PaparazziUAV - User contributions [en]

Get Hardware

2025-10-25T23:04:27Z

Dconger: Remove PPZUAV .. no longer providing hardware, better to just use one of the large PCB + Assembly websites for the hardware these days.

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}

__TOC__

|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers & Retailers}}

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

}}

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|150px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|150px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* [[G0]] GPS
* [[R0]] Radio Modem
* [[UU0]] USB to UART adapter dongle
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in Germany and deliver around the world. We create our own hardware and a ground station that includes the RC transmitter and video RX. Complete Paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

User:Dconger

2025-10-25T23:00:02Z

Dconger:

<h3>Name: David Conger</h3>
'''''Location:''''' USA (California) 
'''''Reason for starting:''''' I was looking online for something to open source to stabilize a model aircraft (goal was Helicopter). I found the ENAC Wiki and wanted to build one. At the time even the PCB were not available online (just the designs). As an avid Linux user I wanted to see Paparazzi use grow and be a part of that growth. I was addicted and can't stop now.

Projects:
'''''MicroFunJet 420mm:''''' Converted HobbyKing 420mm RadJet. I started with a stock RTF HobbyKing RadJet 420. Then added rails for mounting a UmarimLiteV2 controller. To keep weight to a minimum I soldered wire directly to the top of an XBee XSC for RF modems. It is pressed (pins into the foam) into the fuselage with the antenna down through a hole. For RC I'm using a modified Berg 4L receiver. The ESC and servos came with 3-pin Molex already which connect directly to SRV0,1,2 on the Umarim. The GPS is a very small one from CSG shop. Of the two I bought both had faulty Sarantel Helix antennas. This was actually ok, as it gave me the idea to solder a 11mm square ceramic antenna in its place. This works very well now. The GPS is mounted as far back as possible for CG considerations. The airframe file uses a "weasel.xml" foundation with changes to add u_center module and set the mixing correctly. Future modifications will be the addition of a keychain camera to record flight video.

'''''First Project:''''' FunJet POC vehicle
I started building my own FunJet aircraft in mid-2008. I wanted to start with a proven design. I have 3 test flights to date with it. As soon as I have my elevon reversed issue resolved I hope to fly in AUTO1/AUTO2 to finish the POC stage and move onto my next build. Flew in AUTO2 in December 2008.

'''''MicroJet DF45 Project:''''' < 400g jet with Tiny1.3 autopilot
I have always wanted to take an COTS kit and fit it with a Paparazzi autopilot. I found the Kyosho DF45 delta wing to be a great looking, well built kit. The kit is very complete. The motor and fan unit are pre-assembled along with most of the airframe. Balsa with a covering film. The fuselage is a very well done fiberglass. It takes only a few hours to finish the airframe.

'''''Micro UAV with IMU Project:''''' Multiplex Merlin with Tiny1.3 autopilot and ArduIMU
What a great little UAV. I have a micro video camera and 2.4gHz RF Video, 72mHz RC, ArduIMU and Tiny1.1 autopilot. It flies fantastic. I will also mount a micro video recorder on it so I can have ground based video from the RF and higher quality onboard recorded video. The Merlin is a great plane if your flying site is small.
'''''Swift II foam wing:''''' This was a good testing airframe. I started with a Tiny13 then added a GPS, XBee 900mHz RF. RC is via a modified Berg4L. Onboard video is a small video recorder from online. I started with very small winglets but soon added larger ones to add more yaw stability. The IMU is a PPZ9DOM IMU I assembled myself. This setup works pretty well. A video of the 2nd flight is here: http://youtu.be/nn0uxd3uNhk not bad considering almost zero tuning and completely stock code from the repository for the IMU.

'''''Latest Project:''''' AI integration using an MCP protocol server and tools to allow an LLM to interact with the drone. The user can ask the AI to do everything, program the drone, test everything is working, launch, update the flight plans, whatever. The LLM will have direct communication with the GCS and Autopilot. More details here: https://www.ppzuav.com/paparazziAI.html

'''''Summary:''''' Paparazzi has been very inspirational for me. I have learned so much over the years about electronics and autopilots. I really enjoy building these tiny UAV and keep trying to get them smaller and smaller. The smallest so far is the Merlin. Next will be a micro flying wing even smaller.

User:Dconger

2025-10-25T22:59:32Z

Dconger: mentioned the AI project I'm currently working on

<h3>Name: David Conger</h3>
'''''Location:''''' USA (California) 
'''''Reason for starting:''''' I was looking online for something to open source to stabilize a model aircraft (goal was Helicopter). I found the ENAC Wiki and wanted to build one. At the time even the PCB were not available online (just the designs). As an avid Linux user I wanted to see Paparazzi use grow and be a part of that growth. I was addicted and can't stop now.

Projects:
'''''MicroFunJet 420mm:''''' Converted HobbyKing 420mm RadJet. I started with a stock RTF HobbyKing RadJet 420. Then added rails for mounting a UmarimLiteV2 controller. To keep weight to a minimum I soldered wire directly to the top of an XBee XSC for RF modems. It is pressed (pins into the foam) into the fuselage with the antenna down through a hole. For RC I'm using a modified Berg 4L receiver. The ESC and servos came with 3-pin Molex already which connect directly to SRV0,1,2 on the Umarim. The GPS is a very small one from CSG shop. Of the two I bought both had faulty Sarantel Helix antennas. This was actually ok, as it gave me the idea to solder a 11mm square ceramic antenna in its place. This works very well now. The GPS is mounted as far back as possible for CG considerations. The airframe file uses a "weasel.xml" foundation with changes to add u_center module and set the mixing correctly. Future modifications will be the addition of a keychain camera to record flight video.

'''''First Project:''''' FunJet POC vehicle
I started building my own FunJet aircraft in mid-2008. I wanted to start with a proven design. I have 3 test flights to date with it. As soon as I have my elevon reversed issue resolved I hope to fly in AUTO1/AUTO2 to finish the POC stage and move onto my next build. Flew in AUTO2 in December 2008.

'''''MicroJet DF45 Project:''''' < 400g jet with Tiny1.3 autopilot
I have always wanted to take an COTS kit and fit it with a Paparazzi autopilot. I found the Kyosho DF45 delta wing to be a great looking, well built kit. The kit is very complete. The motor and fan unit are pre-assembled along with most of the airframe. Balsa with a covering film. The fuselage is a very well done fiberglass. It takes only a few hours to finish the airframe.

'''''Micro UAV with IMU Project:''''' Multiplex Merlin with Tiny1.3 autopilot and ArduIMU
What a great little UAV. I have a micro video camera and 2.4gHz RF Video, 72mHz RC, ArduIMU and Tiny1.1 autopilot. It flies fantastic. I will also mount a micro video recorder on it so I can have ground based video from the RF and higher quality onboard recorded video. The Merlin is a great plane if your flying site is small.
'''''Swift II foam wing:''''' This was a good testing airframe. I started with a Tiny13 then added a GPS, XBee 900mHz RF. RC is via a modified Berg4L. Onboard video is a small video recorder from online. I started with very small winglets but soon added larger ones to add more yaw stability. The IMU is a PPZ9DOM IMU I assembled myself. This setup works pretty well. A video of the 2nd flight is here: http://youtu.be/nn0uxd3uNhk not bad considering almost zero tuning and completely stock code from the repository for the IMU.

'''''Latest Project:''''' AI integration using an MCP protocol server and tools to allow an LLM to interact with the drone. The user can ask the AI to do everything, program the drone, test everything is working, launch, update the flight plans, whatever. The LLM will have direct communication with the GCS and Autopilot.

'''''Summary:''''' Paparazzi has been very inspirational for me. I have learned so much over the years about electronics and autopilots. I really enjoy building these tiny UAV and keep trying to get them smaller and smaller. The smallest so far is the Merlin. Next will be a micro flying wing even smaller.

Get Hardware

2025-10-24T20:03:18Z

Dconger: Fixing URL under the PCBs area for PPZUAV

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}

__TOC__

|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers & Retailers}}

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

}}

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|150px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|150px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* [[G0]] GPS
* [[R0]] Radio Modem
* [[UU0]] USB to UART adapter dongle
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in Germany and deliver around the world. We create our own hardware and a ground station that includes the RC transmitter and video RX. Complete Paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 
[[File:Ppzuav.jpg|100px|PPZUAV LLC Logo]]
=== PPZUAV LLC ===
'''Website:''' [https://www.ppzuav.com www.ppzuav.com] 
'''Location:''' California, USA 
'''Contact:''' [mailto:onefastdaddy@gmail.com onefastdaddy@gmail.com] 
'''Description:''' PPZUAV LLC was a key hardware supplier for the Paparazzi UAV community from 2007-2015... 

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2025-10-24T20:02:18Z

Dconger: Added back PPZUAV info now that there's a landing page again.

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}

__TOC__

|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers & Retailers}}

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

}}

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|150px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|150px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* [[G0]] GPS
* [[R0]] Radio Modem
* [[UU0]] USB to UART adapter dongle
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in Germany and deliver around the world. We create our own hardware and a ground station that includes the RC transmitter and video RX. Complete Paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 
[[File:Ppzuav.jpg|100px|PPZUAV LLC Logo]]
=== PPZUAV LLC ===
'''Website:''' [https://www.ppzuav.com www.ppzuav.com] 
'''Location:''' California, USA 
'''Contact:''' [mailto:onefastdaddy@gmail.com onefastdaddy@gmail.com] 
'''Description:''' PPZUAV LLC was a key hardware supplier for the Paparazzi UAV community from 2007-2015... 

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/shop PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2016-06-18T14:57:06Z

Dconger: PPZUAV is no longer doing retail orders. Contact me about SUMO bundles for now or other services. Removing Retails wording here.

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}

__TOC__

|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers & Retailers}}

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

}}

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|150px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|150px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* [[G0]] GPS
* [[R0]] Radio Modem
* [[UU0]] USB to UART adapter dongle
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in Germany and deliver around the world. We create our own hardware and a ground station that includes the RC transmitter and video RX. Complete Paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/shop PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

Installation

2016-03-08T04:22:37Z

Dconger: Adding some more details for a newbie

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

== Introduction ==

Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or Apple Macintosh running [http://en.wikipedia.org/wiki/OS_X Mac OS X]. There is also work being done to port Paparazzi to Windows.

The steps required to install the software needed to be able to let your UAS fly are:

# Install tools and prerequisites needed by Paparazzi.
# Download the source code from the source repository.
# Compile the Paparazzi software from sourcecode
# Complete any final configuration

== Quickstart for Ubuntu users ==
Love one-liners? To get the latest Paparazzi up and running on your '''Ubuntu 12.04 or higher OS''', make sure you have internet, then just copy and paste the text below into your terminal and press [enter] ... and wait a while...

sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo add-apt-repository -y ppa:terry.guo/gcc-arm-embedded && sudo apt-get update && \
sudo apt-get -f -y install paparazzi-dev paparazzi-jsbsim gcc-arm-none-eabi && cd ~ && <nowiki>git clone --origin upstream https://github.com/paparazzi/paparazzi.git</nowiki> && \
cd ~/paparazzi && git remote update -p && \
git checkout -b v5.8 upstream/v5.8 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && \
echo -e "export PAPARAZZI_HOME=~/paparazzi" >> ~/.bashrc && echo -e "export PAPARAZZI_SRC=~/paparazzi" >> ~/.bashrc && source ~/.bashrc && \
make clean && make && ./paparazzi

[[File:Done.jpg|frameless|center|Done!]]
If all went well, and you've flown Paparazzi before, the Paparazzi Center should now be running... '''skip''' the rest of this page, go fly!

