PaparazziUAV - User contributions [en]

GCS Configuration

2010-12-28T15:40:11Z

Danstah: /* Configuration Options */ Updated config options

== Control Panel ==
The control panel is launched with the following command:
<tt>./sw/supervision/paparazzi.pl</tt>
and is used to launch individual portions of the GCS (''Programs'') or the entire GCS (''Sessions'') with the modem and map settings defined in <tt><b>/conf/control_panel.xml</b></tt>

===Configuration Options===

Here are the different Configuration Options for launching the GCS. They are a bit crude since they are simply pasted here from the code but give a good overview.<br>
"-auto_ortho", Arg.Set auto_ortho, "IGN tiles path";<br>
"-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.25:2010";<br>
"-center", Arg.Set_string center, "Initial map center (e.g. 'WGS84 43.605 1.443')";<br>
"-center_ac", Arg.Set auto_center_new_ac, "Centers the map on any new A/C";<br>
"-edit", Arg.Unit (fun () -> edit := true; layout_file := "editor.xml"), "Flight plan editor";<br>
"-fullscreen", Arg.Set fullscreen, "Fullscreen window";<br>
"-google_fill", Arg.Set GM.auto, "Google maps auto fill";<br>
"-ign", Arg.String (fun s -> ign:=true; IGN.data_path := s), "IGN tiles path";<br>
"-lambertIIe", Arg.Unit (fun () -> projection:=G.LambertIIe),"Switch to LambertIIe projection";<br>
"-layout", Arg.Set_string layout_file, (sprintf "<XML layout specification> GUI layout. Default: %s" !layout_file);<br>
"-m", Arg.String (fun x -> map_files := x :: !map_files), "Map XML description file";<br>
"-maximize", Arg.Set maximize, "Maximize window";<br>
"-mercator", Arg.Unit (fun () -> projection:=G.Mercator),"Switch to (Google Maps) Mercator projection, default";<br>
"-mplayer", Arg.Set_string mplayer, "Launch mplayer with the given argument as X plugin";<br>
"-no_alarm", Arg.Set no_alarm, "Disables alarm page";<br>
"-no_google_http", Arg.Unit (fun () -> Gm.set_policy Gm.NoHttp), "Switch off Google Maps downloading";<br>
"-ortho", Arg.Set_string get_bdortho, "IGN tiles path";<br>
"-osm", Arg.Unit (fun () -> Gm.set_maps_source Gm.OSM), "Use OpenStreetMap database (default is Google)";<br>
"-particules", Arg.Set display_particules, "Display particules";<br>
"-plugin", Arg.Set_string plugin_window, "External X application (launched with the id of the plugin window as argument)";<br>
"-ref", Arg.Set_string geo_ref, "Geographic ref (e.g. 'WGS84 43.605 1.443')";<br>
"-speech", Arg.Set Speech.active, "Enable vocal messages";<br>
"-srtm", Arg.Set srtm, "Enable SRTM elevation display";<br>
"-track_size", Arg.Set_int Live.track_size, (sprintf "Default track length (%d)" !Live.track_size);<br>
"-utm", Arg.Unit (fun () -> projection:=G.UTM),"Switch to UTM local projection";<br>
"-wid", Arg.String (fun s -> wid := Some (Int32.of_string s)), "<window id> Id of an existing window to be attached to";<br>
"-zoom", Arg.Set_float zoom, "Initial zoom";<br>

=== Video plugin ===

The <tt>-mplayer</tt> option of GCS allows to the user to display a video stream in a window of the GCS. The video window can also be exchanged with the map by clicking anywhere inside the frame.
Use the following line in your <tt>/conf/control_panel.xml</tt> to enable the video window.
<tt>path_to_ground_segment/cockpit/gcs -mplayer rtsp://localhost:7070/video</tt>

== Layout ==
The layout of the different components (map, strips, ...) of the gcs is configurable through a ''style'' XML file located in <tt>conf/gcs/</tt>. The specification is done via a combination of rows and columns. The default layout is given in the <tt>horizontal.xml</tt> file:
<tt><!DOCTYPE layout SYSTEM "layout.dtd">
<layout width="1024" height="768">
<rows>
<widget size="500" name="map2d"/>
<columns>
<rows size="350">
<widget size="120" name="strips"/>
<widget name="alarms"/>
</rows>
<widget size="400" name="aircraft"/>
<widget size="00" name="plugin"/>
</columns>
</rows>
</layout></tt>

Default size ('''1024x768''') of the whole window is specified in the root of the tree. The window is then divided in two rows:
* the <tt>map2d</tt> with a requested height of '''500'''
* a set of columns containing
** a set of rows of width '''350''' divided into
**: the '''strips''' frame of height '''120'''
**: the '''alarms''' frame
** the notebook frame ('''aircraft''') of width '''400'''
** the video plugin frame

This second example (<tt>left_col.xml</tt>) sets the map and the notebook on the right and the other frames in a left column:
<tt><!DOCTYPE layout SYSTEM "layout.dtd">
<layout width="1024" height="768">
<columns>
<rows size="360">
<widget size="120" name="strips"/>
<widget size="300" name="plugin"/>
<widget name="alarms"/>
</rows>
<rows>
<widget name="map2d"/>
<widget name="aircraft"/>
</rows>
</columns>
</layout></tt>

This layout file is chosen with the <tt>-layout</tt> option:
<tt>path_to_ground_segment/cockpit/gcs -layout left_col.xml</tt>

Sensors/GPS

2010-12-21T19:12:19Z

Danstah: /* u-Blox C04-5H Reference Design */

{| align=right
|-
| __TOC__
|}

==Overview==
[[Image:U-blox_color_warm_60.gif|100px]]

Paparazzi autopilots are designed around the popular [http://www.u-blox.com u-blox] brand of receivers.

*Features:
**Small size
**Excellent performance
**4Hz position update rate

The '''[[Tiny]]''' features an onboard LEA series GPS receiver and patch antenna, while '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. Both modules have proven reliable and robust.

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/gps_ubx.c</tt>. Other GPS brands would require a similar parsing file to be written for NMEA or other proprietary protocols.

==GPS Receivers==

===u-Blox LEA Series Receivers===
[[Image:Lea big.jpg|100px|thumb|right|u-blox LEA]]
The '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4 and 5 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4 and LEA-5 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S models as the special boot configuration code required for these models is already written.

