice to upload a new flight plan (just as it is now with a LPC21-based Paparazzi Autopilot board like the [[Twog_v1|TWOG]].) If you are good at writing bootloaders for the STM please add your code to the Paparazzi repository.</s>

== Uploading Firmware ==

For the board to perform some sort of action, a "brain" a.k.a firmware must be uploaded to the board. This is done by way of a JTAG cable or USB cable. More info on uploading firmware can be found [[Lisa/M#Programming]]. <s>If you do not have such a cable, it is not possible to upload your flight plan firmware to the board. You can order this cable a various hardware suppliers. The cable design is also open source, you could opt to make one yourself, but that is not trivial.</s>

== IMU Calibration ==

If you didn't make the board yourself, then you probably got a calibration file (.xml) from your board supplier. If you didn't receive a calibration file then follow the steps for [http://paparazzi.enac.fr/wiki/ImuCalibration onboard IMU calibration].

= Pre-flight Checklist=

Double-check that you connected everything correctly. Then switch on your transmitter and power up your board.

= Flying =

This page does not contain information about flying the aircraft. A look around on this wiki or elsewhere on the internet can help you out.

[[Category:User_Documentation]]

Lisa/M/Tutorial/FixedWing

2012-05-05T05:39:33Z

Cwozny: /* Intro */

= Intro =

This article is meant as a tutorial on how to assemble, wire up, and mount devices in a fixed wing aircraft based on [[Lisa/M]] for a maiden flight on Autopilot. We will use a Multiplex Mentor as example.

For this we need:

1x Mentor RC Aircraft

1x XBee 900 PRO

1x RC Receiver

1x uBlox LEA5 GPS module

= Setup Hardware =

To test hardware, supply VIN with 5-7V from a Battery Eliminator Circuit (BEC). This is much safer and more power efficient. Plug in your battery into VBATT which will let the Lisa/M monitor the actual battery voltage. The allowed power range is 5V through to something over 20V, apparently, but something like 11-16V is around the range you get from 3 or 4 cell LiPo batteries.

Also, make sure that if your avionics are powered up that your remaining electronics are not floating at battery + voltage level. This can happen if you power Lisa/M separately from your motor controllers for example. It either may happen that you connect your battery to the motor controllers high side first or you have a N-Fet switch that is disconnecting ground. (Courtesy of Esden)

When limiting the current via a power supply, ampere ratings shouldn't be too important as long as it isn't too low. The board takes what it needs. Normal operation with XBee, Spektrum Satellite, and GPS attached seems to draw ~200 mA.

== IMU ==

The [[LisaM|Lisa/M]] can be purchased with the [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] already soldered to it. Otherwise, you can solder an [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] on it yourself.

== GPS ==

On connector UART1 we will connect the GPS receiver. A [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] will be uses in the basic setup

== Servos ==

=== ESC ===

The ESC which stand for Electronic Speed Control to contol the motor speed will be connected to servo pins S1

=== Aileron ===

To Pin S2 we connect the left aileron servo. Left side is left is as seen from the back of the airframe. And to pin S5 we connect the right aileron cable

=== Elevator ===

On Pin S3 the Elevator servo cable

=== Rudder ===

On Pin S4 the rudder servo cable

== RC Receiver ==

To be able to test your UAS a RC receiver comes in very handy. One must realize without a receiver an well tuned airframe can fly very well, however for initial tests adding a receiver makes life so much easier. The documentation here will describe how to connect and setup such an RC receiver.

=== PPM Receiver ===

A modified RC receiver with full PPM out can be used to control the AP board from the ground. How to get a receiver with full PPM out or modify an existing one [http://paparazzi.enac.fr/wiki/RC_Receivers_and_Radios#PPM_Based_Systems can be found here.]

PPM is at the moment sharing a line with servo6, because it's the way it was wired on a Lisa/L board. It would be trivial to adapt the driver to use another line. look at sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c . If you manage to do so please adjust the text on this page also.

=== Satellite Receiver ===

Connecting a 2.4GHz Spectrum or compatible receiver

[[Image:Lisa_M_V1_0_satellite_receiver_connection_labeled.png|500px]]

It is very well possible to connect another 2.4Ghz receiver, however the software to interact with that device must at the moment be written by oneself. The advantage of Opensource is that it is possible. Sharing your coding work would be great and in line with the GPL license.

== Telemetry==

An [[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee XSC]] wireless data module will be used to enable to receive telemetry data. While not needed for fully autonomous flight it is very beneficial to have telemetry data. We will connect the transmitter to connector UART2

== Power ==

=== Jumpers ===

[[Image:LisaM_V1_0_top_jumpers_and_leds.png|500px]][[Image:LisaM_V1_0_bottom_jumpers.png|450px]]

It is possible to reconfigure the electrical system on [[Lisa/M]] using the supply jumpers. On the boards the Jumper are not real jmper but a spot where we can solder or unsolder a "Bridge" to make or break the connection. In our case the ESC will supply both the servos and the board with power from the main battery. This is the default setup of [[Lisa/M]], so there is no need to solder anything on the board.

* JP1 connects the servo power rail to V_IN rail.
* JP2 connects the battery rail (used by default only for battery voltage measurement) to the V_IN rail.
* JP3 bypasses the +5V voltage regulator and connects V_IN to the +5V rail.
* JP4 connects the V_IN rail to the VCC pin on the UART2 connector.
* JP5 connects the +3V3 rail to the VCC pin on the UART2 connector.
* JP6 connects the V_IN rail to the VCC pin on the UART1 connector.
* JP7 connects the +3V3 rail to the VCC pin on the UART1 connector.

= Setup Software =

== Bootloader ==

To awake the hardware from sleep and activate the "brain" a so called "bootloader" is used. <s>At the moment there is no bootloader code released yet for Paparazzi and this type of board. If there was, you would not need [[JTAG]] to change the software in your [[Lisa/M]] and only a USB cable would suffice to upload a new flight plan (just as it is now with a LPC21-based Paparazzi Autopilot board like the [[Twog_v1|TWOG]].) If you are good at writing bootloaders for the STM please add your code to the Paparazzi repository.</s>

== Uploading Firmware ==

For the board to perform some sort of action, a "brain" a.k.a firmware must be uploaded to the board. This is done by way of a JTAG cable or USB cable. More info on uploading firmware can be found [[Lisa/M#Programming]]. <s>If you do not have such a cable, it is not possible to upload your flight plan firmware to the board. You can order this cable a various hardware suppliers. The cable design is also open source, you could opt to make one yourself, but that is not trivial.</s>

== IMU Calibration ==

If you didn't make the board yourself, then you probably got a calibration file (.xml) from your board supplier. If you didn't receive a calibration file then follow the steps for [http://paparazzi.enac.fr/wiki/ImuCalibration onboard IMU calibration].

= Pre-flight Checklist=

Double-check that you connected everything correctly. Then switch on your transmitter and power up your board.

= Flying =

This page does not contain information about flying the aircraft. A look around on this wiki or elsewhere on the internet can help you out.

[[Category:User_Documentation]]

Lisa/M/Tutorial/FixedWing

2012-04-23T20:16:26Z

Cwozny: /* Flying */

= Intro =

This article is meant as a tutorial on how to assemble, wire up and mount devices in a fixed wing aircraft based on [[Lisa/M]] for a maiden flight on Autopilot. We will use a Multiplex Mentor as example.

For this we need:

1x Mentor complete set

1x RC Receiver

1x uBlox LEA5 Helix module

= Setup Hardware =

To test hardware, supply VIN with 5-7V from a Battery Eliminator Circuit (BEC). This is much safer and more power efficient. Plug in your battery into VBATT which will let the Lisa/M monitor the actual battery voltage. The allowed power range is 5V through to something over 20V, apparently, but something like 11-16V is around the range you get from 3 or 4 cell LiPo batteries.

Also, make sure that if your avionics are powered up that your remaining electronics are not floating at battery + voltage level. This can happen if you power Lisa/M separately from your motor controllers for example. It either may happen that you connect your battery to the motor controllers high side first or you have a N-Fet switch that is disconnecting ground. (Courtesy of Esden)

When limiting the current via a power supply, ampere ratings shouldn't be too important as long as it isn't too low. The board takes what it needs. Normal operation with XBee, Spektrum Satellite, and GPS attached seems to draw ~200 mA.

== IMU ==

The [[LisaM|Lisa/M]] can be purchased with the [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] already soldered to it. Otherwise, you can solder an [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] on it yourself.

== GPS ==

On connector UART1 we will connect the GPS receiver. A [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] will be uses in the basic setup

== Servos ==

=== ESC ===

The ESC which stand for Electronic Speed Control to contol the motor speed will be connected to servo pins S1

=== Aileron ===

To Pin S2 we connect the left aileron servo. Left side is left is as seen from the back of the airframe. And to pin S5 we connect the right aileron cable

=== Elevator ===

On Pin S3 the Elevator servo cable

=== Rudder ===

On Pin S4 the rudder servo cable

== RC Receiver ==

To be able to test your UAS a RC receiver comes in very handy. One must realize without a receiver an well tuned airframe can fly very well, however for initial tests adding a receiver makes life so much easier. The documentation here will describe how to connect and setup such an RC receiver.

=== PPM Receiver ===

A modified RC receiver with full PPM out can be used to control the AP board from the ground. How to get a receiver with full PPM out or modify an existing one [http://paparazzi.enac.fr/wiki/RC_Receivers_and_Radios#PPM_Based_Systems can be found here.]

PPM is at the moment sharing a line with servo6, because it's the way it was wired on a Lisa/L board. It would be trivial to adapt the driver to use another line. look at sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c . If you manage to do so please adjust the text on this page also.

=== Satellite Receiver ===

Connecting a 2.4GHz Spectrum or compatible receiver

[[Image:Lisa_M_V1_0_satellite_receiver_connection_labeled.png|500px]]

It is very well possible to connect another 2.4Ghz receiver, however the software to interact with that device must at the moment be written by oneself. The advantage of Opensource is that it is possible. Sharing your coding work would be great and in line with the GPL license.

== Telemetry==

An [[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee XSC]] wireless data module will be used to enable to receive telemetry data. While not needed for fully autonomous flight it is very beneficial to have telemetry data. We will connect the transmitter to connector UART2

== Power ==

=== Jumpers ===

[[Image:LisaM_V1_0_top_jumpers_and_leds.png|500px]][[Image:LisaM_V1_0_bottom_jumpers.png|450px]]

It is possible to reconfigure the electrical system on [[Lisa/M]] using the supply jumpers. On the boards the Jumper are not real jmper but a spot where we can solder or unsolder a "Bridge" to make or break the connection. In our case the ESC will supply both the servos and the board with power from the main battery. This is the default setup of [[Lisa/M]], so there is no need to solder anything on the board.