If you are new you'll need to do some more things before you go fly like configuring your XML definition file detailing your airframe configuration. There is help here for that: http://wiki.paparazziuav.org/wiki/Airframe_Configuration

In case you have no autopilot hardware yet, no problem, go get hardware [[Get_Hardware|here]] or just buy a ready to fly aircraft that can run Paparazzi Software like the Parrot Drones [http://www.parrot.com/products/bebop-drone/ Parrot Bebop] and run Paparazzi on your Parrot [[AR_Drone_2|ARDRone2]], [[Bebop|Bebop]] and Bebop2 (soon the Disco drone).

== OS Specific Instructions ==

For Linux an instruction video explaining it all in detail can be watched here https://www.youtube.com/watch?v=eW0PCSjrP78

The process of installing the prerequisite tools and dependencies needed by Paparazzi is specific to the operating system you are using. For detailed installation instructions, please see the following pages:
*[[Installation/Linux|Installing prerequisites tools on Linux]]
*[[Installation/MacOSX|Installing prerequisites tools on Mac OS X]]
*[[Installation/RaspberryPi|Installing prerequisites tools on the RaspberryPi (Raspbian)]]

For more advanced installation information or developers, please see the following pages:
*[[Installation/FromScratch|Installing everything from scratch]] For non Debian based Linux distributions or if one just wants to be able to use all the latest and greatest compilers, or source code of everything to improve something. Then there is no other way than to install from scratch.
*[[Installation/Windows|Installing prerequisite tools on Windows]] Note that this is '''a work in progress, and not finished yet'''. It would be fantastic if you are interested in running Paparazzi on this OS to help out with the porting. Being able to help is one of opensource software main features. If your skil- set is not so good in this area, but you still insist using Windows OS, then it is best to install a VirtualMachine from within Windows where you run the free Ubuntu OS of choice.

=== Virtual Machines ===

It is also possible to have your Debian/Ubuntu running in a virtual machine, for instance with [http://www.virtualbox.org/ VirtualBox]. This requires minimal changes to your computer setup, as you can run the VM from all common platforms (Windows, OS X, Linux). The virtual machine image can easily be transferred between different laptops, giving greater flexibility. Unfortunately, the Open-Source Edition of VirtualBox doesn't include the necessary USB support, so you'll need to get the regular version from the website.

If you are new and this is your first time installing it is suggested you keep it simple. Use the standard Linux or OS X install. Select a system you can dedicate to the Linux installation. No VMs or dual boot configurations. The idea is do a very simple generic installation that is certain to have no issues. This reassures you that the installation process works and you can see and use a working Paparazzi install for some time before you try a more complicated install. The install is well documented and certain to succeed if followed exactly. Most issues arise when someone unfamiliar with Paparazzi or their OS tries a non-standard install that requires special steps that are not documented. Generally, commands can be copied and pasted for easy, step-by-step installation.

== Getting the Source Code ==
The Paparazzi source code is hosted on [https://github.com/paparazzi/paparazzi Github]. While you can download it as a tarball from https://github.com/paparazzi/paparazzi/releases, it is recommended to clone the repository with [[git]].

From the directory of your choice type:
git clone --origin upstream https://github.com/paparazzi/paparazzi.git
Check out the released stable version branch:
git checkout v5.8

'''If this whole "Git" thing is new to you, more options and information can be found on the [[git|Git page]].'''

== Launching the Software ==
Make sure you have installed the <tt>paparazzi-dev</tt> package as described above. Without these you will not be able to compile the sourcecode.
The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd ~/paparazzi</tt>), run

make

You will have to run this command after each update of the source (<tt>git pull</tt> command).
Launch the software from the <tt>paparazzi</tt> directory with

./paparazzi

From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''Microjet'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session. The procedure is detailed in the [[Simulation]] page.

=== Environment Variables ===

If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]) from the command line, without using the Paparazzi Center, you must have the Paparazzi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:
{{Box Code|~/.bashrc|
<source lang="bash">
export PAPARAZZI_HOME=''your paparazzi software directory''
export PAPARAZZI_SRC=''your paparazzi software directory''
</source>
}}

Verify that your variables are set correctly with the following command:
:<source lang="bash">env | grep PAPARAZZI</source>
which should return the following:
<source lang="bash">
PAPARAZZI_HOME=''your paparazzi software directory''
PAPARAZZI_SRC=''your paparazzi software directory''
</source>

If you wish to manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:
:<source lang="bash">export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`</source>

== Software Updates ==
'''We manage the software with the git version control system. Learn it! If you are new to it, see the [[Git|Git wiki page]].'''

Paparazzi is a very rapidly evolving project and as such you might want to update your software regularly. See the [[RepositoryStructure|branching model and release process page]].

Any new files you created will not be lost/overwritten when updating (like your own airframe file). Nevertheless, as with all things, backups are advised.
If you modified source code, the best way is of course to use the version control system [[Git]] to commit your changes. Otherwise at least use the brute force method and save everything in another directory.

Update your software with care and caution, and always test the functionality on the ground and in the air as some updates will affect tuning parameters. You might need to update your airframe file as well. The compiler will usually complain if there is a problem, at which point you can look at the [[Airframe_Configuration|Airframe Configuration wiki page]] again, look on the [[Contact#Mailing_List|mailing list]] or some of the most recent airframe files on git to find the proper syntax.

'''See also the [[Release Upgrades]] page for information on how to update your configuration from one release to the next.'''

=== Quick'n dirty description ===

To download and automatically merge any updated source files, run the following command from your Paparazzi directory
git pull

After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:

make

The ''make'' command will only recompile portions of the software where changed have been detected.
If it does not behave as expected you can delete all compiled files and recompile from scratch with the following commands:

make clean
make

If you'd like to check that the code compiles all example airframes then you can run the test suite using the command

make test

For more details see the [[Builds/Tests|tests page]].

== Using the Live CD ==

There is a [[LiveCD]] available, but it dates back to 2008. It is still an easy way to get a first glimpse of Paparazzi however without installing anything.

[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]

Get Hardware

2016-03-08T00:12:19Z

Dconger: more edits.

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}

__TOC__

|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers & Retailers}}

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

}}

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|150px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|150px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* [[G0]] GPS
* [[R0]] Radio Modem
* [[UU0]] USB to UART adapter dongle
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in Germany and deliver around the world. We create our own hardware and a ground station that includes the RC transmitter and video RX. Complete Paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 

== [[File:Ppzuav.jpg|100px|link=https://www.ppzuav.com/shop]] PPZUAV ==
[[Image:ApogeeV1_img01sm.JPG|thumb|150px|ApogeeV1]]
Assembling hardware for Paparazzi based projects since 2007.
We are a USA based company that has provided the service of offering guaranteed Paparazzi Project hardware available pre-programmed and ready to use since 2007. Even if you break it we will fix it again and always have.

There are many ways to add value to an open sourced project. PPZUAV has added howtwo, images, and many edits to this Wiki over the years as well as answer eMails and direct people to get the information they needed to get flying. Yes, a narrow view of PPZUAV is they assemble from design files found online and charge for that service. However if you check the prices are quite reasonable considering you also get a lifetime guarantee for the hardware no questions asked.

If you do not see what you need please do not hesitate to contact us via eMail to: sales@ppzuav.com for details.
Visit the [https://www.ppzuav.com/shop Web Store] to see the latest offerings and all new prices.

Want to build your own SUMO Meteo research drone? We can help. From individual assembled, warrantied items or complete bundles. We can provide the kit parts. Please contact us for details.

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/shop PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2016-03-07T23:29:01Z

Dconger: new details

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}

__TOC__

|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers & Retailers}}

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

}}

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|150px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|150px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* [[G0]] GPS
* [[R0]] Radio Modem
* [[UU0]] USB to UART adapter dongle
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in Germany and deliver around the world. We create our own hardware and a ground station that includes the RC transmitter and video RX. Complete Paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 

== [[File:Ppzuav.jpg|100px|link=https://www.ppzuav.com/shop]] PPZUAV ==
[[Image:ApogeeV1_img01sm.JPG|thumb|150px|ApogeeV1]]
Assembling hardware for Paparazzi based projects since 2007.
We are a USA based company that has provided the service of offering guaranteed Paparazzi Project hardware available pre-programmed and ready to use since 2007. Even if you break it we will fix it again and always have.

There are many ways to add value to an open sourced project. PPZUAV has added howtwo, images, and many edits to this Wiki over the years as well as answer eMails and direct people to get the information they needed to get flying. Yes, a narrow view of PPZUAV is they assemble from design files found online and charge for that service. However if you check the prices are quite reasonable considering you also get a lifetime guarantee for the hardware no questions asked. If you do not see what you need please do not hesitate to contact us via eMail to: sales@ppzuav.com for details.
Visit the [https://www.ppzuav.com/shop Web Store] to see the latest offerings and all new prices.

Want to build your own SUMO Meteo research drone? We can help. We can provide the kit parts. Please contact us for details.

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/shop PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2016-02-24T19:40:22Z

Dconger:

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}

__TOC__

|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers & Retailers}}

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

}}

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|100px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|100px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in germany and deliver around the world. We create our own hardware and a groundstation that includes the rc transmitter and video rx. Complete paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 

== [[File:Ppzuav.jpg|100px|link=https://www.ppzuav.com/shop]] PPZUAV ==
[[Image:ApogeeV1_img01sm.JPG|thumb|100px|ApogeeV1]]
Assembling hardware for Paparazzi based projects since 2007.
We are a USA based company that makes the Open Sourced Paparazzi Hardware available around the World. If you need fully assembled or just PCBs we can help.

If you do not see what you need please do not hesitate to contact us via eMail to: sales@ppzuav.com for details.
Visit the [https://www.ppzuav.com/shop Web Store] to see the latest offerings.

Want to build your own SUMO Meteo research drone? We can help. We can provide the kit parts. Please contact us for details.

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/shop ppzuav.com Paparazzi GPS13 PCBs and Assemblies] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/shop PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2016-02-24T19:38:06Z

Dconger: Updating the PPZUAV URLs

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Gear.png|Get Hardware}}

__TOC__

|{{P Header Box|ico=Autopilot.png|Paparazzi Hardware Manufacturers & Retailers}}

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

}}

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|100px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|100px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, software and hardware development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

Also, if you are located in or near the European Union you might want to check out [http://1bitsquared.de 1BitSquared German store] for faster and simpler delivery of Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in germany and deliver around the world. We create our own hardware and a groundstation that includes the rc transmitter and video rx. Complete paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 

== [[File:Ppzuav.jpg|100px|link=https://www.ppzuav.com/shop]] PPZUAV ==
[[Image:ApogeeV1_img01sm.JPG|thumb|100px|ApogeeV1]]
Assembling hardware for Paparazzi based projects since 2007.
We are a USA based company that makes the Open Sourced Paparazzi Hardware available around the World. If you need fully assembled or just PCBs we can help.

If you do not see what you need please do not hesitate to contact us via eMail to: sales@ppzuav.com for details.
Visit the [https://www.ppzuav.com/shop Web Store] to see the latest offerings.

Want to build your own SUMO Meteo research drone? We can help. We can provide the kit parts. Please contact us for details.