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position [http://paparazzi.enac.fr/wiki_images/Gps_rx_noise.pdf noise] figure
[[Image:Lea5htiny13.jpg|thumb|center|250px|LEA-4P installed on the Tiny]]
<br style="clear:both">

===Paparazzi Stand-alone GPS Receivers===
<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
<p>Paparazzi CVS provides a design for an external GPS board (required for TWOG and Classix Autopilots).
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See "Getting Hardware" for sources of assembled boards.</p>
<p>
The Paparazzi design in http://svn.savannah.nongnu.org/viewvc/paparazzi-hardware/trunk/sensors/gps_13/?root=paparazzi. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.
</p>
<p>
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br>
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br>
See [[Get_Hardware|Get Hardware]] page for suppliers.
</p>
==== Wiring Diagram ====
[[Image:TWOG to GPS.jpg|thumb|left]]
<br><br><br><br><br><br><br><br><br><br><br><br>

----

===3rd Party u-blox reference design boards:===
<p>
[[Image:LEA5HExternalModulePinout.jpg|100px|thumb|right|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have either LEA-4P or LEA-5H (typically) and several interfaces. Often a larger antenna as well.
</p>

If this needs fixing don't be shy, fix away.

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

===NAVILOCK NL-507ETTL===
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
<br style="clear:both;" />

===SPK GS406===
[[Image:GS406.jpg|thumb|left|SPK GS406 with LEA-5]]
[http://www.sparkfun.com/commerce/product_info.php?products_id=8889 Sparkfun] sells a nice small module featuring the newer 5-series receiver and the highly rated Sarantel antenna for about $90. The design is based around the active version of the Sarantel instead of the more appropriate passive model and there's some potentially tricky soldering involved to get around the ribbon cable but the price is great for this hardware.

[http://store.diydrones.com/ProductDetails.asp?ProductCode=BR-0008-01 DIYDrones] has build a adapter board for this GPS module. It looks like a great solution to use this GPS module with Paparazzi.
<br style="clear:both;"/>

===u-Blox C04-6H Reference Design===
[[Image:abavimage.jpg|100px|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.
<br style="clear:both;" />

====Connecting external receivers to Classix, 1.2.1, Lite, and RoboStix boards====

The u-blox receivers require 3.3v power and all current models have 5V tolerant data lines. The best way to connect to the SAM-LS is to remove the bottom case and solder the 4 wires directly to the TIM-LL module (GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) check the TIM-LL datasheet for pinout diagrams.[http://www.u-blox.com/products/Data_Sheets/TIM-LL_Data_Sheet(GPS.G3-MS3-04035).pdf] The Classix and Lite boards feature a 3.3V regulator to power the GPS.
To open the casing on a SAM-LS, remove the bottom of the casing by pulling gently, then work around popping off the solder joints (they are fairly weak) by pressing a small screwdriver against each tab in turn until it pops off. You should then be able to access the GPS chip directly.

===Sourcing from u-blox===

u-blox keeps tight control over the distribution of their products. They must be obtained DIRECTLY from their own reseller offices. These offices may not be available in your area, for example Canada does not have a reseller. Sample quantities can be obtained from uBlox but overnight or 2 day shipping is required which drives the cost up considerably. While it is a large hassle obtaining these devices, it is undoubtedly worth it.

Talking with ublox sale for two years, Confirmed, that Order is possiable Directly from ublox, by knowing what project it was for & how was it to be use. After long reply waiting time, the answer was: - YES, but at least 2K-3K in volume, otherwise they're not interested. Like to share the order ? It is 500pcs/Roll.

===Other potential source of u-blox GPS===

There seems to be a few alternative source of u-blox GPS out there. They are considerably cheaper then the samples u-blox offers (at least in america). We didn't buy from these sources yet. Do not take this as a recommandation, we do not know the level of service they offer, etc.

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error )
*http://www.expedienttech.com/product.htm ( Singapore )

==GPS configuration using U-Center==

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[Compiling#USB_flashing|install the UART tunnel]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with the $20 [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate.
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
<br style="clear:both">

===Uploading the Configuration File===
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [http://paparazzi.enac.fr/wiki_images/Tiny_LEA-5H-v5.zip LEA-5H (For Use w/ Firmware V5 ONLY!)]

===Manual Configuration===
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
6. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
7. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
8. UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
9. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

1. Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
2. Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction.
Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
6. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
7. UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
(add the flag -DGPS_USE_LATLONG in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]]) also make sure you set tiny_2_1_1.h if you have the latest boards Tiny/TinyWOG)
8. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH. Additionally, add the flag -DGPS_USE_LATLONG in the makefile section of the airframe xml file.

===Reset to Default Settings===
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===DGPS (Differential GPS)===
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions] though only WAAS and EGNOS are officially operational. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

====WAAS issues====
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to completely disable WAAS.

====EGNOS issues====
EGNOS officially became operational on 1 October 2009. ESA claims that it can determine position to within 2 metres compared with about 20 metres for GPS alone. Note that the service is currently provided only in western Europe. For further information see [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

According to the [http://ec.europa.eu/transport/egnos/programme/doc/2009_egnos_sdd_os_v1.pdf EC] the EGNOS transmission will keep the "Do not use" type0/2 flag until it is certified for safety of life operations in (hopfefully) mid 2010. So you will have to enable the "Allow test mode use (Msg 0)" switch in the u-center under UBX-CFG-SBAS together with the correction to try EGNOS.

The [http://www.u-blox.com/en/faq.html u-blox FAQ] states the following:
* "Do you see issues with EGNOS?"
*:"Yes. The data transmitted by EGNOS in the past were usually good and valuable although sometimes unreliable, e.g. when system tests were performed. u-blox does not guarantee performance and status of EGNOS system. For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

===Troubleshooting===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H:
Invalid_argument("Latlong.of_utm")

Solution: Add the flag -DGPS_USE_LATLONG to your airframe file.

===Further Reading===

The u-blox [http://www.u-blox.com/customersupport/antaris4_doc.html System Integration Manual] covers a lot of GPS theory as well as product specific topics.