* JP1 connects the servo power rail to V_IN rail.
* JP2 connects the battery rail (used by default only for battery voltage measurement) to the V_IN rail.
* JP3 bypasses the +5V voltage regulator and connects V_IN to the +5V rail.
* JP4 connects the V_IN rail to the VCC pin on the UART2 connector.
* JP5 connects the +3V3 rail to the VCC pin on the UART2 connector.
* JP6 connects the V_IN rail to the VCC pin on the UART1 connector.
* JP7 connects the +3V3 rail to the VCC pin on the UART1 connector.

= Setup Software =

== Bootloader ==

To awake the hardware from sleep and activate the "brain" a so called "bootloader" is used. <s>At the moment there is no bootloader code released yet for Paparazzi and this type of board. If there was, you would not need [[JTAG]] to change the software in your [[Lisa/M]] and only a USB cable would suffice to upload a new flight plan (just as it is now with a LPC21-based Paparazzi Autopilot board like the [[Twog_v1|TWOG]].) If you are good at writing bootloaders for the STM please add your code to the Paparazzi repository.</s>

== Uploading Firmware ==

For the board to perform some sort of action, a "brain" a.k.a firmware must be uploaded to the board. This is done by way of a JTAG cable or USB cable. More info on uploading firmware can be found [[Lisa/M#Programming]]. <s>If you do not have such a cable, it is not possible to upload your flight plan firmware to the board. You can order this cable a various hardware suppliers. The cable design is also open source, you could opt to make one yourself, but that is not trivial.</s>

== IMU Calibration ==

If you didn't make the board yourself, then you probably got a calibration file (.xml) from your board supplier. If you didn't receive a calibration file then follow the steps for [http://paparazzi.enac.fr/wiki/ImuCalibration onboard IMU calibration].

= Pre-flight Checklist=

Double-check that you connected everything correctly. Then switch on your transmitter and power up your board.

= Flying =

This page does not contain information about flying the aircraft. A look around on this wiki or elsewhere on the internet can help you out.

[[Category:User_Documentation]]

Lisa/M/Tutorial/FixedWing

2012-04-23T20:15:09Z

Cwozny: Included info on programming Lisa/M

= Intro =

This article is meant as a tutorial on how to assemble, wire up and mount devices in a fixed wing aircraft based on [[Lisa/M]] for a maiden flight on Autopilot. We will use a Multiplex Mentor as example.

For this we need:

1x Mentor complete set

1x RC Receiver

1x uBlox LEA5 Helix module

= Setup Hardware =

To test hardware, supply VIN with 5-7V from a Battery Eliminator Circuit (BEC). This is much safer and more power efficient. Plug in your battery into VBATT which will let the Lisa/M monitor the actual battery voltage. The allowed power range is 5V through to something over 20V, apparently, but something like 11-16V is around the range you get from 3 or 4 cell LiPo batteries.

Also, make sure that if your avionics are powered up that your remaining electronics are not floating at battery + voltage level. This can happen if you power Lisa/M separately from your motor controllers for example. It either may happen that you connect your battery to the motor controllers high side first or you have a N-Fet switch that is disconnecting ground. (Courtesy of Esden)

When limiting the current via a power supply, ampere ratings shouldn't be too important as long as it isn't too low. The board takes what it needs. Normal operation with XBee, Spektrum Satellite, and GPS attached seems to draw ~200 mA.

== IMU ==

The [[LisaM|Lisa/M]] can be purchased with the [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] already soldered to it. Otherwise, you can solder an [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] on it yourself.

== GPS ==

On connector UART1 we will connect the GPS receiver. A [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] will be uses in the basic setup

== Servos ==

=== ESC ===

The ESC which stand for Electronic Speed Control to contol the motor speed will be connected to servo pins S1

=== Aileron ===

To Pin S2 we connect the left aileron servo. Left side is left is as seen from the back of the airframe. And to pin S5 we connect the right aileron cable

=== Elevator ===

On Pin S3 the Elevator servo cable

=== Rudder ===

On Pin S4 the rudder servo cable

== RC Receiver ==

To be able to test your UAS a RC receiver comes in very handy. One must realize without a receiver an well tuned airframe can fly very well, however for initial tests adding a receiver makes life so much easier. The documentation here will describe how to connect and setup such an RC receiver.

=== PPM Receiver ===

A modified RC receiver with full PPM out can be used to control the AP board from the ground. How to get a receiver with full PPM out or modify an existing one [http://paparazzi.enac.fr/wiki/RC_Receivers_and_Radios#PPM_Based_Systems can be found here.]

PPM is at the moment sharing a line with servo6, because it's the way it was wired on a Lisa/L board. It would be trivial to adapt the driver to use another line. look at sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c . If you manage to do so please adjust the text on this page also.

=== Satellite Receiver ===

Connecting a 2.4GHz Spectrum or compatible receiver

[[Image:Lisa_M_V1_0_satellite_receiver_connection_labeled.png|500px]]

It is very well possible to connect another 2.4Ghz receiver, however the software to interact with that device must at the moment be written by oneself. The advantage of Opensource is that it is possible. Sharing your coding work would be great and in line with the GPL license.

== Telemetry==

An [[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee XSC]] wireless data module will be used to enable to receive telemetry data. While not needed for fully autonomous flight it is very beneficial to have telemetry data. We will connect the transmitter to connector UART2

== Power ==

=== Jumpers ===

[[Image:LisaM_V1_0_top_jumpers_and_leds.png|500px]][[Image:LisaM_V1_0_bottom_jumpers.png|450px]]

It is possible to reconfigure the electrical system on [[Lisa/M]] using the supply jumpers. On the boards the Jumper are not real jmper but a spot where we can solder or unsolder a "Bridge" to make or break the connection. In our case the ESC will supply both the servos and the board with power from the main battery. This is the default setup of [[Lisa/M]], so there is no need to solder anything on the board.

* JP1 connects the servo power rail to V_IN rail.
* JP2 connects the battery rail (used by default only for battery voltage measurement) to the V_IN rail.
* JP3 bypasses the +5V voltage regulator and connects V_IN to the +5V rail.
* JP4 connects the V_IN rail to the VCC pin on the UART2 connector.
* JP5 connects the +3V3 rail to the VCC pin on the UART2 connector.
* JP6 connects the V_IN rail to the VCC pin on the UART1 connector.
* JP7 connects the +3V3 rail to the VCC pin on the UART1 connector.

= Setup Software =

== Bootloader ==

To awake the hardware from sleep and activate the "brain" a so called "bootloader" is used. <s>At the moment there is no bootloader code released yet for Paparazzi and this type of board. If there was, you would not need [[JTAG]] to change the software in your [[Lisa/M]] and only a USB cable would suffice to upload a new flight plan (just as it is now with a LPC21-based Paparazzi Autopilot board like the [[Twog_v1|TWOG]].) If you are good at writing bootloaders for the STM please add your code to the Paparazzi repository.</s>

== Uploading Firmware ==

For the board to perform some sort of action, a "brain" a.k.a firmware must be uploaded to the board. This is done by way of a JTAG cable or USB cable. More info on uploading firmware can be found [[Lisa/M#Programming]]. <s>If you do not have such a cable, it is not possible to upload your flight plan firmware to the board. You can order this cable a various hardware suppliers. The cable design is also open source, you could opt to make one yourself, but that is not trivial.</s>

== IMU Calibration ==

If you didn't make the board yourself, then you probably got a calibration file (.xml) from your board supplier. If you didn't receive a calibration file then follow the steps for [http://paparazzi.enac.fr/wiki/ImuCalibration onboard IMU calibration].

= Pre-flight Checklist=

Double-check that you connected everything correctly. Then switch on your transmitter and power up your board.

= Flying =

This page is not the one to find and information about that. A look around on this wiki or elswhere on the internet can help you out.

[[Category:User_Documentation]]

Lisa/M/Tutorial/FixedWing

2012-04-23T20:11:58Z

Cwozny: There is now a boot loader! Luftboot!

= Intro =

This article is meant as a tutorial on how to assemble, wire up and mount devices in a fixed wing aircraft based on [[Lisa/M]] for a maiden flight on Autopilot. We will use a Multiplex Mentor as example.

For this we need:

1x Mentor complete set

1x RC Receiver

1x uBlox LEA5 Helix module

= Setup Hardware =

To test hardware, supply VIN with 5-7V from a Battery Eliminator Circuit (BEC). This is much safer and more power efficient. Plug in your battery into VBATT which will let the Lisa/M monitor the actual battery voltage. The allowed power range is 5V through to something over 20V, apparently, but something like 11-16V is around the range you get from 3 or 4 cell LiPo batteries.

Also, make sure that if your avionics are powered up that your remaining electronics are not floating at battery + voltage level. This can happen if you power Lisa/M separately from your motor controllers for example. It either may happen that you connect your battery to the motor controllers high side first or you have a N-Fet switch that is disconnecting ground. (Courtesy of Esden)

When limiting the current via a power supply, ampere ratings shouldn't be too important as long as it isn't too low. The board takes what it needs. Normal operation with XBee, Spektrum Satellite, and GPS attached seems to draw ~200 mA.

== IMU ==

The [[LisaM|Lisa/M]] can be purchased with the [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] already soldered to it. Otherwise, you can solder an [[Inertial_Measurement_Units#Aspirin_IMU|Aspirin IMU]] on it yourself.

== GPS ==

On connector UART1 we will connect the GPS receiver. A [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] will be uses in the basic setup

== Servos ==

=== ESC ===

The ESC which stand for Electronic Speed Control to contol the motor speed will be connected to servo pins S1

=== Aileron ===

To Pin S2 we connect the left aileron servo. Left side is left is as seen from the back of the airframe. And to pin S5 we connect the right aileron cable

=== Elevator ===

On Pin S3 the Elevator servo cable

=== Rudder ===

On Pin S4 the rudder servo cable

== RC Receiver ==

To be able to test your UAS a RC receiver comes in very handy. One must realize without a receiver an well tuned airframe can fly very well, however for initial tests adding a receiver makes life so much easier. The documentation here will describe how to connect and setup such an RC receiver.