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

Category:Autopilots

2016-02-24T04:02:16Z

Dconger: PPZUAV related links updated

__NOTOC__
__NOEDITSECTION__

{{P Topic Table|{{P Header Box|ico=Autopilot.png|Autopilots}}
{{Category:Autopilots/Index}}

|{{P Header Box|ico=Autopilot.png|Paparazzi Autopilots}}

Hardware support for Autopilot versions currently in use.

[[Image:tiny13_family_top_sm.jpg|center|400px|Tiny 1.1 autopilots on the "assembly line"]]

One of the great advantages of Paparazzi is support for multiple hardware designs. The old Paparazzi board where based around ATMega MCUs. The current autopilots are designed around two primary processors:
*STM32 series microcontrollers
*LPC21xx series microcontrollers
There are active and current autopilots designs using both architectures. Not all autopilots have the same capabilities, peripherals or features, but each has advantages in different applications.

Currently, boards are designed around the STM32 microcontollers. Some of the autopilots use the STM32F1 and others the STM32F4 microcontrollers. This provides a wide range of choices resulting in a large variety of peripherals and speeds. Architecture-dependent firmware code is supported in part by [http://www.libopencm3.org libopencm3], as well as Chibi OS through the Paparazzi RT branch.

The LPC21xx based boards use the LPC2148 and have been flying fixed wing and multi-rotors for many years. This architecture is more mature but at the expense of speed and extra ports available on the newer STM32 series processors. The [[Tiny]] series, [[Booz]], [[TWOG/v1.0 | TWOG]], [[YAPA]], [[Umarim_Lite_v2 | Umarim]] and [[NavGo_v3 | NavGo]] autopilots all use the LPC2148.

Newer autopilots use either the STM32F1 or STM32F4 microcontrollers. You can choose from [[Lisa/M(X)]], [[Elle0]], [[Krooz]] or [[Apogee]] autopilots, depending on your processing and IO needs.

Some autopilots have also been designed for close integration with small single-board computers, particularly those based on [[OMAP]] processors such as the [http://www.gumstix.com/ Gumstix] [https://www.gumstix.com Overo] series. The [[Lisa/L]] and [[Classix]] boards are designed with this in mind, though other autopilots can be easily interfaced. Further information can be found [[OMAP|here]]. This also resulted in the ports of Paparazzi UAV to the Parrot [[AR Drone 2]], [[Bebop]] and [[Rolling Spider]] airframes, that come with built in embedded Linux computers as their autopilot hardware.

A basic feature comparison table is presented to help in the autopilot hardware selection process.

For information regarding architecture and firmware compatibility of various subsystems and modules, please see the appropriate [[Subsystems]] overview and [[Modules_list|Modules List]] pages.

<h2>Schematics, CAD files, Gerber files, BOM release strategy</h2>

<h3>About the hardware development and release process.</h3>

[https://github.com/paparazzi/paparazzi-hardware Files needed to create the hardware can be found here]. It is always good to remind oneself of the email Antoine once wrote in the mailing list before you want to start producing your own PCB's.

8 June 2011 13:25:47 Antoine Drouin wrote on the mailing list:

I've started this project together with Pascal 8 years ago and since then I have dedicated my time to try and make it successful. I'm utterly convinced of the benefits of open source, but observing how Paparazzi grew over time, I came to the conclusion that hardware is a bit different than software... "gcc tiny.brd" is not going to make a board magically appear on your desktop.

I'll list here some of my arguments in favor of releasing CAD files after the board is mature.

# Unlike software, where an unskilled user can type make and get a piece of complex software to successfully build, assembling hardware requires tools and skills. Providing gerbers and BOM have lured a bunch of new users into believing otherwise and has created tons of frustration. I've myself fixed a number of badly assembled boards and I even recall that while helping debugging a board (so after assembly), discovering that the person had manufactured two layers PCBs instead of four layers. As the technology of the autopilot increases, this problem becomes more and more important.
# The success of the project depends on the availability of affordable hardware. The price of hardware is directly and exponentially dependent on the number of manufactured units. If ten persons manufacture 10 boards each, the cost will be much higher than if one person manufactures 100.
# Last and not least, the quality of assembly also depends very much on the number of manufactured units. Good quality can only be achieved through the use of automated placing and soldering, and those processes can only be used if the number of units reach a certain amount.

'''For the autopilot comparison table see below.'''

}}

'''NOTE: This list contains only mature and fully supported autopilots designed specifically for the Paparazzi UAV project.'''

{{P Autopilot Table/Begin}}


{{P Autopilot Table/Entry
| name=Apogee
| version=V1.00
| active=Y
| buy=[[Apogee/v1.00#Where_to_Buy | Buy]]
| mcu part=STM32F405RGT6
| mcu clock=168MHz
| mcu flash=1024kB
| mcu ram=128 & 64kB
| sensor imu=Y
| sensor mag=Y
| sensor baro=Y
| sensor diff=N
| sensor gps=N
| io uart=3 & 1Rx
| io i2c=2
| io spi=1
| io adc=0 + 3 (12bit)
| io pwm=6 + 1
| io ppm out=N
| io ppm in=1 + 15
| io rc serial=1 (std & S.BUS)
| io gpio=0 + 4
| io led=4
| io usb=DFU bootloader + USB storage
| io can=Y
| io modem=N
| periph sd=SDIO + USB storage
| periph rtc=yes + backup cap
| periph other=mini-USB B
| program debug=USB(DFU) + SWD
| power input=5.5V - 17V
| power output=1A@3.3V, 1.5A@5V
| power switch=1 (5V)
| mechanical size=53 x 25 x 9mm
| mechanical weight=10g
| mechanical connectors=Picoblade
| mechanical pcb=4-layer
| mechanical mounting=4 x M2
| introduction date=Summer 2013
| previous version=
}}

{{P Autopilot Table/Entry
| name=Elle0
| version=V1.2
| active=Y
| buy=[http://1bitsquared.com/products/elle0-autopilot Pre-Order]
| mcu part=STM32F415RCT6
| mcu clock=168MHz
| mcu flash=1024kB
| mcu ram=192kB
| sensor imu=Y
| sensor mag=Y
| sensor baro=Y
| sensor diff=N
| sensor gps=N
| io uart=2 & 2RX/TX
| io i2c=1
| io spi=0
| io adc=2
| io pwm=8
| io ppm out=N
| io ppm in=1-8
| io rc serial=2
| io gpio=
| io led=4
| io usb=DFU bootloader
| io can=110
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=micro-USB B, JTAG
| program debug=USB (DFU) + JTAG
| power input=5V
| power output=2x299mA@3.3V
| power switch=1
| mechanical size=36mm x 36mm
| mechanical weight=
| mechanical connectors=JST9 + 0.1" pin header
| mechanical pcb=4-layer
| mechanical mounting=4 x M3
| introduction date=Winter 2015
| previous version=v1.1
}}

{{P Autopilot Table/Entry
| name=Lisa/S
| version=V1.1
| active=Y
| buy=[http://1bitsquared.com/products/lisa-s Buy]
| mcu part=STM32F103REY6
| mcu clock=72MHz
| mcu flash=512kB
| mcu ram=64kB
| sensor imu=Y
| sensor mag=Y
| sensor baro=Y
| sensor diff=N
| sensor gps=Y
| io uart=1 & 1RX
| io i2c=18
| io spi=0
| io adc=0
| io pwm=6
| io ppm out=N
| io ppm in=1
| io rc serial=1
| io gpio=0
| io led=4
| io usb=N
| io can=1
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=4 x brushed motor drivers
| program debug=SWD + UART
| power input=2.3V - 5.5V
| power output=1A@3.3V
| power switch=1
| mechanical size=20mm x 20mm x 5mm
| mechanical weight=2g
| mechanical connectors=0.05" header
| mechanical pcb=6-layer
| mechanical mounting=4 x M2
| introduction date=Summer 2013
| previous version=v1.0
}}

{{P Autopilot Table/Entry
| name=Lisa/M
| version=V2.1
| active=Y
| buy=[http://1bitsquared.com/products/lisa-m-autopilot Buy]
| mcu part=STM32F105RCT6
| mcu clock=72MHz
| mcu flash=256kB
| mcu ram=64kB
| sensor imu=Y
| sensor mag=Y
| sensor baro=Y
| sensor diff=N
| sensor gps=N
| io uart=2 & 2RX
| io i2c=1 + 15
| io spi=1
| io adc=3 + 2 (12bit)5
| io pwm=6 + 25
| io ppm out=N
| io ppm in=0 + 15
| io rc serial=2
| io gpio=1
| io led=5
| io usb=DFU bootloader
| io can=1
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=JTAG
| program debug=USB (luftboot)+ JTAG + UART
| power input=5V - 16V
| power output=500mA@3.3V, 250mA@5V
| power switch=N
| mechanical size=34mm x 60mm x 10mm
| mechanical weight=9.9g - 10.8g
| mechanical connectors=Picoblade & 0.1" Servo
| mechanical pcb=4-layer
| mechanical mounting=4 x M3
| introduction date=Winter 2012
| previous version=v2.0
}}

{{P Autopilot Table/Entry
| name=Lisa/L
| version=v1.1
| active=N
| buy=
| mcu part=STM32F103RE
| mcu clock=72MHz
| mcu flash=512kB
| mcu ram=64kB
| sensor imu=N
| sensor mag=N
| sensor baro=Y
| sensor diff=Y
| sensor gps=N
| io uart=3 & 1RX
| io i2c=2
| io spi=2
| io adc=3 (12bit)
| io pwm=6
| io ppm out=N
| io ppm in=1
| io rc serial=
| io gpio=
| io led=8
| io usb=JTAG + UART
| io can=1
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=Overo Gumstix
| program debug=JTAG + UART
| power input=6.1V - 18V
| power output=2.25@5V, 2.25A@3.3V, Other
| power switch=2
| mechanical size=~100mm x ~50mm
| mechanical weight=
| mechanical connectors=Picoblade
| mechanical pcb=4-layer
| mechanical mounting=4 x M3
| introduction date=Summer 2010
| previous version=v1.0
}}

{{P Autopilot Table/Entry
| name=KroozSD
| version=
| active=Y
| buy=[https://wiki.paparazziuav.org/wiki/KroozSD#Where_to_buy Buy]
| mcu part=STM32F405RGT6
| mcu clock=168MHz
| mcu flash=1024kB
| mcu ram=128 & 64kB
| sensor imu=krooz/ext
| sensor mag=Y
| sensor baro=Y
| sensor diff=N
| sensor gps=N
| io uart=3
| io i2c=2
| io spi=1
| io adc=4 + 1 (12bit)5
| io pwm=10 + 15
| io ppm out=N
| io ppm in=1
| io rc serial=
| io gpio=2 + 15
| io led=3
| io usb=bootloader
| io can=Y
| io modem=Xbee
| periph sd=SPI
| periph rtc=N
| periph other=micro-USB B
| program debug=
| power input=7V - 32V
| power output=1.5A@3.3V, 5A@5V
| power switch=N
| mechanical size=50mm x 60mm x 10mm
| mechanical weight=20g - 40g
| mechanical connectors=Picoblade & 0.1" Servo
| mechanical pcb=2-layer
| mechanical mounting=4 x M3
| introduction date=Spring 2013
| previous version=Krooz
}}