== Antenna options for the Tiny and Paparazzi GPS units ==

The '''[[Tiny|Tiny 1.1]]''' features a 28mm square ground plane intended to be centered below the [[#Sangshin_13mm_Patch|Sangshin 13mm patch antenna]]. Much better performance has been seen with the 18mm antennas and an augmented ground plane. The ground plane is a critical part of the antenna affecting not only the gain and polarization characteristics but also the center frequency of the system. Users are advised to expand the ground plane to approximately 36mm square, centered on the ceramic portion of the antenna (not the pin). This can be done with copper foil soldered to the vias of the existing ground plane.
[[image:gps_antenna_comparison.jpg|thumb|500px|left|SAM-LS 25mm / Emtac 20mm / Emtac 18mm / Sangshin 18mm / Sangshin 13mm / Sarantel P2]]
<br style="clear:both">

=== Sangshin 18mm Patch ===
[[image:Sangshin_18mm.jpg|thumb|Sangshin 18mm x 4mm 1580Mhz]]
The Sangshin KSA-ST1580MS18 antenna has proven to offer the best performance of the currently available options. These are available from any Sanshin distributor such as [http://www.rfmw.com rfmw] ([http://www.rfmw.com/PortalProductDetail.aspx?ProdId=232436&fmt=1 here]) and cost approximately $6.50/ea. in small quantities.

<br style="clear:both">

=== EMTAC 18mm Patch ===
[[image:Emtac_18mm.jpg|thumb|Emtac 18mm x 4mm 1580Mhz]]
Offering identical performance to the Sangshin in a less attractive package is the Emtac 18mm antenna. The part number for the standard 1580MHz 18x18x4mm is ANA1580T18D40 and is not listed on their website. Other frequencies are available on a special order basis and the 1584Mhz has proven to outperform all other frequencies when used with a 36mm ground plane and no radome. The use of a radome (any material covering the antenna) or a larger ground plane should theoretically favor even higher frequencies.

'''Availability'''

* [http://www.transplantgps.com/modules.html TransplantGPS] in MN, USA. The 1580Mhz models are usually available at a cost of $3.55ea but there may be a minimum order requirement of ~$50 USD.

=== Sangshin 13mm Patch ===

[[image:Sangshin_13mm_onboard.jpg|thumb|Sangshin 13mm x 4mm 1580Mhz]]
Part of interest: '''[http://www.sangshinec.com/eng/patch_spec.htm KSA-ST1580MS13]'''

The Tiny 0.99 (not 0.9) and 1.1 were designed around this antenna but users are advised to install 18mm units for better performance.

Size: 13 x 13 mm<br/>
Center Frequency: 1580 MHz<br/>
Bandwidth: 5 MHz<br/>
@Fo: -15 dB<br/>
GAIN (dBi): 0 dBi<br/>
Ground Plane: 50 x 50 mm<br/>

'''Available From'''

[http://www.systroninc.com/ Systronic INC.] - Alberta, Canada
<br style="clear:both">

=== Emtac 20mm Patch ===

[[image:Salvaged_20mm_onboard.jpg|thumb|Emtac 20mm x 4mm]]
The Tiny 0.9 was designed around this 1583Mhz antenna and performed extremely well. Emtac has replaced this with an 18mm model that they claim offers even better performance.

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

=== Spectrum Control Patch ===

[[image:PDC_Tiny21_S1.jpg|thumb|Spectrum Control 25mm]]
25mm patch testing on Tiny v2.1. Manufacturer Part Number [http://www.specemc.com/docs/antenna_catalog.pdf PA251575008SALF]. These are available from Mouser for about $3: [http://www.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMukjKvgqb7HxzmcutVCLrkxFUj/3HCdKwE%3d 657-PA251575008SALF]

<br style="clear:both">

=== Sarantel GeoHelix-P2 ===

[[image:Geohelix-p2.jpg|thumb|Sarantel Geohelix P-2 1575Mhz]]

This antenna is popular among UAV designers due to it's natural rejection of other radio frequencies such as those originating from the modem or video system as well as it's improved rejection of signals reflected from the ground. U-blox recommends this antenna and features it in their [http://www.u-blox.com/news/sarantel.html reference design]. Frequency and polarization are not dependent upon ground plane geometry so this antenna is sold only in the true GPS frequency of 1575Mhz.
The geometry makes this antenna very inconvenient to mount, especially in an airplane. Some very non-scientific testing has been done with one of these antennas connected to a Tiny with a short length of 50 Ohm coax above a 120mm square of ungrounded aluminum foil and performance was adequate. The helical design should theoretically outperform a patch in the air, but not on the ground, so any organized comparison will be difficult. Possibly the most important aspect of this antenna is it's natural RFI filtering, which should be evaluated further.

* [http://www.sarantel.com/products/geohelix-p2 GeoHelix-P2] Passive GPS Antenna [[http://www.sarantel.com/downloads/specifications/geohelix-p2.pdf datasheet]]

'''Availability'''

* Sarantel @ cost of approx $18 USD each (active versions available for ~$40)
<br style="clear:both">

Compiling

2010-12-16T12:58:43Z

Danstah: Added Firmware Architecture to this- feel free to change

== Introduction ==

The goal of this part of the documentation is to give you insight in how to give your Autopilot board a ''Brain''. Airborne autopilot code, flight plans and configuration settings are compiled into a single file, sometimes referred to as a ''binary image''. After compilation this file is transferred to the Autopilot board micro-controller flash ROM through use of an USB cable. Note that most tuning and flight plan parameters can be changed in-flight but after each power cycle, the autopilot reverts to the original settings. Permanent changes are made by recompiling the airborne code and it's new configurations settings, and re-upload this to the autopilot board. It may sound complicated but in fact it is quite simple if you follow the steps below.

== Get access to your computers USB port ==

Regular users, (also known as Non-Root) by default, as security measure, can not access and interact with hardware in- and output- devices (I/O), USB ports included. To make it possible, the user you are using to program the autopilot board must be a member of the ''plugdev'' group. Note that usually the original username you used when you installed your Linux OS is already a member.

If you are '''not''' already a member, add yourself to this ''plugdev'' group with the following command:

$ sudo adduser $USER plugdev

It will be effective only on your next login or after the command

$ newgrp plugdev

== USB flashing ==

The Paparazzi device rules are required for USB flashing. Copy them into place if you haven't already done so:

$ sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/

If you are using Ubuntu with a version '''lower''' than v9.10, the [http://mielke.cc/brltty/ Braille TTY] driver interferes with FTDI USB Serial adapters and should be removed by running the following in the command prompt

$ sudo apt-get remove brltty

[[Image:Tiny_test_wiring.jpg|thumb|Example wiring for programming and telemetry]]
If the autopilot senses a connected USB cable during power-on, it will wait to receive a firmware image rather than booting normally. The firmware can be compiled and flashed by several means, '''the simplest way using the [[Paparazzi_Center|Paparazzi Center]]''', the traditional way being:
make AIRCRAFT=''myplane'' clean_ac ap.upload
(where ''myplane'' is the name of your airframe as defined in <tt>conf/conf.xml</tt>)