=== PPM Receiver ===

A modified RC receiver with full PPM out can be used to control the AP board from the ground. How to get a receiver with full PPM out or modify an existing one [http://paparazzi.enac.fr/wiki/RC_Receivers_and_Radios#PPM_Based_Systems can be found here.]

PPM is at the moment sharing a line with servo6, because it's the way it was wired on a Lisa/L board. It would be trivial to adapt the driver to use another line. look at sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c . If you manage to do so please adjust the text on this page also.

=== Satellite Receiver ===

Connecting a 2.4GHz Spectrum or compatible receiver

[[Image:Lisa_M_V1_0_satellite_receiver_connection_labeled.png|500px]]

It is very well possible to connect another 2.4Ghz receiver, however the software to interact with that device must at the moment be written by oneself. The advantage of Opensource is that it is possible. Sharing your coding work would be great and in line with the GPL license.

== Telemetry==

An [[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee XSC]] wireless data module will be used to enable to receive telemetry data. While not needed for fully autonomous flight it is very beneficial to have telemetry data. We will connect the transmitter to connector UART2

== Power ==

=== Jumpers ===

[[Image:LisaM_V1_0_top_jumpers_and_leds.png|500px]][[Image:LisaM_V1_0_bottom_jumpers.png|450px]]

It is possible to reconfigure the electrical system on [[Lisa/M]] using the supply jumpers. On the boards the Jumper are not real jmper but a spot where we can solder or unsolder a "Bridge" to make or break the connection. In our case the ESC will supply both the servos and the board with power from the main battery. This is the default setup of [[Lisa/M]], so there is no need to solder anything on the board.

* JP1 connects the servo power rail to V_IN rail.
* JP2 connects the battery rail (used by default only for battery voltage measurement) to the V_IN rail.
* JP3 bypasses the +5V voltage regulator and connects V_IN to the +5V rail.
* JP4 connects the V_IN rail to the VCC pin on the UART2 connector.
* JP5 connects the +3V3 rail to the VCC pin on the UART2 connector.
* JP6 connects the V_IN rail to the VCC pin on the UART1 connector.
* JP7 connects the +3V3 rail to the VCC pin on the UART1 connector.

= Setup Software =

== Bootloader ==

To awake the hardware from sleep and activate the "brain" a so called "bootloader" is used. <s>At the moment there is no bootloader code released yet for Paparazzi and this type of board. If there was, you would not need [[JTAG]] to change the software in your [[Lisa/M]] and only a USB cable would suffice to upload a new flight plan (just as it is now with a LPC21-based Paparazzi Autopilot board like the [[Twog_v1|TWOG]].) If you are good at writing bootloaders for the STM please add your code to the Paparazzi repository.</s>

== Uploading Firmware ==

For the board to perform some sort of action, a "Brain" a.k.a firmware must be uploaded to the board. This is done by way of a JTAG cable. If you do not have such a cable, it is not possible to upload your flight plan firmware to the board. You can order this cable a various hardware suppliers. The cable design is also open source, you could opt to make one yourself, but that is not trivial.

== IMU Calibration ==

If you didn't make the board yourself, then you probably got a calibration file (.xml) from your board supplier. If you didn't receive a calibration file then follow the steps for [http://paparazzi.enac.fr/wiki/ImuCalibration onboard IMU calibration].

= Pre-flight Checklist=

Double-check that you connected everything correctly. Then switch on your transmitter and power up your board.

= Flying =

This page is not the one to find and information about that. A look around on this wiki or elswhere on the internet can help you out.

[[Category:User_Documentation]]

Modems

2012-04-20T03:58:47Z

Cwozny:

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#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. Three antenna options are offered: the SMA version is ideal for ground modems, wire antennas for aircraft, and chip antennas for those with very limited space.

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''
Also see the [http://www.jsjf.demon.co.uk/xbee/faq.htm| unofficial XBee FAQ] for this.

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Comparison Conclusion ====

(Copied from DIGI manual)

''If the application strictly needs to communicate in a point-to-point or a point-to-multipoint
fashion, 802.15.4 will be able handle all the communications between your devices and will
be simpler to implement than trying to use a module with ZigBee firmware to accomplish the
same goal. ZigBee is necessary if you need to use repeating or the mesh networking
functionality.''

-Interpretation for paparazzi: if inter-aircraft communication is required one should go for the zigbee ZB series 2 modules.

==== 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

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] (yes, that really is their name) offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simpler, lighter, smaller footprint, bit more expensive, comes assembled and tested. --GR

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

For direct connection to USB (no FTDI cable required)

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://mini.ppzuav.com/osc/product_info.php?cPath=13&products_id=111 ppzuav.com]

FTDI Utility Board 1.0 (no FTDI cable required)

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB (no FTDI cable required)

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

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: Approximately $32
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== 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]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : ~34 USD
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is much shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band which does not have restrictions on its duty cycle.

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 80 kbps RF data rate
* price : ~23 USD
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

=== Digi XBee Pro 900 (XBEE09P) ===

XBee Pro 900 modules are long range embedded RF modules for US applications. Purpose-built for exceptional RF performance, XBee-Pro 900 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

==== Documentation ====
* [ftp://ftp1.digi.com/support/documentation/90000903_a.pdf]

I've been using a pair of these for about 6 months now and they works great. To set it up I just used a serial terminal app like CoolTerm or screen and made sure I could send messages between the two of them. - cwozny

=== Digi 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 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* 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 : $39 USD (on DigiKey)
|
|}

==== 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]
==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

== 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 transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-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||2 (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||2||This pin must be connected 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 already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

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

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe). 868MHz is a limited band. Please read the [[868MHz Issues]]
* 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 v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== 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 as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions. Note that a 1/2 wave dipole antenna works best on-board as it doesn't require a ground-plane and has a reasonably omnidirectional radiation pattern.
{|
|
=== WI232EUR ===
* Frequency Band: 868 MHz (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 (picture shows connection to Tiny 1.1)]]
|-
|

=== Pinout ===

 

{| border="1"
|+ Wiring the WI232EUR to the Tiny v1.1
|-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

either make a virtual connection to a Bluetooth serial port each time you connect

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

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 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]]

== Telemetry via Video Transmitter==

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

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== 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]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2012-04-20T03:57:07Z

Cwozny:

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#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. Three antenna options are offered: the SMA version is ideal for ground modems, wire antennas for aircraft, and chip antennas for those with very limited space.

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''
Also see the [http://www.jsjf.demon.co.uk/xbee/faq.htm| unofficial XBee FAQ] for this.

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Comparison Conclusion ====

(Copied from DIGI manual)

''If the application strictly needs to communicate in a point-to-point or a point-to-multipoint
fashion, 802.15.4 will be able handle all the communications between your devices and will
be simpler to implement than trying to use a module with ZigBee firmware to accomplish the
same goal. ZigBee is necessary if you need to use repeating or the mesh networking
functionality.''

-Interpretation for paparazzi: if inter-aircraft communication is required one should go for the zigbee ZB series 2 modules.

==== 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

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] (yes, that really is their name) offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simpler, lighter, smaller footprint, bit more expensive, comes assembled and tested. --GR

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

For direct connection to USB (no FTDI cable required)

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://mini.ppzuav.com/osc/product_info.php?cPath=13&products_id=111 ppzuav.com]

FTDI Utility Board 1.0 (no FTDI cable required)

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB (no FTDI cable required)

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

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: Approximately $32
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== 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]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : ~34 USD
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is much shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band which does not have restrictions on its duty cycle.

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 80 kbps RF data rate
* price : ~23 USD
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

=== Digi XBee Pro 900 (XBEE09P) ===

XBee Pro 900 modules are long range embedded RF modules for US applications. Purpose-built for exceptional RF performance, XBee-Pro 900 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
[[Image:XBEEPRO900.jpg|frame|left|XBee PRO-900]]

==== Documentation ====
* [ftp://ftp1.digi.com/support/documentation/90000903_a.pdf]

I've been using a pair of these for about 6 months now and they works great. To set it up I just used a serial terminal app like CoolTerm or screen and made sure I could send messages between the two of them. - cwozny
|}
=== Digi 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 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* 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 : $39 USD (on DigiKey)
|
|}

==== 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]
==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

== 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 transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-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||2 (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||2||This pin must be connected 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 already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

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

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe). 868MHz is a limited band. Please read the [[868MHz Issues]]
* 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 v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== 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 as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions. Note that a 1/2 wave dipole antenna works best on-board as it doesn't require a ground-plane and has a reasonably omnidirectional radiation pattern.
{|
|
=== WI232EUR ===
* Frequency Band: 868 MHz (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 (picture shows connection to Tiny 1.1)]]
|-
|

=== Pinout ===

 

{| border="1"
|+ Wiring the WI232EUR to the Tiny v1.1
|-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

either make a virtual connection to a Bluetooth serial port each time you connect

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

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 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]]

== Telemetry via Video Transmitter==

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

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== 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]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2012-04-20T03:53:17Z

Cwozny:

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#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. Three antenna options are offered: the SMA version is ideal for ground modems, wire antennas for aircraft, and chip antennas for those with very limited space.

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''
Also see the [http://www.jsjf.demon.co.uk/xbee/faq.htm| unofficial XBee FAQ] for this.

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Comparison Conclusion ====

(Copied from DIGI manual)

''If the application strictly needs to communicate in a point-to-point or a point-to-multipoint
fashion, 802.15.4 will be able handle all the communications between your devices and will
be simpler to implement than trying to use a module with ZigBee firmware to accomplish the
same goal. ZigBee is necessary if you need to use repeating or the mesh networking
functionality.''

-Interpretation for paparazzi: if inter-aircraft communication is required one should go for the zigbee ZB series 2 modules.

==== 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

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] (yes, that really is their name) offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simpler, lighter, smaller footprint, bit more expensive, comes assembled and tested. --GR

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

For direct connection to USB (no FTDI cable required)

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://mini.ppzuav.com/osc/product_info.php?cPath=13&products_id=111 ppzuav.com]

FTDI Utility Board 1.0 (no FTDI cable required)

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB (no FTDI cable required)

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

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: Approximately $32
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== 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]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : ~34 USD
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is much shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band which does not have restrictions on its duty cycle.

