PaparazziUAV - User contributions [en]

Get Hardware

2010-02-04T19:49:39Z

Dankers: The Drunken Money Booz boards are on hold. Maybe a return with Lisa?

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

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

<hr>

<br style="clear:both">
<br style="clear:both">
= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com=
[[image:Bundle4 ppzuav.jpg|thumb|400px|PPZUAV]]
<h3>Our Items</h3>
*[http://www.ppzuav.com/osc/product_info.php?products_id=101&osCsid=bc774a3a6a55102ece761ad84737e1c8 NEW: Booz PCBs]<br>
*[http://www.ppzuav.com/osc/product_info.php?products_id=60 TWOG Autopilot]<br>
*[http://www.ppzuav.com/osc/product_info.php?products_id=91 PPM Decoder Board]<br>
*[http://www.ppzuav.com/osc/product_info.php?products_id=102 External GPS units]<br>
*[http://www.ppzuav.com/osc/index.php?cPath=12 RF modems]<br>
<p>
Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').
</p>
<p>We make it simple. Each autopilot is professionally assembled in a large factory so every one is the same and the same high-quality. To be sure yours will work we open every one and test before shipping. The tests are the same steps you see on the Wiki:
<ol>
<li>We load the bootloader
<li>configure the GPS module (LEA-5H Tiny2.11 we also update the GPS Firmware to the latest from u-blox)
<li>We load a sample tiny2.11 program into it.
<li>We verify it runs the program (LED1/RED flashes)
<li>Then acquires a 3D fix (LED2/GREEN flashes)
</ol>
</p>
<h5>We verify it can be programmed before you receive it. This allows you to focus on learning paparazzi. :)</h5>
<p>
Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.
</p>
<p>
'''''IMPORTANT''''' When registering with ppzuav.com use your correct email and phone number. When there are updates you will be emailed automatically. Should there be a problem with your order (usually shipping address is incorrect) we have only this email to contact you. Give us an invalid email and phone number means your order will not ship until you contact us and provide a valid email.
</p>
[http://www.ppzuav.com/osc Visit the PPZUAV WebStore to see the latest offerings.]

<br style="clear:both">

= [http://chebuzz.com/paparazzi CheBuzz Paparazzi] =
<br><h3>*Note - Due to my professional obligations, my webstore has temporarily been suspended until at least June 1, 2010.</h3><br><br>
CheBuzz Paparazzi is proud to become the first reseller of Paparazzi equipment in the EU. That means faster shipping, no packages getting stuck in customs, and no having to pay import duties! All equipment is thoroughly tested. Your equipment is guaranteed to work upon arrival.

<h3>My Current Offerings:</h3>
<ul>
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=1 Tiny and TWOG customizable kits]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2 Tiny 2.11, TWOG, PPM Decoders and more]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2&products_id=1 Horizontal IR sensor]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2&products_id=3 Vertical IR sensor]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=3 DIY components]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=4 Cables and adapters]
<li>[http://chebuzz.com/paparazzi/index.php Much more!]
</ul>
<br>Credit card processing on my [http://chebuzz.com/paparazzi/ website] is approved and installed! It is now my preferred form of payment. I also will accept other most other common forms of payment. E-mail me chebuzz@gmail.com to arrange other forms of payment.
<br><br>Trying to answer some common questions, I strive to make everything as "plug and play" as possible for you. So of course that means the bootloader and GPS have been preprogrammed. The PPM encoder is also preprogrammed and ready to go with the latest bootloader and firmware. Kits come with all the cables necessary. If you have any other suggestions, I would love to hear them. Please email me and let me know.