This command erases any compiled autopilot code from the PC, recompiles everything from scratch, and then sends it to the autopilot.
Variations include:
* make AIRCRAFT=''myplane'' sim
*: Compiles your code for use in the simulator - note that "clean_ac" will remove this code, so the simulator code must be rebuilt each time a clean has been performed.
* make AIRCRAFT=''myplane'' fbw.upload
*: This is needed when configuring the separate "fly by wire" MCU on the [[Classix]] autopilot.
* make AIRCRAFT=''myplane'' ap
*: This will simply build the portions of autopilot code that have changed since the last compile without attempting to flash. Note: this method may not detect certain changes (i.e. changes to the airframe makefile section or CVS updated code).
* make AIRCRAFT=''myplane'' ap.upload FLASH_MODE=IAP
*: Specifies USB flashing. This should be specified at the top of the makefile section of your airframe file but can be overridden here. Use FLASH_MODE=IAS for serial flashing.

=== Verify that above upload works ===

==== Step 1 ====

Connect an USB cable to the USB port on the autopilot board.

<gallery>
Image:Fase2_Insert_Flightplan_A.jpg|Board to mini USB connect
Image:Fase2_Insert_Flightplan_B.jpg|Make sure you have a connector for power ('''Don't''' power up yet!)
Image:Fase2_Insert_Flightplan_C.jpg|Connect USB to PC '''and''' Board
Image:Fase2_Insert_Flightplan_D.jpg|only '''now''', power up the board
</gallery>

Now if you type the following command in your terminal...

$ dmesg | tail -5

..you should see messages that look like:

[79212.484187] pl2303 1-2.3:1.0: device disconnected
[82312.463077] usb 5-1: new high speed USB device using ehci_hcd and address 23
[82327.555770] usb 5-1: device descriptor read/64, error -110
[82342.752307] usb 5-1: device descriptor read/64, error -110
[82342.968031] usb 5-1: new high speed USB device using ehci_hcd and address 24

Which confirms that your device is powered up and working, and ready to accept new airborne code. In case you do not see this message, check your battery voltage and connections and make sure the cables are not broken.

==== Step 2 ====

Upload the compiled Autopilot code a.k.a, firmware

$ make AIRCRAFT=DEMO demo2.upload

make[1]: Leaving directory `/usr/share/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi TARGET=demo2 all
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/home/dirkx/paparazzi/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi TARGET=demo2 upload
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/usr/share/paparazzi/sw/ground_segment/lpc21iap/lpc21iap /home/dirkx/paparazzi/var/demo/demo2/demo2.elf
.
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#
Starting software at 0x00004000
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
make: Leaving directory `/usr/share/paparazzi'

Which confirms that your device has the bootloader functioning. The important bit of output is:

Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#

In the rare case your autopilot board does not have a bootloader, [http://paparazzi.enac.fr/wiki/BootloaderUploadHowTo read and follow the instruction on how to install a bootloader first]

NOTE: In the above example we're using a modified [http://paparazzi.enac.fr/wiki/Using_demo_programs_in_sw/airborne| demo] - which flashes the LEDs with a Tiny2.1 board): Be aware that the demos involving serial ports do not currently work with Tiny V2's.

==== Step 3 ====

Observe the LEDs flashing.

==== Step 4 ====

Disconnect the USB cable, Disconnect the power and reconnect the power of the autopilot board. The LED's should flash again.

==== Step 5 ====

Select aircraft MJ5, build and upload.

Select airframe funjet1.xml (if you have a Tiny V2)

Connect the serial port of your tiny to your PC using a level converter and select session Flight USB serial@9600.

If you are using funjet1.xml:
*Stop all the processes but do not remove them.
*Edit the line Data Link and add "-s 57600" to the end, to tell the data link the baud rate of the MJ5.
*Restart Data Link, Server and GCS in that order.

If all went well, it should work and you should see messages coming in from the Tiny!

== Installing the tunnel for direct access to the GPS ==

This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port or a USB-to-serial connection that creates a USB serial port that goes to GPS port or modem port. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.

==== UART tunnel ====

Use this if you have a serial cable to connect. The LEDs will blink when data is transferred. Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the USB cable and power on the autopilot to receive the code.

This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifying ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). '''WARNING!''' Installing tunnel code with the ISP method will erase any USB bootloader code. Make sure you are able to install a bootloader yourself.

==== USB tunnel ====

This can be done without a serial cable just by having USB. The LEDs will blink when data is transferred. It can connect to either serial port on the autopilot (for Tiny 2.11: uart0=gps, uart1=modem). To connect USB to the gps type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' usb_tunnel_0.upload
Connect the usb cable and power on the autopilot to receive the code. The code will switch the USB to emulate a serial port that you can access at '''/dev/ttyACMx'''. Windows user can extract the usbser.sys file from .cab file in C:\WINDOWS\Driver Cache\i386 and store it somewhere (C:\temp is a good place) along with the [[Media:Usbser.zip|usbser.inf]] file. Windows then creates an extra COMx port that you can use in a terminal program or with ucenter.
To use the USB tunnel make sure you first power the autopilot before connecting USB not to end up in the USB bootloader.

== Firmware Architecture ===
More info on the firmware architecture <br>
[[FirmwareArchitecture]]
== Troubleshooting ==

As a rapidly evolving open-source project, on occasion your software may fail to compile after a [[Installation#Software_Updates|SVN Update]]. This is most likely due to a new or changed variable name that is now required in your airframe, flight plan or somewhere else. Since the user-configured files are not updated automatically you may need to view the most recently changed sample airframe or flight plan files to find the required changes.<br>
See the [[Software_Troubleshooting|Software Troubleshooting]] page for help with common compilation errors.

Compiling

2010-12-16T12:58:08Z

Danstah:

Talk:ArduIMU

2010-12-05T03:53:18Z

Danstah:

Please post info on magnetometer installation... Has this been done already? Is the code in the git repo?
<BR>

<BR>
What is the max polling rate we can use?