{{P Autopilot Table/Entry
| name=Umarim Lite v2 {{!}} Umarim Lite
| version=V2
| active=Y
| buy=[https://www.ppzuav.com/shop/index.php/product/umarim-lite-v2/ Buy]
| mcu part=LPC2148
| mcu clock=60MHz
| mcu flash=512kB
| mcu ram=32kB & 8kB
| sensor imu=Y
| sensor mag=N
| sensor baro=N
| sensor diff=N
| sensor gps=N
| io uart=2
| io i2c=1
| io spi=1
| io adc=86
| io pwm=6
| io ppm out=N
| io ppm in=1 + 15
| io rc serial=
| io gpio=0 + 46
| io led=2
| io usb=bootloader
| io can=Y
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=mini-USB B
| program debug=USB (pprz bootloader)
| power input=5.5V - 17V
| power output=1A@3.3V, 1.5A@5V
| power switch=N
| mechanical size=53mm x 25mm
| mechanical weight=8g
| mechanical connectors=Picoblade
| mechanical pcb=4-layer
| mechanical mounting=4 x M2
| introduction date=Summer 2012
| previous version=
}}

{{P Autopilot Table/Entry
| name=Umarim
| version=V1.0
| active=N
| buy=
| mcu part=LPC2148
| mcu clock=60MHz
| mcu flash=512kB
| mcu ram=32kB & 8kB
| sensor imu=Y
| sensor mag=N
| sensor baro=Y
| sensor diff=N
| sensor gps=N
| io uart=2
| io i2c=2
| io spi=1
| io adc=0 + 4 (10bit)
| io pwm=6
| io ppm out=N
| io ppm in=1 + 15
| io rc serial=
| io gpio=0 + 46
| io led=2
| io usb=bootloader
| io can=Y
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=
| program debug=USB (pprz bootloader)
| power input=5.5V - 17V
| power output=1A@3.3V, 1.5A@5V
| power switch=N
| mechanical size=56mm x 25mm
| mechanical weight=9g
| mechanical connectors=Picoblade
| mechanical pcb=4-layer
| mechanical mounting=4 x M2
| introduction date=Fall 2011
| previous version=
}}

{{P Autopilot Table/Entry
| name=NavGo
| version=V3
| active=Y
| buy=[https://www.ppzuav.com/shop/index.php/product/navgo-v3-00/ Buy]
| mcu part=LPC2148
| mcu clock=60MHz
| mcu flash=512kB
| mcu ram=32kB & 8kB
| sensor imu=Y
| sensor mag=Y
| sensor baro=Y
| sensor diff=N
| sensor gps=N
| io uart=2
| io i2c=2
| io spi=1
| io adc=0 + 4 (10bit)6
| io pwm=0 + 15
| io ppm out=N
| io ppm in=1
| io rc serial=
| io gpio=0 + 26
| io led=4
| io usb=bootloader
| io can=Y
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=
| program debug=USB (pprz bootloader)
| power input=5.5V - 16V
| power output=1A@3.3V, 1.5A@5V
| power switch=N
| mechanical size=35mm x 35mm
| mechanical weight=
| mechanical connectors=Picoblade
| mechanical pcb=4-layer
| mechanical mounting=4 x M2
| introduction date=Summer 2012
| previous version=
}}

{{P Autopilot Table/Entry
| name=Tiny
| version=v2.11
| active=Y
| buy=[https://www.ppzuav.com/shop/index.php/product/tiny-v2-11/ Buy]
| mcu part=LPC2148
| mcu clock=60MHz
| mcu flash=512kB
| mcu ram=32kB & 8kB
| sensor imu=N
| sensor mag=N
| sensor baro=N
| sensor diff=N
| sensor gps=Y
| io uart=1
| io i2c=1
| io spi=1
| io adc=0 + 1 (10bit)6
| io pwm=8
| io ppm out=1
| io ppm in=1
| io rc serial=
| io gpio=2
| io led=3
| io usb=bootloader
| io can=Y
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=
| program debug=USB (pprz bootloader)
| power input=6.1V - 18V
| power output=1A@3.3V, 2.25A@5V
| power switch=1
| mechanical size=70.8mm x 40mm
| mechanical weight=24g
| mechanical connectors=Picoblade
| mechanical pcb=2-layer
| mechanical mounting=no
| introduction date=Fall 2007
| previous version=v1.1
}}

{{P Autopilot Table/Entry
| name=TWOG
| version=v1.0
| active=N
| buy=
| mcu part=LPC2148
| mcu clock=60MHz
| mcu flash=512kB
| mcu ram=32kB & 8kB
| sensor imu=N
| sensor mag=N
| sensor baro=N
| sensor diff=N
| sensor gps=N
| io uart=2
| io i2c=1
| io spi=1
| io adc=8 (10bit)
| io pwm=8
| io ppm out=1
| io ppm in=1
| io rc serial=
| io gpio=2
| io led=3
| io usb=bootloader
| io can=Y
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=
| program debug=USB (pprz bootloader)
| power input=6.1V - 18V
| power output=1A@3.3V, 2.25A@5V
| power switch=1
| mechanical size=40.2mm x 30.5mm
| mechanical weight=8g
| mechanical connectors=Picoblade
| mechanical pcb=2-layer
| mechanical mounting=no
| introduction date=Spring 2008
| previous version=
}}

{{P Autopilot Table/Entry
| name=YAPA
| version=v2.0
| active=N
| buy=
| mcu part=LPC2148
| mcu clock=60MHz
| mcu flash=512kB
| mcu ram=32kB & 8kB
| sensor imu=N
| sensor mag=N
| sensor baro=N
| sensor diff=N
| sensor gps=N
| io uart=2
| io i2c=1
| io spi=1
| io adc=6 (10bit)
| io pwm=10
| io ppm out=N
| io ppm in=1
| io rc serial=
| io gpio=1
| io led=3
| io usb=bootloader
| io can=Y
| io modem=Xbee
| periph sd=N
| periph rtc=N
| periph other=RS232
| program debug=USB (pprz bootloader)
| power input=6.1V - 18V
| power output=2x 1A@3.3V, 2.25A@5V
| power switch=1
| mechanical size=80.0mm x 40.0mm?
| mechanical weight=23g w/ XBee?
| mechanical connectors=0.1" Headers
| mechanical pcb=2-layer
| mechanical mounting=4x M3
| introduction date=Spring 2011
| previous version=v1.0
}}

{{P Autopilot Table/Entry
| name=HBmini
| version=v2.0
| active=N
| buy=
| mcu part=LPC2148
| mcu clock=60MHz
| mcu flash=512kB
| mcu ram=32kB & 8kB
| sensor imu=Y
| sensor mag=Y
| sensor baro=Y
| sensor diff=N
| sensor gps=N
| io uart=2
| io i2c=2
| io spi=1
| io adc=8 (10bit)(16bit)
| io pwm=10
| io ppm out=
| io ppm in=
| io rc serial=
| io gpio=11
| io led=2
| io usb=bootlader
| io can=N
| io modem=N
| periph sd=N
| periph rtc=N
| periph other=Buzzer
| program debug=JTAG
| power input=6.1-18V
| power output=1A@3.3V, 2.25A@5V
| power switch=4
| mechanical size=57x30mm
| mechanical weight=30
| mechanical connectors=Picoblade & 0.1" Servo
| mechanical pcb=4-layer
| mechanical mounting=4 x M2
| introduction date=Winter 2012
| previous version=
}}

{{P Autopilot Table/End}}

'''Notes:'''

This table was created using a [https://docs.google.com/spreadsheets/d/1TktQCAiIyBRtwVCMfdT2Y5R6Eyvzh24047Bab7tLsCM/edit?usp=sharing google document spreadsheet]. If you want to add or improve anything in the table, please contact [[User:Esden|Esden]] to get write access to the spreadsheet. This makes editing and maintaining of the table much easier!

'''1.''' Only the newest revisions of the more commonly used autopilots are listed

'''2.''' The extra 8kB of RAM on the LPC2148 shared with the USB DMA

'''3.''' The onboard sensors are almost always supplemented with external sensors. For example, TWOG can use an external IMU or IR sensors, and also needs an external GPS.

'''4.''' Input/Outputs listed are generally those easily accessible on regular autopilot connectors, customization/hacks can modify available I/O, for example free an extra I2C on Tiny and TWOG

'''5., 6.''' Some features use shared resources - denoted by X + Y where Y is shared - and cannot be used simultaneously

'''5.''' Lisa/M v2.0 shared resources include: one I2C is shared with 2 PWM outputs, two ADCs are shared with LEDs, one RX only UART is shared with the PPM capture

'''6.''' Umarim v1.0 shared resources include: 4 ADCs are shared with 4 GPIOs

'''7.''' Usually other unused pins can be used for additional GPIO with some code modifications

'''8.''' Many of the pins have multiple purposes. Servo 5&6 can be used for i2c even though there is no dedicated connector.

'''9.''' The two JST connectors, provide a combined RX and TX connection. The RX & TX lines are combined through a 100Ohm resistor. The GPS and Telemetry connectors are full TTL UARTs.

'''10.''' Only the CAN RX&TX lines are exposed, no transceiver included on board.

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2015-12-07T03:17:46Z

Dconger: Updated contact email.

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] or directly from the [[Autopilots|hardware Wiki pages]] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] or [https://creativecommons.org/licenses/ Creative Commons License] <ref>Check the files for applicable licensing</ref> which requires only that the open-source nature of the project be maintained by all who redistribute it.

<hr>

 
 

= Companies =

In alphabetical order:

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1BitSquared ==
[[Image:Lisa S V0 1 r2 on finger.jpg|thumb|100px|[[Lisa/S]]]] [[Image:Elle0-v1_2-in-hand-prototype.jpg|thumb|100px|[[Elle0]]]]
[http://1bitsquared.com 1BitSquared] is a Paparazzi UAV, development, manufacturing and consulting company founded by [[User:Esden|Piotr Esden-Tempski aka esden]]. 
They are the developers of several new Paparazzi UAV autopilots and accessory electronics, and actively contribute to the project.

Among others [http://1bitsquared.com 1BitSquared] has developed and contributed:
* [[Lisa/S]] nano autopilot
* [[Elle0]] autopilot
* [[Lisa/M_v2.0|Lisa/M(X) V2.1]] autopilots
* Various code improvements and fixes including the port of the STM32 platform to libopencm3.

Check out the [http://1bitsquared.com 1BitSquared store] for Paparazzi hardware and accessories.

 

== [[File:Drotek.png|100px|link=http://www.drotek.fr]] Drotek ==

[http://www.drotek.fr Drotek] is now selling [[Apogee/v1.00|Apogee v1.0]] boards on its [http://www.drotek.com/shop/en/183-paparazzi webstore].

Other parts such as GPS, IMU or Magnetometer breakout boards are also available.

 

== [[File:Luftfotos24.jpg|100px|link=http://www.luftfotos24.de/de/]] Luftfotos24 ==
We produce ready-to-fly paparazzi systems for everyone.

We are a company based in germany and deliver around the world. We create our own hardware and a groundstation that includes the rc transmitter and video rx. Complete paparazzi systems are available at: [http://shop.luftfotos24.de Shop Luftfotos24]

 

== [[File:Ppzuav.jpg|100px|link=https://www.ppzuav.com/osc]] PPZUAV ==
[[Image:ApogeeV1_img01sm.JPG|thumb|100px|ApogeeV1]]
Assembling hardware for Paparazzi based projects since 2007.
We are a USA based company that makes the Open Sourced Paparazzi Hardware available around the World. If you need fully assembled or just PCBs we can help.