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 80 kbps RF data rate
* price : ~23 USD
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

=== Digi XBee Pro 900 (XBEE09P) ===

XBee Pro 900 modules are long range embedded RF modules for US applications. Purpose-built for exceptional RF performance, XBee-Pro 900 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
[[Image:XBEEPRO900.jpg|frame|left|XBee PRO-900]]
|}

==== Documentation ====
* [ftp://ftp1.digi.com/support/documentation/90000903_a.pdf]

I've been using a pair of these for about 6 months now and they works great. To set it up I just used a serial terminal app like CoolTerm or screen and made sure I could send messages between the two of them. - cwozny

=== Digi 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 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* 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 : $39 USD (on DigiKey)
|
|}

==== 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]
==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

== 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 transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-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||2 (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||2||This pin must be connected 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 already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

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

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe). 868MHz is a limited band. Please read the [[868MHz Issues]]
* 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 v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== 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 as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions. Note that a 1/2 wave dipole antenna works best on-board as it doesn't require a ground-plane and has a reasonably omnidirectional radiation pattern.
{|
|
=== WI232EUR ===
* Frequency Band: 868 MHz (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 (picture shows connection to Tiny 1.1)]]
|-
|

=== Pinout ===

 

{| border="1"
|+ Wiring the WI232EUR to the Tiny v1.1
|-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

either make a virtual connection to a Bluetooth serial port each time you connect

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

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 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]]

== Telemetry via Video Transmitter==

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

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== 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]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2012-04-20T03:51:10Z

Cwozny: /* Digi XBee Pro 900 (XBEE09P) */

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#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. Three antenna options are offered: the SMA version is ideal for ground modems, wire antennas for aircraft, and chip antennas for those with very limited space.

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''
Also see the [http://www.jsjf.demon.co.uk/xbee/faq.htm| unofficial XBee FAQ] for this.

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Comparison Conclusion ====

(Copied from DIGI manual)

''If the application strictly needs to communicate in a point-to-point or a point-to-multipoint
fashion, 802.15.4 will be able handle all the communications between your devices and will
be simpler to implement than trying to use a module with ZigBee firmware to accomplish the
same goal. ZigBee is necessary if you need to use repeating or the mesh networking
functionality.''

-Interpretation for paparazzi: if inter-aircraft communication is required one should go for the zigbee ZB series 2 modules.

==== 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

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] (yes, that really is their name) offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simpler, lighter, smaller footprint, bit more expensive, comes assembled and tested. --GR

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

For direct connection to USB (no FTDI cable required)

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://mini.ppzuav.com/osc/product_info.php?cPath=13&products_id=111 ppzuav.com]

FTDI Utility Board 1.0 (no FTDI cable required)

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB (no FTDI cable required)

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

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: Approximately $32
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== 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]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : ~34 USD
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is much shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band which does not have restrictions on its duty cycle.

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 80 kbps RF data rate
* price : ~23 USD
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

=== Digi XBee Pro 900 (XBEE09P) ===

XBee Pro 900 modules are long range embedded RF modules for US applications. Purpose-built for exceptional RF performance, XBee-Pro 900 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

[[Image:XBEEPRO900.jpg|frame|left|9XTend USB Modem]]
|

==== Documentation ====
* [ftp://ftp1.digi.com/support/documentation/90000903_a.pdf]

I've been using a pair of these for about 6 months now and they works great. To set it up I just used a serial terminal app like CoolTerm or screen and made sure I could send messages between the two of them. - cwozny

=== Digi 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 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* 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 : $39 USD (on DigiKey)
|
|}

==== 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]
==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

== 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 transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-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||2 (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||2||This pin must be connected 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 already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

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

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe). 868MHz is a limited band. Please read the [[868MHz Issues]]
* 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 v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== 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 as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions. Note that a 1/2 wave dipole antenna works best on-board as it doesn't require a ground-plane and has a reasonably omnidirectional radiation pattern.
{|
|
=== WI232EUR ===
* Frequency Band: 868 MHz (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 (picture shows connection to Tiny 1.1)]]
|-
|

=== Pinout ===

 

{| border="1"
|+ Wiring the WI232EUR to the Tiny v1.1
|-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

either make a virtual connection to a Bluetooth serial port each time you connect

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

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 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]]

== Telemetry via Video Transmitter==

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

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== 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]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Modems

2012-04-20T03:50:47Z

Cwozny:

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#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. Three antenna options are offered: the SMA version is ideal for ground modems, wire antennas for aircraft, and chip antennas for those with very limited space.

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''
Also see the [http://www.jsjf.demon.co.uk/xbee/faq.htm| unofficial XBee FAQ] for this.

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Comparison Conclusion ====

(Copied from DIGI manual)

''If the application strictly needs to communicate in a point-to-point or a point-to-multipoint
fashion, 802.15.4 will be able handle all the communications between your devices and will
be simpler to implement than trying to use a module with ZigBee firmware to accomplish the
same goal. ZigBee is necessary if you need to use repeating or the mesh networking
functionality.''

-Interpretation for paparazzi: if inter-aircraft communication is required one should go for the zigbee ZB series 2 modules.

==== 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

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] (yes, that really is their name) offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simpler, lighter, smaller footprint, bit more expensive, comes assembled and tested. --GR

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

For direct connection to USB (no FTDI cable required)

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://mini.ppzuav.com/osc/product_info.php?cPath=13&products_id=111 ppzuav.com]

FTDI Utility Board 1.0 (no FTDI cable required)

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB (no FTDI cable required)

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

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: Approximately $32
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== 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]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : ~34 USD
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is much shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band which does not have restrictions on its duty cycle.

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 80 kbps RF data rate
* price : ~23 USD
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

=== Digi XBee Pro 900 (XBEE09P) ===

XBee Pro 900 modules are long range embedded RF modules for US applications. Purpose-built for exceptional RF performance, XBee-Pro 900 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

[[Image:XBEEPRO900.jpg|frame|left|9XTend USB Modem]]

==== Documentation ====
* [ftp://ftp1.digi.com/support/documentation/90000903_a.pdf]

I've been using a pair of these for about 6 months now and they works great. To set it up I just used a serial terminal app like CoolTerm or screen and made sure I could send messages between the two of them. - cwozny

=== Digi 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 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* 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 : $39 USD (on DigiKey)
|
|}

==== 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]
==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

== 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 transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-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||2 (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||2||This pin must be connected 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 already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

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

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe). 868MHz is a limited band. Please read the [[868MHz Issues]]
* 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 v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== 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 as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions. Note that a 1/2 wave dipole antenna works best on-board as it doesn't require a ground-plane and has a reasonably omnidirectional radiation pattern.
{|
|
=== WI232EUR ===
* Frequency Band: 868 MHz (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 (picture shows connection to Tiny 1.1)]]
|-
|

=== Pinout ===

 

{| border="1"
|+ Wiring the WI232EUR to the Tiny v1.1
|-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

either make a virtual connection to a Bluetooth serial port each time you connect

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

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 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]]

== Telemetry via Video Transmitter==

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

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== 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]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

File:XBEEPRO900.jpg

2012-04-20T03:49:07Z

Cwozny:

Modems

2012-04-20T03:45:55Z

Cwozny: /* Digi XBee Pro 900 (XBEE09P) */

Gallery

2012-04-19T02:42:03Z

Cwozny: /* User's Aircraft Gallery */

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:microvertigo.png|Micro-Vertigo (3D SLS Printed) University of Arizona Span 20 cm, mass 100g
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 30 cm, mass 100g
Image:Lelantos.jpg|Lelantos University of Arizona Span 15 cm, mass 200g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:PPZFJ01.JPG| FJ1 The PPZUAV project aircraft and demo
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [http://paparazzi.enac.fr/wiki/User:Stspies Steffen] Germany.
Image:Mentormaur.jpg|Multiplex Mentor R. Maurer Bottighofen - Switzerland.
Image:WindS50Emaur.jpg|SebArt Wind S 50E R. Maurer Bottighofen - Switzerland.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup U of A UAS Group] Edmonton - Canada.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

File:Microvertigo.png

2012-04-19T02:41:18Z

Cwozny:

Gallery

2012-04-19T02:20:15Z

Cwozny: added new SLS aircraft

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:minivertigo.jpg|Micro-Vertigo (3D-Printed) University of Arizona Span 20 cm, mass 100g
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 30 cm, mass 100g
Image:Lelantos.jpg|Lelantos University of Arizona Span 15 cm, mass 200g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:PPZFJ01.JPG| FJ1 The PPZUAV project aircraft and demo
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [http://paparazzi.enac.fr/wiki/User:Stspies Steffen] Germany.
Image:Mentormaur.jpg|Multiplex Mentor R. Maurer Bottighofen - Switzerland.
Image:WindS50Emaur.jpg|SebArt Wind S 50E R. Maurer Bottighofen - Switzerland.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup U of A UAS Group] Edmonton - Canada.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

Fixedwing Configuration

2012-04-18T00:44:49Z

Cwozny: HORIZ_SENSOR_XXXXX must have value="1" or it fails to compile

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Airframe_Configuration</categorytree>
This page describes configuration options specific to the fixedwing firmware in the [[Airframe_Configuration|airframe file]].
== Firmware and Hardware definitions ==

=== Select your Board ===
Make sure you use the fixedwing [[Airframe_Configuration#Firmware|firmware]] and choose the correct board, e.g.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="twog_1.0"/>
...
</firmware>
</source>
}}

=== Infrared Sensors ===
To use the IR sensors for attitude estimation add the infrared module and ahrs infrared subsystem:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11"/>
...
<subsystem name="ahrs" type="infrared"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
</source>
}}

See the [[Module/infrared|infrared module page]] for more details on configuration.

=== Control loops ===

The [[Control_Loops#Fixed-wing_autopilot|control loops]] can be divided in two largely independent groups : the vertical ones and the horizontal ones (standard files sw/airborne/firmwares/fixedwing/guidance/guidance_v.c and sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c ). Those loops can be commanded at different levels by either the R/C transmitter or the autonomous navigation routine.

Just specify the appropriate subsystem in your firmware section. You can currently choose between no type (see below) and the types '''adaptive''' and '''new'''.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11"/>
...
<subsystem name="control"/>
</firmware>
</source>
}}

== XML Parameters ==

=== Commands ===

The <tt>commands</tt> lists the abstract commands you need to control the aircraft. In our example, we have only three:
<source lang="xml">
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
</source>

Each command is also associated with a failsafe value which will be used if no controller is active, for example during initialization of the autopilot board. The range of these values is [-9600:9600]. For <tt>"THROTTLE"</tt>, the range is [0, 9600] and in the corresponding <tt>servo</tt> definition the <tt>neutral</tt> and <tt>min</tt> are usually the same (see below). Note that these commands do not necessarily match the servo actuators. For example, the <tt>"ROLL"</tt> command is typically linked to two aileron actuators.