<br>
Looking at the code and it seems to be version 1.7 which is old.. Can you give documentation on how to integrate the changes that were made to make the arduimu code work for pprz?
<BR>--Danstah

2009-03-02T19:18:06Z

Danstah: Added video link to UAS competition highlight video

__NOTOC__
__NOEDITSECTION__

{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
|-
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:1px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2>
|-valign="top"
|
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[General|General]]
</h3>
<div style="padding:6px;">
{{General}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Hardware|Hardware]]
</h3>
<div style="padding:6px;">
{{Hardware}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Software|Software]]
</h3>
<div style="padding:6px;">
{{Software}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]]
</h3>
<div style="padding:6px;">
{{Miscellaneous}}
</div>

| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"
|-valign="top"
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2>
|-
|style="color:#000"|[http://www.nongnu.org/paparazzi/ Paparazzi] is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.
|-
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.
|-
|The key feature of the paparazzi autopilot is its unique combination of infrared thermopiles and inertial measurement for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.
|-
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2>
|-
|The Paparazzi mini [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University].
|-
|style="color:#000"|
* A [http://www.debian.org debian] [http://www.recherche.enac.fr/paparazzi/debian/ repository] containing some packages not in the official distribution and required to run Paparazzi.
* PaparazziX [http://www.ubuntu.com/ Ubuntu] based live CD is available from the [http://www.recherche.enac.fr/paparazzi/paparazzix/ paparazzix directory].
* Nightly and release [http://www.recherche.enac.fr/paparazzi/tarball/ tarballs].
|}
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2>
|-
|<h3>February 16th, 2009</h3>
|-
| We have a new forum to talk about this project. Please visit and participate http://www.azoreanuav.com/forum . Please, vote in the next link to continue with the forum or not. http://www.azoreanuav.com/forum/viewtopic.php?f=2&t=7
|-
|-
|<h3>February 9th, 2009</h3>
|-
| 3 ENAC students have released a Graphical control application for Paparazzi on Mobile phone using Java technoligies. Check the [[Ipodrom]] project page for more details.
|-
|<h3>January 19, 2009</h3>
|-
| style="color:#000"|
Paparazzi Developers,<br>
This is to announce a Call for Papers for the 2009 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (MESA09), part of ASME IDETC09. The conference is to be held August 30 - September 2, 2009 at San Diego Convention Center. This Call for Papers is specific to the Session chaired by myself, Antoine Drouin , and Anton Kochevar. This topic of this session is " Open Source UAV Autopilots: Status and Progression", part of a symposium of MESA09 called "Small Unmanned Aerial Vehicle Technologies and Applications (SUAVTA)". This Technical Session is meant to be a session that will focus on Paparazzi, the topics can include specific features developed for Paparazzi or applications using Paparazzi along with other innovative aspects or uses of Paparazzi. We hope to make this one of the largest and best conferences dealing with Paparazzi. Please help us to promote Paparazzi and bring this amazing project to even more people. Full paper deadline is Feb. 27, 2009 using the online submission system.

Conference Website: https://www.asmeconferences.org/IDETC09/ (click MESA09, then, UAV Symposium, then this dedicated session) or http://iel.ucdavis.edu/mesa/MESA09/

If you have any further questions please email me at
daniel.morgan @ aggiemail.usu.edu (remove spaces)
Research Associate, Center for Self-Organizing and Intelligent Systems at Utah State University
http://www.engr.usu.edu/wiki/index.php/User:CSOIS
<br>
|-
|<h3>September 23, 2008</h3>
|-
| style="color:#000"| [[Image:motodrone_08u.JPG|thumb|left]]
A paparazzi team took part in the [http://motodrone.org/ Motodrone] event held in Finowfurt near Berlin.<br>
It was fun, the beer was cool and barbecues worked flawlessly. And we flew funjets...
<br>
[http://berlinvr.info/motodrone2008.html Video]

|-
|<h3>June 23, 2008</h3>
|-
| style="color:#000"| [[Image:Targets auvsi 08.JPG|thumb|left]]
The [http://www.engr.usu.edu/wiki/index.php/OSAM OSAM] Paparazzi team took 2nd place in the Sixth Annual Student Unmanned Aerial Systems Competition! The event is sponsored by AUVSI (Association for Unmanned Vehicle Systems International) and was held at Webster Field, St. Inigoes, Maryland. It should also be noted that this was Paparazzi's and the OSAM Paparazzi team's first time at the competition.<br>
[http://www.navair.navy.mil/pma263/seafarers/default.htm Link to competition]
<br>
[http://www.navair.navy.mil/pma263/seafarers/video/video08.html Highlight Video of Competition]

|-
|<h3>June 13, 2008</h3>
|-
| style="color:#000"| [[Image:Twog_v1-00_top_side_3.jpg|thumb|left|'''T'''iny '''W'''ith'''O'''ut '''G'''ps]]
The new baby autopilot is born.<br>
His name is TWOG, he weighs 8 grams and is 40.2 x 30.5mm long. He' in good health and looks a lot like his mother Tiny v2, except for the GPS receiver.<br>
The proud parents invite you to visit the [[Twog_v1|pictures and technical information album]]...

|-
|<h3>March 26, 2008</h3>
|-
| style="color:#000"| [[Image:Heli_deck.jpg|thumb|left|Funjet on the helicopter deck]]
Scientists from the [http://web.gfi.uib.no/index_e.html Geophysical Institute of the University of Bergen/Norway] flew Paparazzi controlled [[media:Funjet_spitsbergen.jpg|Funjet]] aircrafts equipped with meteorological sensors in the Arctic sea around Spitsbergen only with the help of a RC safety pilot and no Paparazzi team member nearby. They took off and landed on the helicopter deck of the Norwegian icebreaking coast guard vessel [http://www.jtashipphoto.dk/JTA-W303%20Svalbard.htm KV Svalbard] for one week and set a new Paparazzi low temperature record by flying at around -20°C and 15m/s wind in altitudes up to 1500m. For another two weeks they also collected data on Spitsbergen near Longyearbyen. See pictures in the gallery and a [http://www.youtube.com/watch?v=VWEa_4Hlm2s video].

|-
|<h3>March 15, 2008</h3>
|-
| style="color:#000"| [[Image:Tiny_v2-1_3D_top.jpg|thumb|left|Tiny 2.11]]
A number of vendors are now offering assembled and unassembled autopilots, sensors and accessories. The software is written, the hardware is built, what are you waiting for? Getting started has never been easier! More details on the [[Get_Hardware|Get Hardware]] page.

|-
|<h3>February 6, 2008</h3>
|-
| style="color:#000"| [[Image:eeePC.jpg|thumb|left|Paparazzi running on eeePC]]
Looking for a small, light and cheap ground station ? Paparazzi runs on the [http://eeepc.asus.com ASUS eeePC] out of the box (after installing the Debian Paparazzi packages). Tested on the pre-installed Xandros distribution, on a standard Ubuntu and on the preconfigured [http://wiki.eeeuser.com/ubuntu:eeexubuntu:home eeeXubuntu].