<br style="clear:both">

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

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

<br style="clear:both">
<br style="clear:both">

<br style="clear:both">

Get Hardware

2009-12-15T08:38:54Z

Dankers: RoHS

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

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

<hr>

<br style="clear:both">
<br style="clear:both">
= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com=
[[image:Bundle4 ppzuav.jpg|thumb|400px|PPZUAV]]
<h3>Our Items</h3>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=101&osCsid=bc774a3a6a55102ece761ad84737e1c8 NEW: Booz PCBs]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=60 TWOG Autopilot]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=91 PPM Decoder Board]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=95 External GPS units]<br>
*[http://ppzuav.com/osc/catalog/index.php?cPath=12 RF modems]<br>
<p>
Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').
</p>
<p>We make it simple. Each autopilot is professionally assembled in a large factory so every one is the same and the same high-quality. To be sure yours will work we open every one and test before shipping. The tests are the same steps you see on the Wiki:
<ol>
<li>We load the bootloader
<li>configure the GPS module (LEA-5H Tiny2.11 we also update the GPS Firmware to the latest from u-blox)
<li>We load a sample tiny2.11 program into it.
<li>We verify it runs the program (LED1/RED flashes)
<li>Then acquires a 3D fix (LED2/GREEN flashes)
</ol>
</p>
<h5>We verify it can be programmed before you receive it. This allows you to focus on learning paparazzi. :)</h5>
<p>
Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.
</p>
<p>
'''''IMPORTANT''''' When registering with ppzuav.com use your correct email and phone number. When there are updates you will be emailed automatically. Should there be a problem with your order (usually shipping address is incorrect) we have only this email to contact you. Give us an invalid email and phone number means your order will not ship until you contact us and provide a valid email.
</p>
[http://www.ppzuav.com/osc/catalog Visit the PPZUAV WebStore to see the latest offerings.]

<br style="clear:both">

= [http://chebuzz.com/paparazzi CheBuzz Paparazzi] =
CheBuzz Paparazzi is proud to become the first reseller of Paparazzi equipment in the EU. That means faster shipping, no packages getting stuck in customs, and no having to pay import duties! All equipment is thoroughly tested. Your equipment is guaranteed to work upon arrival and we supply IR sensors unlike other vendors who don't. Because of this, CheBuzz is the only one stop shop for a complete IR based Paparazzi autopilot.

<h3>My Current Offerings:</h3>
<ul>
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=1 Tiny and TWOG customizable kits]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2 Tiny 2.11, TWOG, PPM Decoders and more]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2&products_id=1 Horizontal IR sensor]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2&products_id=3 Vertical IR sensor]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=3 DIY components]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=4 Cables and adapters]
<li>[http://chebuzz.com/paparazzi/index.php Much more!]
</ul>
<br>Credit card processing on my [http://chebuzz.com/paparazzi/ website] is approved and installed! It is now my preferred form of payment. I also will accept other most other common forms of payment. E-mail me chebuzz@gmail.com to arrange other forms of payment.
<br><br>Trying to answer some common questions, I strive to make everything as "plug and play" as possible for you. So of course that means the bootloader and GPS have been preprogrammed. The PPM encoder is also preprogrammed and ready to go with the latest bootloader and firmware. Kits come with all the cables necessary. If you have any other suggestions, I would love to hear them. Please email me and let me know.
<br><br><strong>*Note</strong> - though I am physically located in the EU, I also have access to USPS mail box. Thus I can easily ship orders to the US as well.

<br style="clear:both">

= [Booz Hardware] Complete Solutions, Fantastic Price =

[[Image:Booz-logo.png]] [[Image:ROHS_LOGO.png]]

<h3>Quality Hardware</h3>
<ul>

The highest quality Booz hardware is on its way and its ready to go without any issues. First batch should be complete 21st Dec 2009.
<p>
* Our version sticks to the genuine Paparazzi BOM and does not remove parts or substitute cheaper components.
* Genuine LEA-5H GPS module is used, this is specifically configured for Booz and the optimal firmware is loaded.
* All shipped hardware 100% completed and fully tested.
* Our hardware includes the cables required.
* Being based in Australia we are not subject to complex export restrictions, this is safer for you if you are outside the US.
* All hardware RoHS compliant and Lead-Free using shock resistant solder paste
* In stock items ship the same day as ordered
</p>
<br style="clear:both">

For more information, see this thread:
<br style="clear:both">

http://www.rcgroups.com/forums/showthread.php?t=1158234

<br style="clear:both">

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

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

<br style="clear:both">
<br style="clear:both">

<br style="clear:both">

Get Hardware

2009-12-15T08:37:56Z

Dankers:

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

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

<hr>

<br style="clear:both">
<br style="clear:both">
= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com=
[[image:Bundle4 ppzuav.jpg|thumb|400px|PPZUAV]]
<h3>Our Items</h3>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=101&osCsid=bc774a3a6a55102ece761ad84737e1c8 NEW: Booz PCBs]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=60 TWOG Autopilot]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=91 PPM Decoder Board]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=95 External GPS units]<br>
*[http://ppzuav.com/osc/catalog/index.php?cPath=12 RF modems]<br>
<p>
Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').
</p>
<p>We make it simple. Each autopilot is professionally assembled in a large factory so every one is the same and the same high-quality. To be sure yours will work we open every one and test before shipping. The tests are the same steps you see on the Wiki:
<ol>
<li>We load the bootloader
<li>configure the GPS module (LEA-5H Tiny2.11 we also update the GPS Firmware to the latest from u-blox)
<li>We load a sample tiny2.11 program into it.
<li>We verify it runs the program (LED1/RED flashes)
<li>Then acquires a 3D fix (LED2/GREEN flashes)
</ol>
</p>
<h5>We verify it can be programmed before you receive it. This allows you to focus on learning paparazzi. :)</h5>
<p>
Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.
</p>
<p>
'''''IMPORTANT''''' When registering with ppzuav.com use your correct email and phone number. When there are updates you will be emailed automatically. Should there be a problem with your order (usually shipping address is incorrect) we have only this email to contact you. Give us an invalid email and phone number means your order will not ship until you contact us and provide a valid email.
</p>
[http://www.ppzuav.com/osc/catalog Visit the PPZUAV WebStore to see the latest offerings.]

<br style="clear:both">

= [http://chebuzz.com/paparazzi CheBuzz Paparazzi] =
CheBuzz Paparazzi is proud to become the first reseller of Paparazzi equipment in the EU. That means faster shipping, no packages getting stuck in customs, and no having to pay import duties! All equipment is thoroughly tested. Your equipment is guaranteed to work upon arrival and we supply IR sensors unlike other vendors who don't. Because of this, CheBuzz is the only one stop shop for a complete IR based Paparazzi autopilot.

<h3>My Current Offerings:</h3>
<ul>
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=1 Tiny and TWOG customizable kits]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2 Tiny 2.11, TWOG, PPM Decoders and more]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2&products_id=1 Horizontal IR sensor]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2&products_id=3 Vertical IR sensor]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=3 DIY components]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=4 Cables and adapters]
<li>[http://chebuzz.com/paparazzi/index.php Much more!]
</ul>
<br>Credit card processing on my [http://chebuzz.com/paparazzi/ website] is approved and installed! It is now my preferred form of payment. I also will accept other most other common forms of payment. E-mail me chebuzz@gmail.com to arrange other forms of payment.
<br><br>Trying to answer some common questions, I strive to make everything as "plug and play" as possible for you. So of course that means the bootloader and GPS have been preprogrammed. The PPM encoder is also preprogrammed and ready to go with the latest bootloader and firmware. Kits come with all the cables necessary. If you have any other suggestions, I would love to hear them. Please email me and let me know.
<br><br><strong>*Note</strong> - though I am physically located in the EU, I also have access to USPS mail box. Thus I can easily ship orders to the US as well.

<br style="clear:both">

= [Booz Hardware] Complete Solutions, Fantastic Price =

[[Image:Booz-logo.png]] [[Image:ROHS_LOGO.png]]

<h3>Quality Hardware</h3>
<ul>

The highest quality Booz hardware is on its way and its ready to go without any issues. First batch should be complete 21st Dec 2009.
<p>
* Our version sticks to the genuine Paparazzi BOM and does not remove parts or substitute cheaper components.
* Genuine LEA-5H GPS module is used, this is specifically configured for Booz and the optimal firmware is loaded.
* All shipped hardware 100% completed and fully tested.
* Our hardware includes the cables required.
* Being based in Australia we are not subject to complex export restrictions, this is safer for you if you are outside the US.
* All hardware RoHS Lead-Free '''using shock resistant solder paste'''
* In stock items ship the same day as ordered
</p>
<br style="clear:both">