If you do not see what you need please do not hesitate to contact us via eMail to: ppzuav@gmail.com for details.
Visit the [https://www.ppzuav.com/osc Web Store] to see the latest offerings.

Want to build your own SUMO Meteo research drone? We can help. We can provide the kit parts. Please contact us for details.

 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|50px]] Transition Robotics Inc.] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [http://thequadshot.com Quadshot], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Electronic distributor, sells all kinds of electronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Paparazzi specific bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free worldwide shipping. Minimum order is 3 pcs.

==[http://PCBShopper.com/ PCBShopper]==
A hobbyist-created site for finding the cheapest PCB manufacturer. Enter the size, layers, and quantity of the board you designed, and PCBShopper will give you prices and delivery time from several different manufacturers.

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

= References =
<references/>

[[Category:Hardware]] [[Category:User_Documentation]]

Installation/Linux

2015-02-08T04:36:30Z

Dconger: /opt is owned by root so you must use sudo command with tar extracting the archive to /opt

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

'''This page only describes the installation of the prerequisite tools and dependencies on Debian/Ubuntu needed for Paparazzi.'''

'''See the general [[Installation]] page for how to [[Installation#Getting_the_Source_Code|download Paparazzi]] and [[Installation#Launching_the_Software|launching it]] after you followed the instructions here.'''

== Introduction ==

Paparazzi is very easily installed on any laptop or workstation running [http://www.ubuntu.com/ Ubuntu], [http://www.debian.org/ Debian] (or any of their derivatives).

The steps required to install the software needed to be able to let your UAS fly
<ul>
<li>[[Installation/Linux#Installation_of_dependencies|Install the basic Paparazzi dependencies]] and the [[Installation/Linux#ARM_embedded_toolchain|ARM cross compiling toolchain.]]
<li>[[Installation#Getting_the_Source_Code|Download the source code from the source repository.]]
<li>Allow access to your PC hardware connection by adding appropriate [[Udev]] rules.
<li>[[Installation#Launching_the_Software|Compile the binaries from the sources and launch the software.]]
</ul>

Users of other Linux flavors than a recent Ubuntu or Debian and anyone needing manual control of each individual package can [[Installation/Manual|install them independently]].

===For the impatient===

For Ubuntu add the [https://launchpad.net/~paparazzi-uav/+archive/ppa paparazzi-uav ppa] <tt>sudo add-apt-repository ppa:paparazzi-uav/ppa</tt> and install the <tt>paparazzi-dev</tt> package.

Since Paparazzi v5.0 the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended.
Available as of Ubuntu 14.04, on older versions it can be [[Installation/Linux#ARM_embedded_toolchain|installed via tarball]].

Or just use the [[Installation#Quickstart_on_Ubuntu_12.04|Quickstart for Ubuntu 12.04 LTS]].

== Installation video Tutorials ==

{{#ev:youtubehd|SshFJrBuku8}} {{#ev:youtubehd|eW0PCSjrP78}}

== Installation of dependencies ==

=== Ubuntu ===

Add the installation sources for the Paparazzi software packages. Run from a terminal:
sudo add-apt-repository ppa:paparazzi-uav/ppa

Then update the systems package inventory and install the main Paparazzi software dependencies. This will take some time.
sudo apt-get update
sudo apt-get install paparazzi-dev

=== Debian ===

For Debian Squeeze (6.0) and Wheezy (7.0) packages are built using the [http://openbuildservice.org/ Open Build Service (OBS)] on [https://build.opensuse.org/project/show?project=home%3Aflixr%3Apaparazzi-uav OpenSUSE Build Service project home:flixr:paparazzi-uav]

[http://software.opensuse.org/download/package?project=home:flixr:paparazzi-uav&package=paparazzi-dev Install paparazzi-dev]

First add the key:
wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/Release.key" -O- | apt-key add -

Add the appropriate repo, depending on your Debian version to sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_6.0/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/ ./" | tee -a /etc/apt/sources.list

Update the systems package inventory and install the main Paparazzi software dependencies.
sudo apt-get update
sudo apt-get install paparazzi-dev

== ARM embedded toolchain ==

For current Paparazzi versions (v5.0 and above) the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended, which also supports the STM32F4 with FPU (hardware floating point).

The most common way is to download and unpack the tarball and add it to your PATH:

[http://pixhawk.org/dev/toolchain_installation_lin The Pixhawk Devs have mentioned the 4.8 as buggy.]

cd ~
wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q2-update/+download/gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
sudo tar -vjxf gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2 -C /opt
rm -r gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
exportline="PATH=$PATH:/opt/gcc-arm-none-eabi-4_7-2013q2/bin"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
source ~/.profile

The file .profile will be sourced in every bash after logging out and in again. Until then,
source ~/.profile
can be used for every bash individually.

If you can not access your toolchain with PATH working, look a the [[Installation/Linux#Troubleshooting]].

==== ARM gcc-arm-embedded toolchain (from launchpad) - Debian Quick (Manual) Install Process ====

This approach is quick and low risk as it does not rely on any packages or make modifications to the system.

* Download latest gcc-arm-none-eabi-*-*-linux.tar.bz2 from [https://launchpad.net/gcc-arm-embedded/+download External Downloads] section of ARM gcc-arm-embedded project
* Create /opt/paparazzi folder if it does not exist
sudo mkdir /opt/paparazzi
* Decompress file to /opt/
sudo tar -xvf [name_of_downloaded_bz2_file] -C /opt
* Create symlink so Paparazzi Makefile can find the library
sudo ln -s /opt/[gcc-arm-xxxxxxx_name_of_folder] /opt/paparazzi/arm-multilib
* Attempt to build paparazzi autopilot firmware (example, Paparazzi Center build target ap)

=== gcc-arm-none-eabi as Debian/Ubuntu package ===

Note that there are actually two '''different''' toolchains available that unfortunately have the same package name!
* [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain]
** includes libstdc++ and newlib-nano
* [https://packages.debian.org/jessie/gcc-arm-none-eabi Debian gcc-arm-none-eabi toolchain]
** does not include libstdc++
** does not include newlib-nano

Both toolchains ''should'' work for most use-cases (if you don't need C++ or nano specs), although the [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain] is better tested.

==== gcc-arm-embedded toolchain ====

On ''most'' Ubuntu versions (currently lucid, precise, raring, saucy and trusty) the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] can be installed as a debian package from the [https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded ppa]:
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi

!!! If you are using Ubuntu 14.04 and later, please be careful because there are packages with same name but produced by Debian and inherited by Ubuntu. Simply follow the above 3 steps, you may end up with gcc-arm-none-eabi from Ubuntu. So to install gcc-arm-none-eabi from ARM, steps are:

sudo apt-get remove binutils-arm-none-eabi gcc-arm-none-eabi
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi=4.9.3.2014q4-0trusty12
Meanwhile we are working with Debian to consolidate and unify this toolchain.

==== gcc-arm-none-eabi Debian toolchain ====

Debian testing ('''jessie''') and Ubuntu 14.04 ('''trusty''') have the gcc-arm-none-eabi package in the official repositories ('''universe'''), and can be installed with:
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi

=== Old toolchain for Paparazzi v4.x and earlier ===

'''For Paparazzi v4.x''' and earlier you need to install the <tt>paparazzi-arm-multilib</tt> package. It has support for both ARM7 (i.e. Tiny,TWOG,YAPA autopilot boards) as well as STM32F1 (i.e. LISA boards). 
'''This toolchain does not properly support STM32F4 based autopilots!!'''

You can install it explicitly with:
sudo apt-get install paparazzi-arm-multilib

== Optional Packages ==

The packages lpc21isp and openocd are normally '''automatically installed''' as they are recommended packages of paparazzi-dev, '''if not''' you can manually install them via:

sudo apt-get install lpc21isp openocd

<tt>lpc21isp</tt> is needed to serially flash the LPC2148 based autopilots (e.g. bootloader for tiny, twog, umarim), <tt>openocd</tt> is for flashing via JTAG (e.g. for Lisa boards) and debugging.

== Installing and running Paparazzi ==

Please see [[Installation#Getting_the_Source_Code|Getting the Source Code on the general Installation page]] for details on downloading the Paparazzi source code, compiling and running it.

== Udev rules ==

Add the appropriate [[Udev]] rule (available in fhe file ''50-paparazzi.rules'') to the USB handler. Simply copy as root <tt>conf/system/udev/rules/50-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>, e.g in a terminal:

cd <your paparazzi directory>
sudo cp conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/

See the [[Udev]] page for more details.

== Troubleshooting ==

=== No access rights for USB devices ===

Some Linux distributions, don't allow standard (non admin) users to directly access the USB bus by default. On recent Ubuntu/Debian versions the first/main user is already a member of the ''plugdev'' group which should be sufficient for most cases. 
If you have problems, make yourself a member of the ''plugdev'' and ''dialout'' groups:

sudo adduser <your login> plugdev
sudo adduser <your login> dialout

Logout and login again.

=== arm-none-eabi-gcc: Command not found ===
Appeared on Debian Wheezy 7 (gcc-arm-none-eabi-4_8-2013q4 installed via tarball) 
If this error occurs, maybe the [https://packages.debian.org/de/wheezy/ia32-libs ia32-libs] are missing.

Enable multiarch and install ia32-libs:
dpkg --add-architecture i386
apt-get update
apt-get install ia32-libs

===arm-none-eabi-gdb: error with libncurses.so.5===
Appeared on Xubuntu 14.04 LTS (gcc-arm-none-eabi-4_8-2013q4 installed via tarball) 
Terminal output: arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory

If this error occours, maybe [http://packages.ubuntu.com/search?keywords=lib32ncurses5 lib32ncurses5] is missing. 
Found on [https://answers.launchpad.net/gcc-arm-embedded/+question/226680 launchpad q&a]

=== FTDI serial adapter not working on old Ubuntu version ===

On older Linux distributions (not needed for lucid and later), the Braille TTY driver interferes with FTDI USB Serial adapters. If somehow your FTDI serial adapter does not work, remove the package via:

sudo apt-get remove brltty

=== Code not starting on autopilot after changing gcc ===

If you changed the toolchain (e.g. installed a new one for having FPU-Support for the F4), you need to run

make clean && make

in sw/ext in order to rebuild the libs. Otherwise the embedded code can behave strange (most likely not start)

[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]

Control Loops

2015-01-23T13:00:42Z

Dconger: /* General Information */

This page presents the default control loops used by the Paparazzi airborne code for navigation, guidance and control.

= General Information =

All the possible combinations of control loops might not be fully detailed. This is especially the case when using extra features such as '''AGR_CLIMB''', '''STRONG_WIND''', etc.

In the following diagrams, the block '''s''' is used for the '''derivative''' function and '''1/s''' is used for the '''integrator''' function.

The variables' names are the ones used in the airborne code (written in '''C'''). Most of these can be used, all caps, in the [[Airframe Configuration]] file in order to define the default values of these variables. If you see all capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.

The most direct way to determine vehicle behavior is to look at the source code. When determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in var/<AIRCRAFT_NAME>/generated/flight_plan.h.

= Fixed-wing autopilot =

== Global view ==

[[Image:Diagram_general.png|General overview]]

The elements '''servos''', '''rc_commands''', '''commands''' and '''command_laws''' correspond to specific section of the [[Airframe Configuration]] file. Most of the code located in these blocks is generated from the xml of the configuration file.