|-
|<h3>January 27, 2008</h3>
|-
| style="color:#000"| [[Image:StormTV.jpg|thumb|left|Paparazzi's Storm on TV in Turkey]] [http://www.showtvnet.com/haber/playerd.asp?ptype=haber&product=/270108/ucak.wmv Storm on TV], A Paparazzi aircraft is featured on the biggest Television station in Turkey. (Sorry, the audio is only in Turkish...)

|-
|<h3>[[News Archives]]</h3>
|-
| style="color:#000"|
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.
|-

|}
|}

Infrared Double Small Sensor Board

2009-02-24T20:56:29Z

Danstah: /* Pinout */ Changed braun to brown. No french allowed

<span style="background:white; color:red">
<br>
Removed warning message as I have been successfully using this board for months without issue. If more testing is required, please specify. -CheBuzz
<br>

== Overview ==

[[Image:IR_double_small_3D_top.jpg|300px|IR double small sensor board 3D top view]]
[[Image:IR_double_small_3D_bottom.jpg|300px|IR double small sensor board 3D bottom view]]

== Dimensions ==

[[Image:IR_double_small_size_top.png]]

== Pinout ==

[[Image:IR double small pinout.png|frame|left|Pinout]]
<br style="clear:both">

{| border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Pin #''!!width="80"|''Name''!!''Type''!!width="300"|''Description''!!width="50"|''Suggested Color''
|-
|1|||IR2||OUT||IR Signal Axis 2||style="background:grey; color:white"|Grey
|-
|2||GND||PWR||Ground||style="background:black; color:white"|Black
|-
|3||VCC||PWR||+3.3v Power Supply||style="background:red; color:white"|Red
|-
|4||IR1||OUT||IR Signal Axis 1||style="background:sienna; color:white"|Brown
|}
<br style="clear:both">

== Schematic ==

[[Image:IR_double_small_schematic.png|left|600px|Wide Horizontal IR Sensor Schematic]]
<br style="clear:both">

== PCB ==

<gallery>
Image:IR_double_small_PCB_top.jpg|PCB top side view (Olimex)
Image:IR_double_small_top_copper.png|Top copper side
Image:IR_double_small_PCB_bottom.jpg|PCB bottom side view (Olimex)
Image:IR_double_small_bottom_copper.png|Bottom copper side
</gallery>

=== Gerber & Drill Files ===

download ''[[Media:Gerber_for_IR_double_small.zip|IR double small sensor board gerber & drill files (zip)]]''

RS274X, units = Inches, format = 2:5

:*IR_double_small.GTO (Top Component Print Layer)
:*IR_double_small.GTS (Top Solder Mask)
:*IR_double_small.GTL (Top Copper Layer)
:*IR_double_small.GBL (Bottom Copper Layer)
:*IR_double_small.GBS (Bottom Solder Mask)
:*IR_double_small.DRI (NC XY coordinates & Drill tools sizes)

== Assembly ==

=== Components Layout ===
<gallery>
Image:IR_double_small_2D_top.jpg|Top components Layout
Image:IR_double_small_top_components.png|Top components details
</gallery>

=== Bill Of Material ===

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''Qty''!!''Manufacturer part #''!!width="150pt"|''Schematic part name / value''!!''Designator''!!width="150pt"|''Description''!!''Manufacturer''!!''Package''!!''Optional''!!''Digikey.com''!!width="150pt"|''Other distributor''
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Resistors''
|-
|2||ERJ-3EKF2200V||220||R1,R2||1/16W, 5%||Panasonic||0603||||P220HCT-ND||
|-
|2||ERJ-3EKF1001V||1K||R3,R4||1/16W, 5%||Panasonic||0603||||P1.00KHCT-ND||
|-
|2||ERJ-3EKF4701V||4.7K||R7,R8||1/16W, 5%||Panasonic||0603||||P4.70KHCT-ND||
|-
|2||ERJ-3EKF8203V||820K||R5,R6||1/16W, 5%||Panasonic||0603||||P820KHCT-ND||
|- style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Capacitors''
|-
|7||C0603C104K5RAC||100nF||C1 to C7||50V, 10%||Kemet||0603||||399-5089-1-ND||
|- style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|Semiconductors
|-
|1||AD8552ARUZ||AD8552||IC1||Dual operational amplifier||Analog Devices||TSSOP8|||| AD8552ARUZ-ND||
|- style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Other''
|-
|4||MLX90247-ESF-DSA||MLX90247||IR1 to IR4||Discrete Infrared Thermopile Detector||Melexis||TO-39||||MLX90247-ESF-DSA-ND||
|}

== PCB and assembled boards suppliers ==

For private companies and enthusiast Paparazzi hardware suppliers, see [[Get_Hardware|Get Hardware]] page.

== Downloads ==

'''Source files'''
:*download ''[[Media:IR_double_small_protel_design.zip|IR double small sensor board Protel 99SE SP6 design (zipped Protel 99 ddb file)]]''
'''Gerber & Drill files'''
:*download ''[[Media:Gerber_for_IR_double_small.zip|IR double small sensor board gerber & drill files (zip)]]''
'''Assembly files'''
:*download ''[[Media:IR_double_small_components_layouts.pdf|IR double small sensor board Components layouts (pdf)]]''
:*download ''[[Media:IR_double_small_BOM.zip|IR double small sensor board Bill Of Material (zipped .xls file)]]''

2008-12-08T17:03:07Z

Danstah: /* Paparazzi teams/users/contributors */

== The Project Page ==

The Paparazzi project is hosted at http://www.nongnu.org/paparazzi/ where the CVS repository is available.