=== Servos ===

The above commands get translated to the <tt>servos</tt> here. In the example below we use two elevons and a motor. ([http://en.wikipedia.org/wiki/Elevon ''Elevons''] are surfaces used for both pitch and roll as on a flying wing.) These servos are listed in the <tt>servos</tt> section:
<source lang="xml">
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="ELEVON_LEFTSIDE" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVON_RIGHTSIDE" no="2" min="1000" neutral="1500" max="2000"/>
</servos>
</source>
Names are associated to the corresponding '''real physical connector''' to which a servo is connected '''on the autopilot board'''. For example no="2" means connector two on the board. Also the servo neutral value, total range and direction are defined. Min/max/neutral values are expressed in milliseconds. The direction of travel can be reversed by exchanging min with max (as in <tt>"ELEVON_LEFTSIDE"</tt>, above). The ''standard'' travel for a hobby servo is 1000ms - 2000ms with a 1500ms neutral. Trim can be added by changing this neutral value. Absolute servo travel limits can be increased or reduced with the min/max values. The <tt>"THROTTLE"</tt> servo typically has the same value for the <tt>neutral</tt> and <tt>min</tt>.

Note the following important tips:
* Reverse the servo direction by exchanging min/max
* Trim should always be adjusted mechanically if possible to avoid asymmetrical travel
* Any reduction of the total travel range should be done mechanically to maintain precision
* Many servos will respond well to values slightly outside the normal 1000-2000ms range but experiment carefully as the servo may not operate reliably outside this range and may even suffer permanent damage.
* Board connector numbering starts with zero (0) not with one
* Servos are also known under the synonym actuators

The <tt>servos</tt> are then linked to the commands in the <tt>command_laws</tt> section:
<source lang="xml">
<command_laws>
<let var="aileron" value="@ROLL * 0.3"/>
<let var="elevator" value="@PITCH * 0.7"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVON_LEFTSIDE" value="$elevator + $aileron"/>
<set servo="ELEVON_RIGHTSIDE" value="$elevator - $aileron"/>
</command_laws>
</source>

[[Image:airframe_sign_conventions.jpg|thumb|Sign conventions for flight dynamics]]
where the third line is the simplest: the throttle servo value equals throttle command value. The other lines define and control the pitch/roll mixing. Elevon values are computed with a combination of two commands, '''ROLL''' and '''PITCH'''. This ''mixer'' is defined with two intermediate variables '''aileron''' and '''elevator''' introduced with the <tt>let</tt> element. The '''@''' symbol is used to reference a command value in the <tt>value</tt> attribute of the <tt>set</tt> and <tt>let</tt> elements. In the above example, the servos are limited to +/- 70% of their full travel for pitch and 30% for roll, only in combination can the servos reach 100% deflection. Note that these numbers ''should add up 100% or more, never less''. For example, you may want 100% travel available for pitch - this means if a roll is commanded along with maximum pitch only one servo will respond to the roll command as the other has already reached its mechanical limit. If you find after tuning that these numbers add to less than 100% consider reducing the surface travel mechanically.

Note that the signs used in the description follow the standard convention.

=== Manual ===
The <tt>rc_command</tt> sections links the channels of the RC transmitter (defined in the [[Radio_Control|Radio Control]] file) to the <tt>commands</tt> defined above:
<source lang="xml">
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
</source>
This example looks trivial since the channel values have the same name than the commands.

=== RC commands in Auto ===
To control servos or other servo signal compatible devices by RC in Auto1 or Auto2, define them in the <auto_rc_commands> section.
If you have an airframe with a dedicated rudder (YAW channel) then it is still controllable in auto mode via RC. This is the default behavior and is equivalent to setting the YAW command in auto_rc_commands:
<source lang="xml">
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
</source>
To disable this behavior (meaning no RC control of the rudder in auto) define an empty auto_rc_commands section:
<source lang="xml">
<auto_rc_commands>
</auto_rc_commands>
</source>

=== Autopilot Only Commands ===
For certain missions it might be required to control servos (payload) from the autopilot (gcs) at all times (even during manual flight). These commands should not be in the <rc_commands> block but in the special <ap_only_commands> block. This allows for instance the pantilt operator to keep working when in manual flight, or safety logic to automatically close cameras below a certain altitude during manual landings.
<source lang="xml">
<ap_only_commands>
<copy command="PAN"/>
<copy command="TILT"/>
<copy command="SHOOT"/>
</ap_only_commands>
</source>

=== Auto1 ===
The next section, named <tt>AUTO1</tt>, gives the maximum roll and pitch (in radians) allowed for the augmented stability mode.
<source lang="xml">
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(35)"/>
<define name="MAX_PITCH" value="RadOfDeg(35)"/>
</section>
</source>
=== Infrared ===
The <tt>INFRARED</tt> section describes the configuration of the infrared sensors. For additional configuration to change the defaults, see the [[Module/infrared|infrared module page]].

The only mandatory definitions are the sensor neutral readings and how the IR sensors are mounted.

The electronic neutral of the sensors (a sensor here is a '''pair''' of thermopiles). A perfect sensor should give 512 if it measures the same value on both sides.
<source lang="xml">
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
</section>
</source>
These neutrals are tuned with the "cupboard test": Put the sensor in a close box (a cupboard) and read the values of the IR_SENSORS message (ir1, ir2 and vertical). Set the neutrals (they are subtracted from the measurement) to get null values. E.g. if you read 5 for the ir1 value with ADC_IR1_NEUTRAL equal to 512, change the latter to 517.

In the example above the horizontal sensor is connected to the airframe in ''aligned'' orientation. The other possibility is ''tilted''.
Define either
* '''HORIZ_SENSOR_ALIGNED''': ir1 is along the lateral axis (The axis that passes through the plane from wingtip to wingtip) and ir2 along the longitudinal one.
or
* '''HORIZ_SENSOR_TILTED''': the sensors are tilted by 45 degrees; ir1 is along rear-left -- front-right, and ir2 along rear-right -- front-left.
If the airframe construction allows choose an aligned sensor orientation since this gives the best stabilization response results.

=== Gyro ===
Defines the type of gyro installed, each axis neutral, and any required temperature compensation. If the gyro has two axes, the pitch neutral is defined as well. Many gyros output their internal temperature and require a temperature-dependent linear correction be made to the neutral value. No correction is done for the temperature in this example.(<tt>ADC_TEMP_SLOPE=0</tt>).
<source lang="xml">
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_COEFF" value="1"/>
<define name="ROLL_NEUTRAL" value="500"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
</section>
</source>

=== Horizontal Control ===
<source lang="xml">
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.4"/>
<define name="ROLL_MAX_SETPOINT" value="0.35" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500."/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="PITCH_PGAIN" value="-8000."/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
</source>
The outer loop acts on the route. It will produce a roll command from a course setpoint and a course measurement. The COURSE_PGAIN parameter is the factor multiplied by the course error (in radian) to get a roll setpoint (in radian). So if the plane is expected to go north (course=0) and is actually flying to 57 degrees (course=1 radian, i.e. ENE), with a gain of '''-0.4''', a roll of -0.4 (23 degrees) will be set for the lower control loop.

The ROLL_ATTITUDE_GAIN is used to compute a ROLL command from the roll error (setpoint minus measurement). If a gyro in installed, the ROLL_RATE_GAIN to keep a null roll rate. So these two gains provide a P-D controller.

The [[Control_Loops#Fixed-wing_autopilot|graphical representation of the control loops]] can help you to visualize the effect of each gain.

===Vertical Control===
<source lang="xml">
<section name="VERTICAL CONTROL" prefix="V_CTL_">

<define name="ALTITUDE_PGAIN" value="-0.1" unit="(m/s)/m"/>

<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>
</source>
These lines are associated with vertical control loops contained in sw/airborne/firmwares/fixedwing/guidance/guidance_v.c. These are outer loop parameters that calculate a desired climb rate based on altitude error. Here, if the altitude error is 10m, the climb setpoint will be set to 1m/s. ALTITUDE_MAX_CLIMB is a bounded value (in m/s) so that the outer loop does not calculate too large of a climb rate
<source lang="xml">
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.008" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35" unit="rad/(m/s)"/>
</source>

These lines are associated with vertical rate control loops contained in sw/airborne/firmwares/fixedwing/guidance/guidance_v.c and are used by default in most cases. The default vertical control law is for the vertical rate to be managed by a combination of throttle and pitch.
<source lang="xml">
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
</source>
These lines are associated with vertical control loops contained in sw/airborne/firmwares/fixedwing/guidance/guidance_v.c but are not used in default. The non-default vertical control law is for the vertical rate to be managed by the pitch.
<source lang="xml">
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</source>
THROTTLE_SLEW_LIMITER is the required time is seconds to change throttle from 0% to 100%.

The [[Control_Loops#Fixed-wing_autopilot|graphical representation of the control loops]] can help you to visualize the effect of each gain.

=== Misc ===
<source lang="xml">
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value ="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
</section>
</source>
* The "NOMINAL_AIRSPEED" is mainly used in the simulator.
* "CARROT" gives the distance (in seconds, so ground speed is taken into account) between the carrot and the aircraft.
* "KILL_MODE_DISTANCE" is the threshold distance to switch the autopilot into KILL mode (defined descent with no throttle)
* "CONTROL_RATE" is the rate of the low level control loops in Hertz (60 or 20).

=== Simu ===
Values from this section can be used to tweak the software in the loop (SITL) simulation.
<source lang="xml">
<section name="SIMU">
<define name="WEIGHT" value ="1."/>
<define name="YAW_RESPONSE_FACTOR" value ="1."/>
<define name="ROLL_RESPONSE_FACTOR" value ="15."/>
</section>
</source>
* "YAW_RESPONSE_FACTOR" adapts the aircraft's turn rate corresponding to a bank angle; a larger value increases the turn radius
* "ROLL_RESPONSE_FACTOR" is basically your aileron efficiency; a higher value increases roll agility

If you want to use JSBSim as SITL simulator, you have to make some definitions in this section as well; see [[Simulation#JSBSim|here]].