The value '''+/-9600''' correspond to '''+/-MAX_PPRZ'''. This '''pprz''' unit is used as a normalized internal unit for input and output values of the '''control_laws''' block.

== Navigation loop ==

The navigation loop is located in '''sw/airborne/subsystems/nav.*'''. The navigation routines are called from the [[Flight Plans]]. Advanced navigation routines are in '''sw/airborne/subsystems/navigation/'''.

== Course loop ==

[[Image:Diagram_course_loop.png|Course loop]]

The course loop is the upper stage of the horizontal control.
It is located in '''sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c''' (formerly fw_h_ctl.c).

== Roll loop ==

[[Image:Diagram_roll_loop.png|Roll loop]]

The roll loop is the lower stage of the horizontal control and is used for lateral attitude stabilization. It is located in '''stabilization_attitude.c'''.
If <tt>H_CTL_ROLL_ATTITUDE_GAIN</tt> is undefined, the code will fallback to a attitude-only loop, where <tt>estimator_p</tt> is disregarded and the gain for <tt>estimator_phi</tt> is <tt>H_CTL_ROLL_PGAIN</tt>.

Note; estimator_phi is the measured roll angle, and estimator_p is the measured rate of change in roll angle.

== Altitude loop ==

[[Image:Diagram_altitude_loop.png|Altitude loop]]

The altitude loop is the upper stage of the vertical control.
It is located in '''sw/airborne/firmwares/fixedwing/guidance/guidance_v.c''' (formerly fw_v_ctl.c)
If AGR_CLIMB is defined in the airframe file, the altitude loop also sets the v_ctl_auto_throttle_submode for use in the climb loop.

== Auto Throttle and Auto Pitch climb loops ==

Two climb loops are available. The are called from the [[Flight Plans#Navigation_modes|flight plan]] by changing the vertical navigation mode. The default mode is '''Auto Throttle'''. The '''Auto Pitch''' loop is only available if '''V_CTL_AUTO_PITCH_PGAIN''' is defined. Only one loop is active at a time. Note also that if '''USE_AIRSPEED''' is defined, then the Auto Throttle loop is replaced by the Auto Airspeed loop, see [Control_Loops#Control_loops_using_Airspeed_Sensor|below].

=== Auto throttle loop ===
[[Image:Diagram_auto_throttle_loop.png|Auto Throttle climb loop]]

If '''AGR_CLIMB''' is defined, then the auto throttle submode is used to determine setpoint outputs. This may be the standard control loop outputs, the aggressive outputs (static setpoints defined in airframe file) or a blend of both.

=== Auto pitch loop ===
[[Image:Diagram_auto_pitch_loop.png|924px|Auto Pitch climb loop]]

The climb loop is the intermediate stage of the vertical control. It is located in '''guidance_v.c'''.

== Pitch loop ==

[[Image:Diagram_pitch_loop.png|Pitch loop]]

The pitch loop is the lower stage of the vertical control and is used for longitudinal attitude stabilization. It is located in '''stabilization_attitude.c'''.
The first sum block of the diagram is not completely accurate. The input to the pitch stabilization loop is h_ctl_pitch_setpoint, though v_ctl_pitch_of_vz is not a direct input. Rather h_ctl_pitch_setpoint is assigned in the main autopilot loop from nav_pitch, in general (in auto1, it is assigned directly from the pitch r/c input). The nav_pitch value is obtained in a few ways, depending on which control loop(s) are active. If auto throttle is active, nav_pitch is the sum of v_ctl_pitch_of_vz and a fixed setpoint defined using the pitch attribute in the flightplan. If AGR_CLIMB is set, nav_pitch is either the airframe file defined ascent and descent pitch setpoints, the standard sum, or a blend of each. If auto pitch is active, nav_pitch is defined directly from the output of that loop. If airspeed is active, nav_pitch is defined in the auto airspeed pitch loop.

== Control loops using Airspeed Sensor ==

Adding an airspeed sensor measures actual airspeed resulting in better throttle control and aircraft performance especially in windy conditions. The use of an airspeed sensor is described [[Airspeed_sensor|here]].

[[Image:Diagram_auto_airspeed_loop.png|Auto Airspeed climb loop]]

The auto airspeed cascaded control loops control both pitch and throttle. This control loop set replaces the Auto Throttle climb loop; it is engaged in the same manner in the flight plan. It is located in '''guidance_v.c'''.

== Energy Control loops using Airspeed Sensor ==

Total Energy (speed + height) control for fixed wing vehicles developed by the [http://www.mavlab.info MAVLab] of the Technical [http://www.tudelft.nl University] of Delft. An airspeed sensor is mandatory.
The energy control loops control both pitch and throttle. This control loop set replaces the Auto Throttle climb loop and is located in '''energy_ctrl.c'''.

[[Image:Energycontrol.png|Energy Control loop]]

= Rotorcraft autopilot =

The schemes of the multi-rotor autopilot were made with the drawing tool from Google docs. To edit the drawings, send an e-mail to microuav@gmail.com.

== Overview ==

[[Image:Booz_autopilot_globalview.png]]

The code for this autopilot is located in '''sw/airborne/firmwares/rotorcraft'''.

== Vertical Control ==

Depending on the general mode selected, one of the following vertical modes is used.

=== mode: GUIDANCE_V_MODE_RC_CLIMB (speed control) ===
[[File:Rc_climb.png]]

=== mode: GUIDANCE_V_MODE_CLIMB (speed control) ===
[[File:Climb.png]]

=== mode: GUIDANCE_V_MODE_HOVER (altitude control) ===
[[File:Z_hold.png]]

=== mode: GUIDANCE_V_MODE_NAV ===

== Reference generators ==

z relates to altitude, zd to speed and zdd to acceleration

=== from z set point (desired altitude) ===

[[Image:Refgen_from_z_sp.png]]

=== from z dot set point (desired speed) ===

[[Image:Booz_refgen_zdot.png]]]

The '''adjust accel''' is a simple algorithm to set acceleration to zero when velocity reaches boundaries.

The code for these reference generators is located in '''guidance/guidance_v_ref.c'''

== Vertical loop ==
[[File:vertical_loop_V40.png]]

the source code is located in '''guidance\guidance_v.c'''

NOMINAL_HOVER_THROTTLE is the nominal thrust when hovering. It's calculated by default by an adaptative controller, in '''guidance\guidance_v_adpt.h'''.

Instead of the adaptative controller, NOMINAL_HOVER_TROTTLE can be set manually in the Airframe configuration file with:

<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>

The value is found after flying manually in hover: NOMINAL_HOVER_THROTTLE= THRUST/MAX_PPRZ (THRUST:mean value of ROTORCRAFT_FP THRUST message in hover, MAX_PPRZ:9600)

In most cases it makes more sense to not specify this explicitly and use the adaptive controller

== Horizontal Control ==

Depending on the general mode selected, one of the following horizontal modes is used.

=== mode: GUIDANCE_H_MODE_RATE ===
[[Image:GUIDANCE_H_MODE_RATE.png]]

=== mode: GUIDANCE_H_MODE_ATTITUDE ===
[[Image:GUIDANCE_H_MODE_ATTITUDE.png]]

=== mode: GUIDANCE_H_MODE_HOVER ===

When this mode is entered, the measured position at the instance of initiation is set as guidance_h_pos_sp. This means that the rotorcraft will hover on that position.

[[Image:GUIDANCE_H_MODE_HOVER.png]]

rotation to body:

<math>\phi_{cmd_{body}}= -\sin \psi \cdot x_{cmd_{earth}} + \cos \psi \cdot y_{cmd_{earth}} </math>

<math>\theta_{cmd_{body}}= -\left( \cos \psi \cdot x_{cmd_{earth}} + \sin \psi \cdot y_{cmd_{earth}} \right) </math>

=== mode: GUIDANCE_H_MODE_NAV ===

The set points guidance_h_pos_sp (x and y coordinates) are obtained from the navigation carrot after a 'NED of ENU' transformation:

guidance_h_pos_sp.x = navigation_carrot.y

guidance_h_pos_sp.y = navigation_carrot.x

[[Image:GUIDANCE_H_MODE_NAV.png]]

Rotation to body is the same as in GUIDANCE_H_MODE_HOVER.

== Reference generators ==

=== from euler attitude angle set point ===

[[Image:Booz_refgen_att.png]]

Acceleration is set to zero when rate reaches min or max value.

The code for this reference generator is located in '''stabilization/stabilization_attitude_ref_euler_int.c'''.

=== from angular rate set point ===

[[Image:Booz_refgen_rate.png]]

The code for this reference generator is located in '''stabilization/stabilization_rate.c'''.

=== from pos set point ===

[[Image:Booz_refgen_xy_sp.png]]

Acceleration is set to zero when rate reaches min or max value.

The code for this reference generator is located in '''guidance/guidance_h_ref.h'''.

== Attitude loop ==

[[Image:attitude_loop.png]]

The code for this loop is located in '''stabilization/stabilization_attitude_euler_int.c'''.

== Rate loop ==

[[Image:rate_loop.png]]

The code for this loop is located in '''stabilization/stabilization_rate.c'''.

== Guidance horizontal hover loop ==

[[Image:guidance_horizontal_hover.png]]

The code for this loop is located in '''guidance/guidance_h.c'''.

== Guidance horizontal navigation loop ==

[[Image:Booz_horizontal_nav.png]]

The code for this loop is located in '''guidance/guidance_h.c'''

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

Control Loops

2015-01-23T12:54:58Z

Dconger: /* General Information */

This page presents the default control loops used by the Paparazzi airborne code for navigation, guidance and control.

= General Information =

All the possible combinations of control loops might not be fully detailed. This is especially the case when using extra features such as '''AGR_CLIMB''', '''STRONG_WIND''', etc.

In the following diagrams, the block '''s''' is used for the '''derivative''' function and '''1/s''' is used for the '''integrator''' function.

The variables' names are the ones used in the airborne code (written in '''C'''). Most of this name can the used capitalized in the [[Airframe Configuration]] file in order to define the default value of these variables. If in capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.

The most direct way to determine vehicle behavior is to look at the source code. When determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in var/<AIRCRAFT_NAME>/generated/flight_plan.h.

= Fixed-wing autopilot =

== Global view ==

[[Image:Diagram_general.png|General overview]]

The elements '''servos''', '''rc_commands''', '''commands''' and '''command_laws''' correspond to specific section of the [[Airframe Configuration]] file. Most of the code located in these blocks is generated from the xml of the configuration file.

The value '''+/-9600''' correspond to '''+/-MAX_PPRZ'''. This '''pprz''' unit is used as a normalized internal unit for input and output values of the '''control_laws''' block.

== Navigation loop ==

The navigation loop is located in '''sw/airborne/subsystems/nav.*'''. The navigation routines are called from the [[Flight Plans]]. Advanced navigation routines are in '''sw/airborne/subsystems/navigation/'''.

== Course loop ==

[[Image:Diagram_course_loop.png|Course loop]]

The course loop is the upper stage of the horizontal control.
It is located in '''sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c''' (formerly fw_h_ctl.c).

== Roll loop ==

[[Image:Diagram_roll_loop.png|Roll loop]]

The roll loop is the lower stage of the horizontal control and is used for lateral attitude stabilization. It is located in '''stabilization_attitude.c'''.
If <tt>H_CTL_ROLL_ATTITUDE_GAIN</tt> is undefined, the code will fallback to a attitude-only loop, where <tt>estimator_p</tt> is disregarded and the gain for <tt>estimator_phi</tt> is <tt>H_CTL_ROLL_PGAIN</tt>.