For more information, see this thread:
<br style="clear:both">

http://www.rcgroups.com/forums/showthread.php?t=1158234

<br style="clear:both">

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

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

<br style="clear:both">
<br style="clear:both">

<br style="clear:both">

File:ROHS LOGO.png

2009-12-15T08:37:07Z

Dankers:

Get Hardware

2009-12-15T08:34:35Z

Dankers:

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

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

<hr>

<br style="clear:both">
<br style="clear:both">
= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com=
[[image:Bundle4 ppzuav.jpg|thumb|400px|PPZUAV]]
<h3>Our Items</h3>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=101&osCsid=bc774a3a6a55102ece761ad84737e1c8 NEW: Booz PCBs]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=60 TWOG Autopilot]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=91 PPM Decoder Board]<br>
*[http://ppzuav.com/osc/catalog/product_info.php?products_id=95 External GPS units]<br>
*[http://ppzuav.com/osc/catalog/index.php?cPath=12 RF modems]<br>
<p>
Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').
</p>
<p>We make it simple. Each autopilot is professionally assembled in a large factory so every one is the same and the same high-quality. To be sure yours will work we open every one and test before shipping. The tests are the same steps you see on the Wiki:
<ol>
<li>We load the bootloader
<li>configure the GPS module (LEA-5H Tiny2.11 we also update the GPS Firmware to the latest from u-blox)
<li>We load a sample tiny2.11 program into it.
<li>We verify it runs the program (LED1/RED flashes)
<li>Then acquires a 3D fix (LED2/GREEN flashes)
</ol>
</p>
<h5>We verify it can be programmed before you receive it. This allows you to focus on learning paparazzi. :)</h5>
<p>
Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.
</p>
<p>
'''''IMPORTANT''''' When registering with ppzuav.com use your correct email and phone number. When there are updates you will be emailed automatically. Should there be a problem with your order (usually shipping address is incorrect) we have only this email to contact you. Give us an invalid email and phone number means your order will not ship until you contact us and provide a valid email.
</p>
[http://www.ppzuav.com/osc/catalog Visit the PPZUAV WebStore to see the latest offerings.]

<br style="clear:both">

= [http://chebuzz.com/paparazzi CheBuzz Paparazzi] =
CheBuzz Paparazzi is proud to become the first reseller of Paparazzi equipment in the EU. That means faster shipping, no packages getting stuck in customs, and no having to pay import duties! All equipment is thoroughly tested. Your equipment is guaranteed to work upon arrival and we supply IR sensors unlike other vendors who don't. Because of this, CheBuzz is the only one stop shop for a complete IR based Paparazzi autopilot.

<h3>My Current Offerings:</h3>
<ul>
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=1 Tiny and TWOG customizable kits]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2 Tiny 2.11, TWOG, PPM Decoders and more]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2&products_id=1 Horizontal IR sensor]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=product_info&cPath=2&products_id=3 Vertical IR sensor]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=3 DIY components]
<li>[http://chebuzz.com/paparazzi/index.php?main_page=index&cPath=4 Cables and adapters]
<li>[http://chebuzz.com/paparazzi/index.php Much more!]
</ul>
<br>Credit card processing on my [http://chebuzz.com/paparazzi/ website] is approved and installed! It is now my preferred form of payment. I also will accept other most other common forms of payment. E-mail me chebuzz@gmail.com to arrange other forms of payment.
<br><br>Trying to answer some common questions, I strive to make everything as "plug and play" as possible for you. So of course that means the bootloader and GPS have been preprogrammed. The PPM encoder is also preprogrammed and ready to go with the latest bootloader and firmware. Kits come with all the cables necessary. If you have any other suggestions, I would love to hear them. Please email me and let me know.
<br><br><strong>*Note</strong> - though I am physically located in the EU, I also have access to USPS mail box. Thus I can easily ship orders to the US as well.