[[Category:User_Documentation]] [[Category:Airframe_Configuration]]

Lisa/M v2.0

2012-04-15T22:49:10Z

Cwozny: changed mouseover text from v1.0

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085]
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (6 w/ second I2C bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus (2 when using only 6 Servo PPM outputs)
* 1 x Micro USB
* 4 x status LEDs with attached test point
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

with mounted IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

The pressure sensor is mounted directly on the board as this sensor is not provided by Aspirin (''v0.1 - v1.1''). Except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||ADC4, by default connected to LED7 cathode (Remove LED/resistor to use as ADC)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||ADC6, by default connected to LED8 cathode (Remove LED/resistor to use as ADC)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BAT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA. As such, SERVO7 and SERVO8 '''CAN NOT''' be used while I2C1 is being used.

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BAT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BAT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
 

== Examples of Airborne Equipment Electrical Connections ==
=== Small Aircraft Connection Diagram ===
Need an Umarim_v1.0-style ([[Umarim_v10#Small_Aircraft_Connection_Diagram | here]]) small aircraft airborne equipment electrical connections here.
 

=== Large Aircraft Connection Diagram ===
Need an Umarim V1.0-style ([[Umarim_v10#Large_Aircraft_Connection_Diagram | here]]) large aircraft airborne equipment electrical connections diagram here.
 

=== R/C Receivers ===
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Also UART pins can be used as general purpose I/O to be used for PPM input. Additionally [[PPM_Encoder | PPM encoder]] can be used to avoid receiver hardware modification.

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
 
 

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Paparazzi USB Bootloader Upload ==

There is currently not a bootloader for STM32-based autopilots. Work is underway to remedy this, see [https://github.com/paparazzi/luftboot Luftboot on GitHub]. Right now, one must use [[Lisa/M#JTAG|JTAG]] to load firmware to the board.

=== Required components ===

=== Connection Diagram ===

=== Boot Sequence ===

== JTAG ==
JTAG can be used to upload firmware if no bootloader as present. It can also be used for debugging.
* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

=Quick JTAG Upload Guide=
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

== Detailed Hardware Revision History ==

=== Changes Between v1.1 and v2.0 ===
* Lot's of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

=== Changes Between v1.0 and v1.1 ===
* Removed pull-ups on the USB gpio
* Removed pull-ups on the CAN gpio
* Connected usb_vbus to pa9 (needed by the USBotg)
* Removed USB pullup transistor as usbotg has a built in pullup
* Swapped UART1 with UART3 (uart1 was used for gps and pa9 was it's tx line, to be able to talk to the gps unit uart3 is a better choice, as uart1 only has an rx line now it is a better choice for spektrum RX modules)
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* Added voltage selector jumpers to the RC RX connector; to enable powering of 3v3 or an 5v receivers
* Replaced vertical board solution with through hole servo pin headers (easier assembly)
* Servo connectors are in groups of two; for easier assembly
* Servo VBUS is connected together on all four layers; for lower resistance
* Moved LED's from under the analog2 connector; to be able to populate LED's and the connector
* Moved the RC RX connector a bit; to prevent crashing with the jtag plug
* Added one additional servo connector; now we have all 8 accessible through the standard servo connectors
* Fixed servo channel labeling to start at '''S0''' as it is the case on TWOG and Tiny autopilot boards
* Added secondary through hole picoblade USB connector for easier routing of USB inside an airframe
* ...

=== Changes Between v0.1 and v1.0 ===
* Switched to stm32f105 to be able to use usb and can at the same time
* Added alternative use of the adc lines as led output
* ...

=== Hardware Change Requests ===
* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: This upgrade will be available through Aspirin v2.0 --[[User:Esden|Esden]] 22:54, 5 January 2012 (CET)

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly inject CAN Molex into SPI.

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

Modems

2012-04-10T19:52:51Z

Cwozny: /* Digi XBee 868LP */

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#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. Three antenna options are offered: the SMA version is ideal for ground modems, wire antennas for aircraft, and chip antennas for those with very limited space.

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''
Also see the [http://www.jsjf.demon.co.uk/xbee/faq.htm| unofficial XBee FAQ] for this.

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Comparison Conclusion ====

(Copied from DIGI manual)

''If the application strictly needs to communicate in a point-to-point or a point-to-multipoint
fashion, 802.15.4 will be able handle all the communications between your devices and will
be simpler to implement than trying to use a module with ZigBee firmware to accomplish the
same goal. ZigBee is necessary if you need to use repeating or the mesh networking
functionality.''

-Interpretation for paparazzi: if inter-aircraft communication is required one should go for the zigbee ZB series 2 modules.

==== 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

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] (yes, that really is their name) offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simpler, lighter, smaller footprint, bit more expensive, comes assembled and tested. --GR

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

For direct connection to USB (no FTDI cable required)

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://mini.ppzuav.com/osc/product_info.php?cPath=13&products_id=111 ppzuav.com]

FTDI Utility Board 1.0 (no FTDI cable required)

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB (no FTDI cable required)

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

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: Approximately $32
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== 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]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : ~34 USD
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is much shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band which does not have restrictions on its duty cycle.

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 80 kbps RF data rate
* price : ~23 USD
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

=== Digi XBee Pro 900 (XBEE09P) ===

XBee Pro 900 modules are long range embedded RF modules for US applications. Purpose-built for exceptional RF performance, XBee-Pro 900 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

==== Documentation ====
* [ftp://ftp1.digi.com/support/documentation/90000903_a.pdf]

=== Digi 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 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* 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 : $39 USD (on DigiKey)
|
|}

==== 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]
==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

== 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 transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-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||2 (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||2||This pin must be connected 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 already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

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

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe). 868MHz is a limited band. Please read the [[868MHz Issues]]
* 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 v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== 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 as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions. Note that a 1/2 wave dipole antenna works best on-board as it doesn't require a ground-plane and has a reasonably omnidirectional radiation pattern.
{|
|
=== WI232EUR ===
* Frequency Band: 868 MHz (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 (picture shows connection to Tiny 1.1)]]
|-
|

=== Pinout ===

 

{| border="1"
|+ Wiring the WI232EUR to the Tiny v1.1
|-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

either make a virtual connection to a Bluetooth serial port each time you connect

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

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 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]]

== Telemetry via Video Transmitter==

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

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== 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]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

File:868lp.jpg

2012-04-10T19:52:14Z

Cwozny: XBee 868LP

XBee 868LP

Modems

2012-04-10T19:51:09Z

Cwozny: Added XBee 868LP Modem

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#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option. Three antenna options are offered: the SMA version is ideal for ground modems, wire antennas for aircraft, and chip antennas for those with very limited space.

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''
Also see the [http://www.jsjf.demon.co.uk/xbee/faq.htm| unofficial XBee FAQ] for this.

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Comparison Conclusion ====

(Copied from DIGI manual)

''If the application strictly needs to communicate in a point-to-point or a point-to-multipoint
fashion, 802.15.4 will be able handle all the communications between your devices and will
be simpler to implement than trying to use a module with ZigBee firmware to accomplish the
same goal. ZigBee is necessary if you need to use repeating or the mesh networking
functionality.''

-Interpretation for paparazzi: if inter-aircraft communication is required one should go for the zigbee ZB series 2 modules.

==== 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

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] (yes, that really is their name) offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simpler, lighter, smaller footprint, bit more expensive, comes assembled and tested. --GR

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

For direct connection to USB (no FTDI cable required)

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://mini.ppzuav.com/osc/product_info.php?cPath=13&products_id=111 ppzuav.com]

FTDI Utility Board 1.0 (no FTDI cable required)

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB (no FTDI cable required)

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

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: Approximately $32
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== 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]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : ~34 USD
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is much shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band which does not have restrictions on its duty cycle.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 80 kbps RF data rate
* price : ~23 USD
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

=== Digi XBee Pro 900 (XBEE09P) ===

XBee Pro 900 modules are long range embedded RF modules for US applications. Purpose-built for exceptional RF performance, XBee-Pro 900 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

==== Documentation ====
* [ftp://ftp1.digi.com/support/documentation/90000903_a.pdf]

=== Digi 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 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* 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 : $39 USD (on DigiKey)
|
|}

==== 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]
==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

== 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 transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-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||2 (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||2||This pin must be connected 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 already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

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

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe). 868MHz is a limited band. Please read the [[868MHz Issues]]
* 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 v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== 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 as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions. Note that a 1/2 wave dipole antenna works best on-board as it doesn't require a ground-plane and has a reasonably omnidirectional radiation pattern.
{|
|
=== WI232EUR ===
* Frequency Band: 868 MHz (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 (picture shows connection to Tiny 1.1)]]
|-
|

=== Pinout ===

 

{| border="1"
|+ Wiring the WI232EUR to the Tiny v1.1
|-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

either make a virtual connection to a Bluetooth serial port each time you connect

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

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 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]]

== Telemetry via Video Transmitter==

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

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== 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]]
 

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

ImuCalibration

2012-04-06T05:27:56Z

Cwozny: Small grammatical changes

== Theory ==

Accelerometer and Magnetometer calibration is critical to AHRS performance and can be performed using no special hardware. For the magnetometer, it is very important that the calibration be performed in the fully assembled vehicle, with all systems powered on. This is called hard-iron calibration and will allow us to compensate for any constant parasitic magnetic fields generated by the vehicle.
The calibration process consists of finding a set of neutrals and scale factors for each sensor, such as

<math>
\begin{pmatrix}physical\_value_x\\physical\_value_y\\physical\_value_z\end{pmatrix} = \begin{pmatrix}sf_x&0&0\\0&sf_y&0\\0&0&sf_z\end{pmatrix} * (\begin{pmatrix}sensor_x\\sensor_y\\sensor_z\end{pmatrix}-\begin{pmatrix}n_x\\n_y\\n_z\end{pmatrix})
</math>

The principle of the calibration is the following: an accelerometer, on a vehicle at rest, measures a constant vector (the opposite of gravity) in the earth frame, expressed in the vehicle frame.