== The IRC Chat Channel ==

Network: Freenode
Network Host: irc.freenode.net
Channel: #paparazzi

* Web Based: Simply go to [http://ircatwork.com ircatwork.com], enter the network host, the channel, a unique ''nickname'', and say hello to the team!
* Client Software: Download one of the many freeware/shareware IRC clients and put [irc://irc.freenode.net/#paparazzi #paparazzi] at the top of your favorites list!
*: [http://www.mirc.com mIRC]
*: [http://www.xchat.org Xchat]

== Paparazzi Users Forum ==

http://rc-autopilot.de/smf - please join and get this forum going

http://groups.yahoo.com/group/paparazzi-autopilot/

== Paparazzi teams/users/contributors ==

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

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

http://pfump.org

http://www.ismo.hs-bremen.de/dokuwiki/doku.php?id=elem:projekte:intro#semesterprojekte (German)

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

http://www.techhopups.com/

http://pixhawk.ethz.ch

== WikiNode ==

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

Talk:Hardware Wish List

2008-11-20T15:53:14Z

Danstah: /* GSM (cellular phone) modem, onboard camera and x86 compatible computer */

How about a migration from ublox Antaris4 to Antaris5. I believe they are pretty much pin to pin compatible and minor changes are needed in the UBX protocol
<br>
If not done by someone else the OSAM team will be working on the integration of the ublox 5 modules in a month or two.. Danstah
<br> This is done but was not really needed since it had already been done by the guys over at ENAC. Refer to the GPS page for instructions.
Also for those using the LEA-5H is anyone really seeing any benefits other that fast acquisition? Because i am not that much better accuracy. --Danstah

== GSM (cellular phone) modem, onboard camera and x86 compatible computer ==

with GSM modem you get unlimited range,
camera gives much fun and navigation abilities.

With all that features, we need x86 compatible onboard computer, with Linux run on, because:

-- easy progamming and debug, a lot of GNU software available

-- all drivers (GSM, camera, USB, GPS) are ready

-- use script languages like perl to program

-- store photos, videos and logs onboard at flash card (loading only small photos over GSM link to save money),

-- easily communicate over the Internet (TCP/IP). Imagine the web-server aboard!

Ok, [http://www.via.com.tw/en/products/mainboards/motherboards.jsp?motherboard_id=221 nano-ITX] is huge enought and has great power consumption, requiring a bigger plane.

Reply:
Why not just use a gumstix and connect it through the UART port used by the GPS. This is exactly what we do --Danstah

2008-08-01T22:19:50Z

Danstah: Tiny LEA-5H Config

Tiny LEA-5H Config

Sensors/GPS

2008-08-01T22:11:34Z

Danstah: /* Uploading the Configuration File */

{| align=right
|-
| __TOC__
|}

==Overview==
[[Image:U-blox_color_warm_60.gif|100px]]

Paparazzi autopilots are designed around the popular [http://www.u-blox.com u-blox] brand of receivers.

*Features:
**Small size
**Excellent performance
**4Hz position update rate

The '''[[Tiny]]''' features an onboard LEA series GPS receiver and patch antenna, while '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. Both modules have proven reliable and robust.

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/gps_ubx.c</tt>. Other GPS brands would require a similar parsing file to be written for NMEA or other proprietary protocols.

==GPS Receivers==

===u-Blox LEA Series Receivers===
[[Image:Lea big.jpg|100px|thumb|right|u-blox LEA]]
The '''[[Tiny]]''' and Paparazzi stand-alone GPS currently use the [http://www.u-blox.com/products/lea_4p.html u-blox LEA-4P] featuring [http://www.u-blox.com/technology/antaris4/index.html Antaris-4] technology and uBlox's more efficient UBX binary protocol. This module is a surface mount package which is soldered directly onto the PCB (Tiny or Paparazzi GPS). An external battery backup (capacitor) is used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4x series receivers can be used including the less expensive LEA-4A and 4S models as the special boot configuration code required for these models is already written.

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]

[[Image:TINY_1.3_MCU_BOTTOM.JPG|thumb|center|250px|LEA-4P installed on the Tiny]]
<br style="clear:both">

===Paparazzi Stand-alone GPS Receivers===
There are currently two (LEA-based) stand-alone, GPS receiver + antenna, prototype boards in development; the first one is based on the Sangshin 13mm patch antenna. The second is based on the Sarantel helix antenna. Drawings for both are available from the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/ CVS]
Another alternative is the NAVILOCK NL-507TTL u-blox TTL Modul 60416 which is availible for 28€ (amazon.de).

===u-Blox SAM-LS GPS Smart Antenna===
[[Image:Ublox_SAM-LS.jpg|100px|thumb|right|u-blox SAM-LS]]
The '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards use a stand alone module from u-blox called the SAM-LS. It is an integrated TIM-LP module with a ceramic patch antenna. This processor also runs on 4hz and must be configured to use the UBX protocol. With battery backup (3V watch battery) they show hot starts of around a couple seconds. The LEA-LA processor weighs a couple grams and the complete the SAM-LS module with antenna and shielding weighs about 20grams.

'''Note:''' Effective 12/2006 u-blox has begun to phase out the SAM-LS product. No replacement will be offered.

====Connecting external receivers to Classix, 1.2.1, Lite, and RoboStix boards====

The u-blox receivers require 3.3v power and all current models have 5V tolerant data lines. The best way to connect to the SAM-LS is to remove the bottom case and solder the 4 wires directly to the TIM-LL module (GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) check the TIM-LL datasheet for pinout diagrams. The Classix and Lite boards feature a 3.3V regulator to power the GPS.

===Sourcing from u-blox===

u-blox keeps tight control over the distribution of their products. They must be obtained DIRECTLY from their own reseller offices. These offices may not be available in your area, for example Canada does not have a reseller. Sample quantities can be obtained from uBlox but overnight or 2 day shipping is required which drives the cost up considerably. While it is a large hassle obtaining these devices, it is undoubtedly worth it.

Talking with ublox sale for two years, Confirmed, that Order is possiable Directly from ublox, by knowing what project it was for & how was it to be use. After long reply waiting time, the answer was: - YES, but at least 2K-3K in volume, otherwise they're not interested. Like to share the order ? It is 500pcs/Roll.

===Other potential source of u-blox GPS===

There seems to be a few alternative source of u-blox GPS out there. They are considerably cheaper then the samples u-blox offers (at least in america). We didn't buy from these sources yet. Do not take this as a recommandation, we do not know the level of service they offer, etc.

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error )
*http://www.expedienttech.com/product.htm ( Singapore )
*http://shop.halfbase.com/index.php/cPath/22?osCsid=414472d5a544b080f9ae153fdc323798 ( B2B- min.10pcs @ $38 )

===Standalone GPS Module from CVS===
The Version 1 (V1) BOM is here.. Please post any pics you might have and check this for accuracy<br>
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM]<br>
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output]<br>
If this needs fixing don't be shy, fix away.