Note; estimator_phi is the measured roll angle, and estimator_p is the measured rate of change in roll angle.

== Altitude loop ==

[[Image:Diagram_altitude_loop.png|Altitude loop]]

The altitude loop is the upper stage of the vertical control.
It is located in '''sw/airborne/firmwares/fixedwing/guidance/guidance_v.c''' (formerly fw_v_ctl.c)
If AGR_CLIMB is defined in the airframe file, the altitude loop also sets the v_ctl_auto_throttle_submode for use in the climb loop.

== Auto Throttle and Auto Pitch climb loops ==

Two climb loops are available. The are called from the [[Flight Plans#Navigation_modes|flight plan]] by changing the vertical navigation mode. The default mode is '''Auto Throttle'''. The '''Auto Pitch''' loop is only available if '''V_CTL_AUTO_PITCH_PGAIN''' is defined. Only one loop is active at a time. Note also that if '''USE_AIRSPEED''' is defined, then the Auto Throttle loop is replaced by the Auto Airspeed loop, see [Control_Loops#Control_loops_using_Airspeed_Sensor|below].

=== Auto throttle loop ===
[[Image:Diagram_auto_throttle_loop.png|Auto Throttle climb loop]]

If '''AGR_CLIMB''' is defined, then the auto throttle submode is used to determine setpoint outputs. This may be the standard control loop outputs, the aggressive outputs (static setpoints defined in airframe file) or a blend of both.

=== Auto pitch loop ===
[[Image:Diagram_auto_pitch_loop.png|924px|Auto Pitch climb loop]]

The climb loop is the intermediate stage of the vertical control. It is located in '''guidance_v.c'''.

== Pitch loop ==

[[Image:Diagram_pitch_loop.png|Pitch loop]]

The pitch loop is the lower stage of the vertical control and is used for longitudinal attitude stabilization. It is located in '''stabilization_attitude.c'''.
The first sum block of the diagram is not completely accurate. The input to the pitch stabilization loop is h_ctl_pitch_setpoint, though v_ctl_pitch_of_vz is not a direct input. Rather h_ctl_pitch_setpoint is assigned in the main autopilot loop from nav_pitch, in general (in auto1, it is assigned directly from the pitch r/c input). The nav_pitch value is obtained in a few ways, depending on which control loop(s) are active. If auto throttle is active, nav_pitch is the sum of v_ctl_pitch_of_vz and a fixed setpoint defined using the pitch attribute in the flightplan. If AGR_CLIMB is set, nav_pitch is either the airframe file defined ascent and descent pitch setpoints, the standard sum, or a blend of each. If auto pitch is active, nav_pitch is defined directly from the output of that loop. If airspeed is active, nav_pitch is defined in the auto airspeed pitch loop.

== Control loops using Airspeed Sensor ==

Adding an airspeed sensor measures actual airspeed resulting in better throttle control and aircraft performance especially in windy conditions. The use of an airspeed sensor is described [[Airspeed_sensor|here]].

[[Image:Diagram_auto_airspeed_loop.png|Auto Airspeed climb loop]]

The auto airspeed cascaded control loops control both pitch and throttle. This control loop set replaces the Auto Throttle climb loop; it is engaged in the same manner in the flight plan. It is located in '''guidance_v.c'''.

== Energy Control loops using Airspeed Sensor ==

Total Energy (speed + height) control for fixed wing vehicles developed by the [http://www.mavlab.info MAVLab] of the Technical [http://www.tudelft.nl University] of Delft. An airspeed sensor is mandatory.
The energy control loops control both pitch and throttle. This control loop set replaces the Auto Throttle climb loop and is located in '''energy_ctrl.c'''.

[[Image:Energycontrol.png|Energy Control loop]]

= Rotorcraft autopilot =

The schemes of the multi-rotor autopilot were made with the drawing tool from Google docs. To edit the drawings, send an e-mail to microuav@gmail.com.

== Overview ==

[[Image:Booz_autopilot_globalview.png]]

The code for this autopilot is located in '''sw/airborne/firmwares/rotorcraft'''.

== Vertical Control ==

Depending on the general mode selected, one of the following vertical modes is used.

=== mode: GUIDANCE_V_MODE_RC_CLIMB (speed control) ===
[[File:Rc_climb.png]]

=== mode: GUIDANCE_V_MODE_CLIMB (speed control) ===
[[File:Climb.png]]

=== mode: GUIDANCE_V_MODE_HOVER (altitude control) ===
[[File:Z_hold.png]]

=== mode: GUIDANCE_V_MODE_NAV ===

== Reference generators ==

z relates to altitude, zd to speed and zdd to acceleration

=== from z set point (desired altitude) ===

[[Image:Refgen_from_z_sp.png]]

=== from z dot set point (desired speed) ===

[[Image:Booz_refgen_zdot.png]]]

The '''adjust accel''' is a simple algorithm to set acceleration to zero when velocity reaches boundaries.

The code for these reference generators is located in '''guidance/guidance_v_ref.c'''

== Vertical loop ==
[[File:vertical_loop_V40.png]]

the source code is located in '''guidance\guidance_v.c'''

NOMINAL_HOVER_THROTTLE is the nominal thrust when hovering. It's calculated by default by an adaptative controller, in '''guidance\guidance_v_adpt.h'''.

Instead of the adaptative controller, NOMINAL_HOVER_TROTTLE can be set manually in the Airframe configuration file with:

<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>

The value is found after flying manually in hover: NOMINAL_HOVER_THROTTLE= THRUST/MAX_PPRZ (THRUST:mean value of ROTORCRAFT_FP THRUST message in hover, MAX_PPRZ:9600)

In most cases it makes more sense to not specify this explicitly and use the adaptive controller

== Horizontal Control ==

Depending on the general mode selected, one of the following horizontal modes is used.

=== mode: GUIDANCE_H_MODE_RATE ===
[[Image:GUIDANCE_H_MODE_RATE.png]]

=== mode: GUIDANCE_H_MODE_ATTITUDE ===
[[Image:GUIDANCE_H_MODE_ATTITUDE.png]]

=== mode: GUIDANCE_H_MODE_HOVER ===

When this mode is entered, the measured position at the instance of initiation is set as guidance_h_pos_sp. This means that the rotorcraft will hover on that position.

[[Image:GUIDANCE_H_MODE_HOVER.png]]

rotation to body:

<math>\phi_{cmd_{body}}= -\sin \psi \cdot x_{cmd_{earth}} + \cos \psi \cdot y_{cmd_{earth}} </math>

<math>\theta_{cmd_{body}}= -\left( \cos \psi \cdot x_{cmd_{earth}} + \sin \psi \cdot y_{cmd_{earth}} \right) </math>

=== mode: GUIDANCE_H_MODE_NAV ===

The set points guidance_h_pos_sp (x and y coordinates) are obtained from the navigation carrot after a 'NED of ENU' transformation:

guidance_h_pos_sp.x = navigation_carrot.y

guidance_h_pos_sp.y = navigation_carrot.x

[[Image:GUIDANCE_H_MODE_NAV.png]]

Rotation to body is the same as in GUIDANCE_H_MODE_HOVER.

== Reference generators ==

=== from euler attitude angle set point ===

[[Image:Booz_refgen_att.png]]

Acceleration is set to zero when rate reaches min or max value.

The code for this reference generator is located in '''stabilization/stabilization_attitude_ref_euler_int.c'''.

=== from angular rate set point ===

[[Image:Booz_refgen_rate.png]]

The code for this reference generator is located in '''stabilization/stabilization_rate.c'''.

=== from pos set point ===

[[Image:Booz_refgen_xy_sp.png]]

Acceleration is set to zero when rate reaches min or max value.

The code for this reference generator is located in '''guidance/guidance_h_ref.h'''.

== Attitude loop ==

[[Image:attitude_loop.png]]

The code for this loop is located in '''stabilization/stabilization_attitude_euler_int.c'''.

== Rate loop ==

[[Image:rate_loop.png]]

The code for this loop is located in '''stabilization/stabilization_rate.c'''.

== Guidance horizontal hover loop ==

[[Image:guidance_horizontal_hover.png]]

The code for this loop is located in '''guidance/guidance_h.c'''.

== Guidance horizontal navigation loop ==

[[Image:Booz_horizontal_nav.png]]

The code for this loop is located in '''guidance/guidance_h.c'''

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

Modems

2015-01-17T13:28:41Z

Dconger: /* PPZUAV */

The Paparazzi autopilots generally feature a TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate thru non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Telemetry_.28Modem.29|Airframe Configuration]] and [[XBee_configuration|XBee Configuration]] pages.

==General comparison==
'''This is ONLY a comparison between modules (found on this page) which work acceptably'''

All modules listed here work without issue and are generally available.
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%"
| align="center" style="background:#f0f0f0;"|'''Feature'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''
|-
| style="background:#f0f0f0;"|'''frequency'''||2,4GHz||2,4GHz||2,4GHz||2,4GHz||868MHz||900MHz||900MHz||900MHz, 2.4GHz||240-960MHz||900MHz||900MHz||2,4GHz||2,4GHz||2,4GHz
|-
| style="background:#f0f0f0;"|'''output power'''||1mW||63mW (US) 10 mW (Int'l)||2mW||63mW||5mW||250mW||250mW||1mW-1W||max 100mW||5-200mW||5-1000mW||2,5-50mW||2,5-125mW||32mW
|-
| style="background:#f0f0f0;"|'''RF speed'''||250kbps||250kbps||250kbps||250kbps||10kbps, 80kbps||10 or 200kbps||10, 20kbps||9.6, 115.2kbps|| ||76.8kbps||76.8kbps||280, 500kbps||280, 500kbps||300kbps
|-
| style="background:#f0f0f0;"|'''antenna'''||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||chip, wire, rpsma, u.fl||external required||wire, rpsma, u.fl||wire, rpsma, u.fl||rpsma, MMCX||external required||MMCX, internal Antenna||MMCX||u.fl, chip, both||u.fl, chip, both||pcb trace
|-
| style="background:#f0f0f0;"|'''pinout'''||XBee||XBee||XBee||XBee||SMD||XBee||XBee||20 pin 2,54mm/USB||SMD (42 pin LGA)||20 pin mini connector||20 pin mini connector||XBee/SMD||XBee/SMD||SMD
|-
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€
|-
| style="background:#f0f0f0;"|'''for Country'''||Worldwide||Worldwide||Worldwide||Worldwide||Europe||North America, Australia||North America, Australia||Worldwide||Worldwide||North America, Australia||North America, Australia||Europe||North America||Worldwide
|}

== Frequencies ==

Analog and digital signals (video and data/modem) can not be transmitted over the same frequency band since the analog signal will "block" the digital one. (Attention ! the common 2.4 or 5.8GHz frequencies have multiple channels, if the analog and digital transmitter/receiver modules are set up to different channels/frequencies, they should work (even on 2.4GHz)).

You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. 
Sending on a wrong frequency or with too much power may end in a serious lawsuit !

Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]

== HAM / CEPT Licence ==

If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on yur locality)

You will learn about the radio technology, operational technology and legislation. 
With a HAM radio licence, you can also use other frequencies or transmit on a higher power. (e.g. In some countries, the 5.8GHz video transmission is for non licenced people restricted to 10mW!) 