<br style="clear:both">

= [Booz Hardware] Complete Solutions, Fantastic Price =

[[Image:Booz-logo.png]]

<h3>Quality Hardware</h3>
<ul>

The highest quality Booz hardware is on its way and its ready to go without any issues. First batch should be complete 21st Dec 2009.
<p>
* Our version sticks to the genuine Paparazzi BOM and does not remove parts or substitute cheaper components.
* Genuine LEA-5H GPS module is used, this is specifically configured for Booz and the optimal firmware is loaded.
* All shipped hardware 100% completed and fully tested.
* Our hardware includes the cables required.
* Being based in Australia we are not subject to complex export restrictions, this is safer for you if you are outside the US.
* All hardware RoHS Lead-Free '''using shock resistant solder paste'''
* In stock items ship the same day as ordered
</p>
<br style="clear:both">

For more information, see this thread:
<br style="clear:both">

http://www.rcgroups.com/forums/showthread.php?t=1158234

<br style="clear:both">

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

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

<br style="clear:both">
<br style="clear:both">

<br style="clear:both">

2009-12-13T20:37:40Z

Dankers: /* Overview */

== Overview ==

<p>Booz is an attempt at extending paparazzi to VTOLs. At the current stage of the project, the system provides satisfying attitude control (auto1), vertical guidance and is able to more or less navigate autonomously. It is able to use simple paparazzi flight plans ( only go instructions ) and uses paparazzi telemetry and datalink, which means you can use all the paparazzi ground segment applications ( plotter, settings, gcs, etc...)</p>

<p>The current autopilot consist in 3 boards</p>
[[Image:Boozassy2.jpg]]

* The main board, comprising power supply, a LPC2148 and a barometer.
* The imu board, comprising gyrometers, accelerometers, magnetometers and a 16 bits ADC.
* The GPS board, using a LEA-5H by ublox (The example above unfortunately has the connector on backwards).

It flies on a variety of quadrirotor platforms

[[Image:small_quad.jpg|240px]]
[[Image:booz2_a2.jpg|240px]]
[[Image:booz2_a1.jpg|240px]]

and less common vehicles

[[Image:booz2_a4.jpg|240px]]
[[Image:booz2_a4 2.jpg|240px]]
[[Image:booz2_a5.jpg|240px]]



== Sources ==

Everything is at savannah.
-hardware in paparazzi4/trunk/hw/booz
-code in paparazzi3/trunk

== Hardware ==
[http://ppzuav.com/osc/catalog/product_info.php?products_id=101&osCsid=4d28b71ac258bbb4bb20abb9bb6b5e8f PCBs] are currently available from [http://ppzuav.com/osc/catalog ppzuav] with assembled hardware available now.

== Running a simulator ==

=== Quick start guide ===

Booz contains a sensors model and can use [http://jsbsim.sourceforge.net/ Jsbsim] to allow arbitrarily complex flight dynamic models.

* Extract a copy of paparazzi3 svn
svn co svn://svn.savannah.nongnu.org/paparazzi/paparazzi3/trunk paparazzi3

* Install all required dependancies
apt-get install paparazzi-dev libtool

* Compile JSBSIM
cvs -z3 -d:pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim co -P JSBSim
cd JSBSim
./autogen.sh
./configure --enable-maintainer-mode --enable-compile-warnings --enable-libraries --enable-shared --prefix=/opt/jsbsim
make
sudo make install

Here is a ''[[Media:‎Jsbsim silent warnings.patch.gz.jpg|patch]]'' to silent warnings. Also be sure automake and autoconf are installed. If not sudo apt-get install automake autoconf

* Compile paparazzi
cd paparazzi3/trunk
make

* Compile the vehicle
make AIRCRAFT=BOOZ2_A1 clean_ac sim

* Start paparazzi_center if you want click to start programs
./paparazzi

* Start messages to monitor the middleware activity ( from the tool menu of paparazzi center) or with
./sw/ground_segment/tmtc/messages

* Start the sim
LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl

You should now see activity in the "messages" window

* Plot the value of a message field.
start 'plotter' ( from the tool menu of paparazzi center) or with
./sw/logalizer/plotter
for example drag the label 'int32 phi' from the BOOZ2_FP message to the drawing area of the plotter

* Use the datalink to change the temetry mode
start 'settings' ( from the tool menu of paparazzi center) or with
./sw/ground_segment/tmtc/settings -ac BOOZ2_A1
start 'server' to dispatch datalink messages ( from the tool menu of paparazzi center) or with
./sw/ground_segment/tmtc/server
change the field "telemetry" on the first page to "Att loop" and send by pressing the green check button. THe label on the left or the drop box should change to "Att loop" confirming your essage has been received. "message" should now show that the message "BOOZ2_STAB_ATTITUDE" is received