==GPS configuration using U-Center==

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/products/u_center.html Download u-center]

* Note: You must [[Compiling#USB_flashing|install the UART tunnel]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].
* Note: You can run u-center on Linux by installing "wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and setting up com1 as /dev/ttyUSB0 See Info on wine for "dosdevices" setup. Just download the u-setup.exe and run it with wine, follow prompts. This has been tested with Ubuntu7.10 so far.
* Note: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with the $20 [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun] or [http://shop.halfbase.com/product_info.php/products_id/54 Halfbase]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate.
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
<br style="clear:both">

===Uploading the Configuration File===
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [http://paparazzi.enac.fr/wiki_images/Tiny_LEA-5H-v5.txt LEA-5H (For Use w/ Firmware V5)]

===Manual Configuration===
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
6. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
7. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
8. UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
9. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
6. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
7. UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
(add the flag -DGPS_USE_LATLONG in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
8. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH. Additionally, add the flag -DGPS_USE_LATLONG in the makefile section of the airframe xml file.

===Reset to Default Settings===
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===DGPS (Differential GPS)===
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.environmental-studies.de/Precision_Farming/EGNOS_WAAS__E/3E.html WAAS, EGNOS, and MSAS] though only WAAS is officially operational. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

====WAAS issues====
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to completely disable WAAS.

====EGNOS issues====
EGNOS is officially in "testing mode" and no claims of reliability are made. The [http://www.u-blox.com/customersupport/faq_antaris u-blox FAQ] states the following:
* "Do you see issues with EGNOS?"
*:"Yes. Although the data transmitted by the EGNOS satellites are usually good and valuable (e.g. during the solar storms in autumn 2003), they can sometimes be very unreliable, for example when system tests are performed. As an example, u-blox has noticed erroneous range information (up to three hundred kilometers) on various EGNOS satellite over the last few months [2006]."

===Further Reading===

The u-blox [http://www.u-blox.com/customersupport/antaris4_doc.html System Integration Manual] covers a lot of GPS theory as well as product specific topics.

== Antenna options for the Tiny and Paparazzi GPS units ==

The '''[[Tiny|Tiny 1.1]]''' features a 28mm square ground plane intended to be centered below the [[#Sangshin_13mm_Patch|Sangshin 13mm patch antenna]]. Much better performance has been seen with the 18mm antennas and an augmented ground plane. The ground plane is a critical part of the antenna affecting not only the gain and polarization characteristics but also the center frequency of the system. Users are advised to expand the ground plane to approximately 36mm square, centered on the ceramic portion of the antenna (not the pin). This can be done with copper foil soldered to the vias of the existing ground plane.
[[image:gps_antenna_comparison.jpg|thumb|500px|left|SAM-LS 25mm / Emtac 20mm / Emtac 18mm / Sangshin 18mm / Sangshin 13mm / Sarantel P2]]
<br style="clear:both">

=== Sangshin 18mm Patch ===
[[image:Sangshin_18mm.jpg|thumb|Sangshin 18mm x 4mm 1580Mhz]]
The Sangshin KSA-ST1580MS18 antenna has proven to offer the best performance of the currently available options. These are available from any Sanshin distributor such as [http://www.rfmw.com rfmw] ([http://www.rfmw.com/PortalProductDetail.aspx?ProdId=232436&fmt=1 here]) and cost approximately $6.50/ea. in small quantities.

<br style="clear:both">

=== EMTAC 18mm Patch ===
[[image:Emtac_18mm.jpg|thumb|Emtac 18mm x 4mm 1580Mhz]]
Offering identical performance to the Sangshin in a less attractive package is the Emtac 18mm antenna. The part number for the standard 1580MHz 18x18x4mm is ANA1580T18D40 and is not listed on their website. Other frequencies are available on a special order basis and the 1584Mhz has proven to outperform all other frequencies when used with a 36mm ground plane and no radome. The use of a radome (any material covering the antenna) or a larger ground plane should theoretically favor even higher frequencies.

'''Availability'''

* [http://www.transplantgps.com/modules.html TransplantGPS] in MN, USA. The 1580Mhz models are usually available at a cost of $3.55ea but there may be a minimum order requirement of ~$50 USD.
* [http://www.onefastdaddy.com/catalog/product_info.php?products_id=43 PPZUAV] ~$10.00 USD (no min. order requirement)
<br style="clear:both">

=== Sangshin 13mm Patch ===

[[image:Sangshin_13mm_onboard.jpg|thumb|Sangshin 13mm x 4mm 1580Mhz]]
Part of interest: '''[http://www.sangshinec.com/eng/patch_spec.htm KSA-ST1580MS13]'''

The Tiny 0.99 (not 0.9) and 1.1 were designed around this antenna but users are advised to install 18mm units for better performance.

Size: 13 x 13 mm<br/>
Center Frequency: 1580 MHz<br/>
Bandwidth: 5 MHz<br/>
@Fo: -15 dB<br/>
GAIN (dBi): 0 dBi<br/>
Ground Plane: 50 x 50 mm<br/>

'''Available From'''

[http://www.systroninc.com/ Systronic INC.] - Alberta, Canada
<br style="clear:both">

=== Emtac 20mm Patch ===

[[image:Salvaged_20mm_onboard.jpg|thumb|Emtac 20mm x 4mm]]
The Tiny 0.9 was designed around this 1583Mhz antenna and performed extremely well. Emtac has replaced this with an 18mm model that they claim offers even better performance.

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

=== Sarantel GeoHelix-P2 ===

[[image:Geohelix-p2.jpg|thumb|Sarantel Geohelix P-2 1575Mhz]]

This antenna is popular among UAV designers due to it's natural rejection of other radio frequencies such as those originating from the modem or video system as well as it's improved rejection of signals reflected from the ground. U-blox recommends this antenna and features it in their [http://www.u-blox.com/news/sarantel.html reference design]. Frequency and polarization are not dependent upon ground plane geometry so this antenna is sold only in the true GPS frequency of 1575Mhz.
The geometry makes this antenna very inconvenient to mount, especially in an airplane. Some very non-scientific testing has been done with one of these antennas connected to a Tiny with a short length of 50 Ohm coax above a 120mm square of ungrounded aluminum foil and performance was adequate. The helical design should theoretically outperform a patch in the air, but not on the ground, so any organized comparison will be difficult. Possibly the most important aspect of this antenna is it's natural RFI filtering, which should be evaluated further.

* [http://www.sarantel.com/products/geohelix-p2 GeoHelix-P2] Passive GPS Antenna [[http://www.sarantel.com/downloads/specifications/geohelix-p2.pdf datasheet]]

'''Availability'''

* Sarantel @ cost of approx $18 USD each (active versions available for ~$40)
<br style="clear:both">
* [http://www.onefastdaddy.com/catalog/product_info.php?products_id=40&osCsid=709e839698120c5cd324072b77d67cc1 PPZUAV]