<math>
DCM * \begin{pmatrix}0\\0\\-9.81\end{pmatrix} =
\begin{pmatrix}sf_x&0&0\\0&sf_y&0\\0&0&sf_z\end{pmatrix} * (\begin{pmatrix}sensor_x\\sensor_y\\sensor_z\end{pmatrix}-\begin{pmatrix}n_x\\n_y\\n_z\end{pmatrix})
</math>

DCM is a rotation matrix that converts between earth frame and body frame. It will change when we change the orientation of the vehicle. Nevertheless, a rotation conserves the norm of a vector. We can thus obtain the following scalar equation that doesn't depend on the vehicle orientation :

<math>
9.81^2 = ( sf_x(sensor_x-n_x) )^2 + (sf_y(sensor_y-n_y) )^2 + (sf_z(sensor_z-n_z) )^2
</math>

We can then record an important number of measurements in different orientations and find the set of scale factors and neutrals giving the norm closest to 9.81

== Calibration Script Installation==
Paparazzi comes with an application written in the Python language to calibrate the accelerometers and magnetometer. The application can be found in the Paparazzi directory under:

sw/tools/calibration/calibrate.py

For the application to work, however, you need additional Python libraries. If you already have the package '''paparazzi-dev''' installed, the needed libraries were already installed as dependencies.
If this is not the case you need to install '''python-scipy''' and '''python-matplotlib'''. This can be done via Synaptic Package Manager or via the command-line of Ubuntu.

$ sudo apt-get install python-scipy
$ sudo apt-get install python-matplotlib

=== How to Calibrate Your IMU ===

* Flash the board with the normal AP firmware (if it is not already on it.)

* Switch to the "raw sensors" telemetry mode and launch "server" to record a log.

* You really need to get the min/max on each axis.
** To calibrate the accelerometers turn the IMU on all six sides of the cube (upright, inverted, on the nose, on the tail, on the right side, and on the left side.) You can also take some measurements banking 45 degrees. Try to get a homogeneous distribution of your measurements. I find it better to let the aircraft rest while measuring.
** This is the most crucial part for the magnetometer calibration: you really need to get the min/max on each axis, so align the magnetometer axes along the local magnetic field vector (not just take the same orientations as when calibrating the accelerometer.) You can plot the values to see when you get the maximum on each axis.

* You can then run the Python script to get your calibration coefficients, e.g. for accelerometer calibration:

''sw/tools/calibration/calibrate.py -i <your_ac_id> -s ACCEL <path_to_data_file var/logs/xxxxxxx.data>''

(To get the ac_id, just open the *.data file - second column)

=== How It Works ===

* It first makes an initial guess using min and max, i.e. for each axis
** neutral = 0.5 * (max + min)
** sensitivity = 0.5*(max-min)

* It then uses a data fitting algorithm to optimize the initial guess.

Screenshot of Scilab version.
[[Image:calibAccel.png|240px]]

Note for magnetometer: because the magnetic field changes depending on where you are in the world, you will have to recalibrate your magnetometer to fly somewhere else.
When you move the aircraft to different positions for logging make sure you align it along the direction of the magnetic field which will result in the maximum values for each axis (or you can look up the inclination and declination of the magnetic field where you live [http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp here]).

=== Normalised magnetic fields for int_cmpl_quat AHRS filter ===
See the [[Subsystem/ahrs#Complementary_Quaternion_.28fixed_point.29|Complementary Quaternion (fixed point) AHRS subsystem]] page for details.

== Finding Signs ==

For supported IMUs, the correct [https://github.com/paparazzi/paparazzi/tree/master/sw/airborne/subsystems/imu default] signs are already defined in the code. If using a new IMU or sign for yours are not in the code yet, here is the way to find them.

We're calibrating everything relative to the IMU frame - Paparazzi has a parameter to define the orientation of the IMU with respect to the body of the vehicle that we'll use later, once you'll have decided of a good mechanical mounting.

Paparazzi uses North East Down (NED) frame, that is positive x is pointing to the front, positive y to the right and positive z down.

===Accelerometer:===
An accelerometer measures the non gravitational acceleration, that is <math>\ddot{x} - g</math>. <math>g</math> is pointing down, so <math>-g</math> is pointing up. So stop moving, disregard earth rotation and you'll measure <math>-g</math>.

*When your IMU is level you should see x=0 y=0 z=-9.81
*When pitching up -g is aligning with x, so you should see x>0, y=0 and z<0
*When banking left -g is aligning with y, so you should see x=0, y>0 and z<0

===Magnetometer:===
A magnetometer measures the Earth's magnetic field. In the northern hemisphere, this points north and down and in the Southern hemisphere north and up.

Thus in the northern hemisphere:
*When you align your IMU with the direction of north, you should see x>0, y=0, z>0.
*When pitching the IMU down, the magnetic vector is aligning with x, so x should increase and z should decrease to zero.
*If yawing your IMU to the left, the magnetic vector is aligning with y, so y should be positive, x should decrease to zero and z stay positive.

And in the southern hemisphere:
*When you align your IMU with the direction of north, you should see x>0, y=0, z<0
*When pitching the IMU up, the magnetic vector is aligning with x, so x should increase and z should increase towards zero.
*If yawing your IMU to the left, the magnetic vector is aligning with y, so y should be positive, x should decrease to zero and z stay negative.

===Gyrometer:===
You need some turntable to calibrate the scale factors of your gyros. For signs, the definition of the frame gives the following properties:

*When rolling right, <math>p</math> should be positive.
*When pitching up, <math>q</math> should be positive.
*When yawing to the right, <math>r</math> should be positive.

===Verification:===
Switch to AHRS telemetry mode and look for the fields that are prefixed with imu_

*Bank right should give positive phi
*Pitch up should give positive theta
*Yaw right should give increasing psi

*The value you'll see after letting the IMU rest will end up being the "measure" (that is accelerometer and magnetometer.) If those are wrong, the problem is in the calibration of your sensors.
*The values you get while moving the IMU are influenced by the gyros. If what you see is the value going crazy when you move and then stabilizing to something good after you stop moving, the problem is in your gyros.

==Body to IMU Rotation ==
Provision is made within the software to physically locate supported IMUs in orientations with respect to the aircraft/rotorcraft frame which suit available mounting options.

* The in-line, parallel mount example:

[[Image:Quad-top.png|240px]]

Configured as:
{{Box Code|conf/airframes/myplane.xml|
<pre>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
</pre>
}}
As noted further above, calibration and sign verification procedures are carried out relative to the IMU frame, hence defines should be left at zero until they are completed.

* The positive 90 degree offset, parallel mount example:

[[Image:Quad-top_IMU-90.png|240px]]

Configured as:
{{Box Code|conf/airframes/myplane.xml|
<pre>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0, )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 90. )"/>
</pre>
}}

* Another variation might include turning the IMU upside-down in the parallel plane:

Configured as:
{{Box Code|conf/airframes/myplane.xml|
<pre>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 180.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
</pre>
}}

===In Flight Tuning===
* Switch to AHRS telemetry mode and look for the fields that are prefixed with imu_

[[Image:AHRS telemetry.png|240px]]
90 degree positive offset example

* Open a Real_time plotter from the paparazzi console tools tab and drag int32 body_phi and int32 body_theta into the plotter box.

* Hover rotorcraft (preferably indoors) to record data.

* Copy the (best fit) recorded values into the airframe BODY_TO_IMU defines:
{{Box Code|conf/airframes/myplane.xml|
<pre>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 1.5)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( -0.5 )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 90. )"/>
</pre>
}}

* Ignore 'on the ground' resting values as depicted in the above image. They will change once the vehicle is in flight. The aim is to get the 'in flight' values of "int32 body_phi" & "int32 body_theta" as close to zero as possible.

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

ImuCalibration

2012-04-06T05:25:26Z

Cwozny: Grammatical/Readability changes

== Theory ==

Accelerometer and Magnetometer calibration is critical to AHRS performance and can be performed using no special hardware. For the magnetometer, it is very important that the calibration be performed in the fully assembled vehicle, with all systems powered on. This is called hard-iron calibration and will allow us to compensate for any constant parasitic magnetic fields generated by the vehicle.
The calibration process consists of finding a set of neutrals and scale factors for each sensor, such as

<math>
\begin{pmatrix}physical\_value_x\\physical\_value_y\\physical\_value_z\end{pmatrix} = \begin{pmatrix}sf_x&0&0\\0&sf_y&0\\0&0&sf_z\end{pmatrix} * (\begin{pmatrix}sensor_x\\sensor_y\\sensor_z\end{pmatrix}-\begin{pmatrix}n_x\\n_y\\n_z\end{pmatrix})
</math>

The principle of the calibration is the following: an accelerometer, on a vehicle at rest, measures a constant vector (the opposite of gravity) in the earth frame, expressed in the vehicle frame.

<math>
DCM * \begin{pmatrix}0\\0\\-9.81\end{pmatrix} =
\begin{pmatrix}sf_x&0&0\\0&sf_y&0\\0&0&sf_z\end{pmatrix} * (\begin{pmatrix}sensor_x\\sensor_y\\sensor_z\end{pmatrix}-\begin{pmatrix}n_x\\n_y\\n_z\end{pmatrix})
</math>

DCM is a rotation matrix that converts between earth frame and body frame. It will change when we change the orientation of the vehicle. Nevertheless, a rotation conserves the norm of a vector. We can thus obtain the following scalar equation that doesn't depend on the vehicle orientation :

<math>
9.81^2 = ( sf_x(sensor_x-n_x) )^2 + (sf_y(sensor_y-n_y) )^2 + (sf_z(sensor_z-n_z) )^2
</math>

We can then record an important number of measurements in different orientations and find the set of scale factors and neutrals giving the norm closest to 9.81

== calibration script installation==
Paparazzi comes with an application written in the Python language to calibrate the accelerometers and magnetometer. The application can be found in the
Paparazzi directory under

sw/tools/calibration/calibrate.py

For the application to work, however, you need additional Python libraries. If you already have the package '''paparazzi-dev''' installed, the needed libraries were already installed as dependencies.
If this is not the case you need to install '''python-scipy''' and '''python-matplotlib'''. This can be done via Synaptic Package Manager or via the command-line of Ubuntu.

$ sudo apt-get install python-scipy
$ sudo apt-get install python-matplotlib

=== How to use it ===

* Flash the board with the normal AP firmware (if it is not already on it.)

* Switch to the "raw sensors" telemetry mode and launch "server" to record a log.

* You really need to get the min/max on each axis.
** To calibrate the accelerometers turn the IMU on all six sides of the cube (upright, inverted, on the nose, on the tail, on the right side, and on the left side.) You can also take some measurements banking 45 degrees. Try to get a homogeneous distribution of your measurements. I find it better to let the aircraft rest while measuring.
** This is the most crucial part for the magnetometer calibration: you really need to get the min/max on each axis, so align the magnetometer axes along the local magnetic field vector (not just take the same orientations as when calibrating the accelerometer.) You can plot the values to see when you get the maximum on each axis.