* Use flightgear to visualize your vehicle
If you want a view of a quadrotor in flightgear, make a link from
/usr/share/games/FlightGear/Models/Aircraft/paparazzi to PAPARAZZI_SRC/conf/simulator/flightgear/
start flighgear with
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --prop:/sim/model/path=Models/Aircraft/paparazzi/mikrokopter.xml
restart your simulator with
LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl --fg_host 127.0.0.1

* Save you session

=== Tunning the attitude control loop ===

Here we are going to use the simulator to demonstrate a way of tunning the attitude control loop.

* Restart your previous session

* Set telemetry mode to "Att loop"

* Display two real time plotter windows

In the first one, plot the field "m_phi" from the "BOOZ2_STAB_ATTITUDE" message. This is our estimation of roll angle.
On top of that, plot the field "phi" from the "BOOZ2_STAB_ATTITUDE_REFERENCE" message. This is our reference roll angle, that is, the roll value we are trying to achieve.

In the second plotter, plot the fields "delta_a_fb" and "delta_a_ff". Those are respectively the feddback and feedforward part of our roll command. The sum of those two terms is what is used as roll command.The feedforward part is the part used to follow our trajectory and the feedback part is the part used to reject perturbations.

* In "Settings", go to the "Att Loop" tab
We notice that the vehicle doesn't follow accurately the step trajectory we are trying to make him do.

Start by setting the value of the proportional gain ('pgain_phi') to 1000 instead of 400. The vehicle now follows the trajectory faster but overshoots. To prevent that, increase the value of the derivative gain ('dgain p') from -300 to -700.

If you look at the plotter where you're ploting the commands, you'll notice that during steps, the feedback command has to work hard. This means that our feedforward command is badly tunned, and namely not working hard enough.Increase the value of the feedforward gain ('ddgain p') from 300 to 540. You'll notice that now the feedback command has becomed marginal during the steps. This is the right value for the gain. Anything bigger will make the feedback command fight against the feedforward command during steps, anything smaller will make the feedback command have to complement the feedforward command.

=== Something else ===

* try starting flightgear with

fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --prop:/sim/model/path=Models/Aircraft/paparazzi/simple_bipe.xml

an the sim with

LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl --fg_host 127.0.0.1 --rc_script 1

== Hardware Test ==

Booz comes with a number of simple test programs that you can use to validate a newly assembled board or learn how booz code works in case you want to extend it.
The ''Makefile'' for those is in ''conf/autopilot/booz2_test_progs.makefile''

=== test_downlink ===
Paparazzi's Makefile allow you to build different ''TARGETS'' (aka programs) using a doted notation. The begining of the ''Makefile'' reads

<syntaxhighlight lang="make">
#
# test downlink
#
test_downlink.ARCHDIR = $(ARCHI)
test_downlink.ARCH = arm7tdmi
test_downlink.TARGET = test_downlink
test_downlink.TARGETDIR = test_downlink
#
test_downlink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_downlink.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_downlink.srcs += $(SRC_BOOZ_TEST)/booz2_test_downlink.c
test_downlink.CFLAGS += -DUSE_LED
test_downlink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./10.))' -DTIME_LED=1
test_downlink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#
test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_downlink.srcs += $(SRC_ARCH)/uart_hw.c
#
test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_downlink.srcs += downlink.c pprz_transport.c
</syntaxhighlight>

FIXME: More on this when syntax highlighting/line numbering works

The command line to compile the "test_downlink" target for the BOOZ2_A1 aircraft would be

make AIRCRAFT=BOOZ2_A1 test_downlink.compile

and to upload this program to your board ( you don't really need to type the previous command, make is smart and will compile your program if needed when you ask him to upload it )

make AIRCRAFT=BOOZ2_A1 test_downlink.upload

=== test_max1168 ===

the ''max1168'' is the 16 bits analog to digital converter chip used on the IMU to sample gyros and accels.

make AIRCRAFT=BOOZ2_A1 test_max1168.upload

== Sensors Calibration ==