* You can then run the Python script to get your calibration coefficients, e.g. for accelerometer calibration:

''sw/tools/calibration/calibrate.py -i <your_ac_id> -s ACCEL <path_to_data_file var/logs/xxxxxxx.data>''

(To get the ac_id, just open the *.data file - second column)

=== How It Works ===

* It first makes an initial guess using min and max, i.e. for each axis
** neutral = 0.5 * (max + min)
** sensitivity = 0.5*(max-min)

* It then uses a data fitting algorithm to optimize the initial guess.

Screenshot of Scilab version.
[[Image:calibAccel.png|240px]]

Note for magnetometer: because the magnetic field changes depending on where you are in the world, you will have to recalibrate your magnetometer to fly somewhere else.
When you move the aircraft to different positions for logging make sure you align it along the direction of the magnetic field which will result in the maximum values for each axis (or you can look up the inclination and declination of the magnetic field where you live [http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp here]).

=== Normalised magnetic fields for int_cmpl_quat AHRS filter ===
See the [[Subsystem/ahrs#Complementary_Quaternion_.28fixed_point.29|Complementary Quaternion (fixed point) AHRS subsystem]] page for details.

== Finding Signs ==

For supported IMUs, the correct [https://github.com/paparazzi/paparazzi/tree/master/sw/airborne/subsystems/imu default] signs are already defined in the code. If using a new IMU or sign for yours are not in the code yet, here is the way to find them.

We're calibrating everything relative to the IMU frame - Paparazzi has a parameter to define the orientation of the IMU with respect to the body of the vehicle that we'll use later, once you'll have decided of a good mechanical mounting.

Paparazzi uses North East Down (NED) frame, that is positive x is pointing to the front, positive y to the right and positive z down.

===Accelerometer:===
An accelerometer measures the non gravitational acceleration, that is <math>\ddot{x} - g</math>. <math>g</math> is pointing down, so <math>-g</math> is pointing up. So stop moving, disregard earth rotation and you'll measure <math>-g</math>.

*When your IMU is level you should see x=0 y=0 z=-9.81
*When pitching up -g is aligning with x, so you should see x>0, y=0 and z<0
*When banking left -g is aligning with y, so you should see x=0, y>0 and z<0

===Magnetometer:===
A magnetometer measures the Earth's magnetic field. In the northern hemisphere, this points north and down and in the Southern hemisphere north and up.

Thus in the northern hemisphere:
*When you align your IMU with the direction of north, you should see x>0, y=0, z>0.
*When pitching the IMU down, the magnetic vector is aligning with x, so x should increase and z should decrease to zero.
*If yawing your IMU to the left, the magnetic vector is aligning with y, so y should be positive, x should decrease to zero and z stay positive.

And in the southern hemisphere:
*When you align your IMU with the direction of north, you should see x>0, y=0, z<0
*When pitching the IMU up, the magnetic vector is aligning with x, so x should increase and z should increase towards zero.
*If yawing your IMU to the left, the magnetic vector is aligning with y, so y should be positive, x should decrease to zero and z stay negative.

===Gyrometer:===
You need some turntable to calibrate the scale factors of your gyros. For signs, the definition of the frame gives the following properties:

*When rolling right, <math>p</math> should be positive.
*When pitching up, <math>q</math> should be positive.
*When yawing to the right, <math>r</math> should be positive.

===Verification:===
Switch to AHRS telemetry mode and look for the fields that are prefixed with imu_

*Bank right should give positive phi
*Pitch up should give positive theta
*Yaw right should give increasing psi

*The value you'll see after letting the IMU rest will end up being the "measure" (that is accelerometer and magnetometer.) If those are wrong, the problem is in the calibration of your sensors.
*The values you get while moving the IMU are influenced by the gyros. If what you see is the value going crazy when you move and then stabilizing to something good after you stop moving, the problem is in your gyros.

==Body to IMU Rotation ==
Provision is made within the software to physically locate supported IMUs in orientations with respect to the aircraft/rotorcraft frame which suit available mounting options.

* The in-line, parallel mount example:

[[Image:Quad-top.png|240px]]

Configured as:
{{Box Code|conf/airframes/myplane.xml|
<pre>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
</pre>
}}
As noted further above, calibration and sign verification procedures are carried out relative to the IMU frame, hence defines should be left at zero until they are completed.

* The positive 90 degree offset, parallel mount example:

[[Image:Quad-top_IMU-90.png|240px]]

Configured as:
{{Box Code|conf/airframes/myplane.xml|
<pre>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0, )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 90. )"/>
</pre>
}}

* Another variation might include turning the IMU upside-down in the parallel plane:

Configured as:
{{Box Code|conf/airframes/myplane.xml|
<pre>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 180.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
</pre>
}}

===In Flight Tuning===
* Switch to AHRS telemetry mode and look for the fields that are prefixed with imu_

[[Image:AHRS telemetry.png|240px]]
90 degree positive offset example

* Open a Real_time plotter from the paparazzi console tools tab and drag int32 body_phi and int32 body_theta into the plotter box.

* Hover rotorcraft (preferably indoors) to record data.

* Copy the (best fit) recorded values into the airframe BODY_TO_IMU defines:
{{Box Code|conf/airframes/myplane.xml|
<pre>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 1.5)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( -0.5 )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 90. )"/>
</pre>
}}

* Ignore 'on the ground' resting values as depicted in the above image. They will change once the vehicle is in flight. The aim is to get the 'in flight' values of "int32 body_phi" & "int32 body_theta" as close to zero as possible.

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

Gallery

2012-02-17T03:56:43Z

Cwozny: /* User's Aircraft Gallery */

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 30 cm, mass 100g
Image:Lelantos.jpg|Lelantos University of Arizona Span 15 cm, mass 200g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:PPZFJ01.JPG| FJ1 The PPZUAV project aircraft and demo
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [http://paparazzi.enac.fr/wiki/User:Stspies Steffen] Germany.
Image:Mentormaur.jpg|Multiplex Mentor R. Maurer Bottighofen - Switzerland.
Image:WindS50Emaur.jpg|SebArt Wind S 50E R. Maurer Bottighofen - Switzerland.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup U of A UAS Group] Edmonton - Canada.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

Gallery

2012-02-17T03:52:59Z

Cwozny: /* User's Aircraft Gallery */

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 10 in, mass 100g
Image:Lelantos.jpg|Lelantos University of Arizona Span 6 in, mass 200g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:PPZFJ01.JPG| FJ1 The PPZUAV project aircraft and demo
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [http://paparazzi.enac.fr/wiki/User:Stspies Steffen] Germany.
Image:Mentormaur.jpg|Multiplex Mentor R. Maurer Bottighofen - Switzerland.
Image:WindS50Emaur.jpg|SebArt Wind S 50E R. Maurer Bottighofen - Switzerland.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup U of A UAS Group] Edmonton - Canada.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

Gallery

2012-02-17T03:52:47Z

Cwozny: /* User's Aircraft Gallery */

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 10 in, mass 100g
Image:Lelantos.jpg|LElantos University of Arizona Span 6 in, mass 200g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:PPZFJ01.JPG| FJ1 The PPZUAV project aircraft and demo
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [http://paparazzi.enac.fr/wiki/User:Stspies Steffen] Germany.
Image:Mentormaur.jpg|Multiplex Mentor R. Maurer Bottighofen - Switzerland.
Image:WindS50Emaur.jpg|SebArt Wind S 50E R. Maurer Bottighofen - Switzerland.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup U of A UAS Group] Edmonton - Canada.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

File:Lelantos.jpg

2012-02-17T03:51:07Z

Cwozny:

File:Minivertigo.jpg

2012-02-17T03:47:41Z

Cwozny: University of Arizona MAV

University of Arizona MAV

Gallery

2012-02-17T03:47:13Z

Cwozny: /* User's Aircraft Gallery */

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 10 in, mass 100g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:PPZFJ01.JPG| FJ1 The PPZUAV project aircraft and demo
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [http://paparazzi.enac.fr/wiki/User:Stspies Steffen] Germany.
Image:Mentormaur.jpg|Multiplex Mentor R. Maurer Bottighofen - Switzerland.
Image:WindS50Emaur.jpg|SebArt Wind S 50E R. Maurer Bottighofen - Switzerland.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [http://paparazzi.enac.fr/wiki/UAlberta_UASGroup U of A UAS Group] Edmonton - Canada.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

User:Cwozny

2012-02-17T03:14:28Z

Cwozny:

User:Cwozny

2012-02-17T03:10:42Z

Cwozny:

[http://clubs.asua.arizona.edu/~mavclub University of Arizona MAV] / Engineering Interdisciplinary Senior Design Project

We are working on a project entitled "Autopilot Integration on Micro Air Vehicles".

We are using the following components:

Paparazzi Lisa/M 1.0 w/ Aspirin IMU

GS407 (uBlox LEA-5H GPS Receiver)

Berg 4L RC Receiver

XBee Pro 900 MHz Modem

RangeVideo KX-1 CMOS Camera with 5.8 GHz Transmitter

Hybrid VTOL Fixed-wing w/ Contra-rotating Motors

User:Cwozny

2012-02-17T03:09:01Z

Cwozny:

[ http://clubs.asua.arizona.edu/~mavclub | '''University of Arizona MAV'''] / Engineering Interdisciplinary Senior Design Project

We are working on a project entitled "Autopilot Integration on Micro Air Vehicles".

We are using the following components:

Paparazzi Lisa/M 1.0 w/ Aspirin IMU

GS407 (uBlox LEA-5H GPS Receiver)

Berg 4L RC Receiver

XBee Pro 900 MHz Modem

RangeVideo KX-1 CMOS Camera with 5.8 GHz Transmitter

Hybrid VTOL Fixed-wing w/ Contra-rotating Motors

User:Cwozny

2012-02-17T03:08:24Z

Cwozny:

[ http://clubs.asua.arizona.edu/~mavclub '''University of Arizona MAV''' ] / Engineering Interdisciplinary Senior Design Project

We are working on a project entitled "Autopilot Integration on Micro Air Vehicles".

We are using the following components:

Paparazzi Lisa/M 1.0 w/ Aspirin IMU

GS407 (uBlox LEA-5H GPS Receiver)

Berg 4L RC Receiver

XBee Pro 900 MHz Modem

RangeVideo KX-1 CMOS Camera with 5.8 GHz Transmitter

Hybrid VTOL Fixed-wing w/ Contra-rotating Motors