'''Licence Pros'''
* You will be informed well about the (local and international) legislations.
* You can transmit on a higher power (depends on frequency).
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.
* It will be easier to find faults in your radio systems.
* You can built (if you want) high gain/focused antennas which can gice you a better signal, wider range and won't disturb anyone else.
* Well educated prople respecting the legislation just looks much better in looks to UAV's :)

'''Licence Cons'''
* You will need to learn for the test (can be compared with a diverce licence).
* The certificate and books will cost about 70€ (total, can vary !).
* Maybe some costs (per year) for your call sign.

=== CEPT Licence in Austria ===

A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.

You will need the appropriate books which cost 50€ (70€ if you want them with the ask catalog and answers which can be helpful) and rough 18€ for the exam and certificate. The ÖVSV offers also some courses, but you can also learn everything with the books.

To be continued...

=== Links ===

[http://www.oevsv.at/ Austrian ÖVSV] 
[http://www.darc.de/ German DARC]

== Digi XBee modules ==

Digi (formerly Maxstream) offers an increasing variety of Zigbee protocol modems well suited for Paparazzi in 2.4 GHz, 900MHz and 868Mhz frequencies. The "Pro" series are long range, up to 40km! Standard series are slightly smaller/lighter/lower power consumption and very short range. All versions are all pin compatible and weigh around 2 grams with wire antennas. All Digi modems can be operated in transparent mode (as a serial line replacement) or in "API mode" with hardware addressing, managed networking, and RSSI (signal strength) data with the Paparazzi "Xbee" option.

Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna

* XBee (PRO) ZB (the current series)
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)
The XBee & XBee-PRO ZB share hardware (ember stack) with XBee & XBee-PRO ZNet 2.5. As a result, modules can be "converted" from one platform to another by loading different firmware onto a given module.

These two also share the same hardware and can be converted from one to another by flashing a different firmware:
* XBee-PRO 802.15.4 (formerly Series 1)
* XBee-PRO DigiMesh 2.4

'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''

If only point to point or point to multipoint communication is required 802.15.4 will do the job. These are designed for high data rates and low latency. 
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)

See the [[XBee_configuration|XBee Configuration]] page. This [http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee tutorial] is also good to configure and get started with XBee Pro.

=== Module Comparison ===
{|border="1"
|-valign="top"
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''
|-
|'''XBee ZB'''
|
|yes
|Ember
|EmberZNet PRO 3.1 (ZigBee 2007)
|2.4 GHz
|2mW/50mW
|coordinator needed
|-
|'''XBee ZNet 2.5'''
|
|yes
|Ember
|EmberZNet 2.5 ZigBee
|2.4 GHz
|2mW/50mW
|(only legacy -> use XBee-PRO ZB) coordinator needed
|-
|'''XBee DigiMesh 2.4'''
|
|yes
|Freescale
|
|2.4 GHz
|
|all nodes equal (no special coordinators/routers/end-devices)
|-
|'''XBee 802.15.4'''
|yes
|
|Freescale
|
|2.4 GHz
|
|
|-
|'''XBee-PRO 868'''
|yes
|
|?
|
|868 MHz
|500mW
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW
|}

==== Pinout ====

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

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

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

Note : DTR and RTS need to be wired for upgrading firmware

=== GCS Adaptation ===

There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer. 
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.

====Adafruit====

[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]
[http://www.adafruit.com/index.php?main_page=product_info&cPath=29&products_id=126 Adafruit] offers a great adapter board kit for the Xbee modules that includes a 5-3.3V voltage regulator, power and activity LEDs, and pins to connect directly to your FTDI cable for $10! Some assembly required.

 

====Droids====

[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]

[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]

[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]

Simple breakout board with voltage regulator.

[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]

Adapter with FTDI chip for direct usb connection.

 

====PPZUAV====

[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0‎]]

[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link] 
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.

FTDI Utility Board 1.0 with FTDI232RL 
On board XBEE connector and molex picoblade connectors.

 

====Sparkfun====

[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]

[http://www.sparkfun.com/products/8687 sparkfun.com]

XBee Explorer USB with FTDI232RL

 

=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===
*Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules do not communicate with products based on XBee DigiMesh / 802.15.4 (formerly Series 1) modules.

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

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4GHz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* Price: 16€, Pro 26€
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA] 
NOTE: If you wish to use this unit with another XBee type other than the 802.15.4 (i.e. XBee-PRO ZB) then purchase a modem with the U.fl connector.

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]
* To program your Xbee you need X-CTU you can download it [http://www.digi.com/support/productdetl.jsp?pid=3352&osvid=57&tp=5&s=316 here]. (only windows)
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]

=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===

The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.

{|
|-valign="top"
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : 14€, Pro 28€
|
|}
These are available from Mouser: 
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna 
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA

See [[XBee_configuration|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]

=== Digi XBee Pro 868 ===

'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''

868MHz is a limited band. Please read the [[868MHz Issues]]

XBee-PRO 868 modules are long range embedded RF modules for European applications. Purpose-built for exceptional RF performance, XBee-PRO 868 modules are ideal for applications with challenging RF environments, such as urban deployments, or where devices are several kilometers apart.

{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]
|
* 868 MHz short range device (SRD) G3 band for Europe
* Software selectable Transmit Power
* 40 km RF LOS w/ dipole antennas
* 80 km RF LOS w/ high gain antennas (TX Power reduced)
* Simple to use peer-to-peer/point-to-mulitpoint topology
* 128-bit AES encryption
* 500 mW EIRP
* 24 kbps RF data rate
* price : ~70 USD
|
|}

See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]

=== Digi XBee 868LP ===

XBee 868LP modules are a low-power 868 MHz RF module for use in Europe. The range is shorter than it's brother the XBee PRO-868, but it can use the 868 G4 band with hopping which does not have restrictions on it's duty cycle. This is a big advantage if one want to have a good stream of telemetry data

{|
|-valign="top"
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]
|
* 868 MHz short range device (SRD) G4 band for Europe
* 4 km RF LOS w/ u.fl antennas
* 5 mW EIRP
* 10 or 80 kbps RF data rate
* price : 18€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview http://www.digi.com/products/wireless-wired-embedded-solutions/zigbee-rf-modules/zigbee-mesh-module/xbee-868lp#overview]

==== Trial ====

With a quickly crafted and not optimal positioned antenna on the airframe we managed to get the advertised 4000 meter range. Data throughput was not high and the Iridium Telemetry XML configuration document was therefore used. All in all, cheap, easy to setup, pin compatible with regular modules and quite a range and usable in Europe without hassle.

=== Digi XBee Pro 900HP ===
* Frequency band 900Mhz
* RF rate 10 or 200 kbps
* up to 250mW output power
* 5 to 8 gramm
* price: 32€

==== Documentation ====
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]

=== Digi XBee Pro XSC 900MHz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4 GHz video compatibility of their high end 900 MHz models. Sounds like the perfect modem for anyone who can use 900 MHz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900 MHz
* Output Power 100 mW (+20 dBm)
* Sensitivity -100 dBm
* RF Rate: 10 or 20 kbps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : 32€
|
|}

==== Documentation ====
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

==== Trials ====
Tested one today and it worked great. Going to try a multiUAV test with it soon
--Danstah
 
 
MultiUAV tests concluded this is probably not the best module to use. Even though it says you can change the baudrate inside x-ctu that is not the case, it is fixed at 9600 bps. This is a great modem however for single UAV's and I do recommend.
--Danstah
 
 
Why would the European (868 MHz) be good to 24kbps and this only to 9600? When I was altering my XBees (2.4Ghz Pro's) I had this problem altering baud rates until I read you have to send a "commit and reboot" type command after setting the baud rate. Could this be the case? --GR

=== Digi 9XTend ===

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable transmit power settings from 100mW to 1W. Testing has shown range up to 5.6km (3.5 Miles) with XTend set to 100mW with small 3.1dB dipole antenna.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector or USB
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : 150€
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

==== Pinout ====

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

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

==== Documentation ====

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

==== Configuration ====

These modems need to be carefully configured based on your usage scenario to obtain the best possible range and link quality. In addition, it is always good to make sure the firmware is up to date.

Some typical configurations that may work well, but can still depend your particular situation, are given below. For further details, be sure to consult the XTend users manual. Your application may need a different or modified configuration. The radiomodems do not need identical settings and can in fact be optimized with different settings. A good example is delays and retries: if each radio has the same number of retries and no delay, when a collision occurs each will continuously try to re-transmit, locking up the transmission for some time with no resolution or successful packet delivery. Instead, it is best to set the module whose data should have a lower latency to have no delay and a lower number of retries, while the other module has a delay set (RN > 0) and a greater number of retries. See acknowledged mode example below.

* Acknowledged Polling Mode ('''Recommended'''):
** This causes one radio to be the base and the other(s) to be the remote(s). It eliminates collisions because remotes do not send data unless requested by the base. It can work in acknowledged mode (RR>0), basic reliable mode (MT>0) or in basic mode (no acknowledgement or multiple packets). It is recommended that the lower latency and/or higher data rate side be configured as the base (i.e. if you are sending lots of telemetry then the air module configured as the base is probably a good idea, but if you are using datalink joystick control, the ground side might be better as the base. It may require some experimentation).
* Acknowledged Point-to-(Multi)Point Mode:
** Each radio sends a packet and requests and acknowledgement that the packet was sent from the receiving side. The retries and delays must be set appropriately to ensure packet collisions are dealt with appropriately. It can also work without acknowledgements in basic reliable mode (MT>0) without any acknowledgements (RR=0, MT=0). Some experimentation may be required.

{| border="1"
|-valign="top"
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''
|-
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||
|-
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)
|-
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||MD||default||default||3 (0x03)||4 (0x04)||
|-
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)
|-
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)
|-
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)
|-
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''
|-
||RN||0 (0x00)||8 (0x08)||default||default||
|-
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||
|}

'''Note:''' All settings are assumed to be default except those listed. Those listed are in decimal unless hex 0x prefix included. Depending on your firmware version, slight modifications may be necessary.

Here is some additional information and alternative instructions to configure the polling mode from the Digi site: [http://www.digi.com/support/kbase/kbaseresultdetl?id=2178 Polling Mode for the 9XTend Radio Modem]

== SiLabs Si1000 SoC based modems ==

The Si1000 radio System on Chip (SOC) produced by SiLabs is found in a number of radio modules, for example the cheap and widely used HopeRf module. There is [https://github.com/tridge/SiK open source firmware] for these radios which makes them suitable for use in MAVs.

Note that (unlike some XBee modules) the SiK firmware does not support mesh topologies, it is strictly a point-to-point link. If you are working with swarming vehicles they may not be the best choice.

Online documentation for the Sik firmware shows how to configure it for various jurisdictions. The firmware supports 433 MHz, 470 MHz, 868 MHz and 900 MHz radios, if you are aware of any hardware supporting the European spectrum licences (868 MHz) please add them to this wiki.

Note: When using a SiK firmware radio with paparazzi, you should set "ATS6=0" (MavLink packing off) and configure paparazzi for transparent serial mode.

[http://www.rfdesign.com.au/index.php/rfd900 This module] is well proven and supports antenna diversity. A combination of 6dbi Yagi plus a dipole on the ground station, with a pair of orthogonality oriented dioples in the airframe, has been extensively tested and proven reliable at >8km range (theoretical range of ~40km).

Alternatively, for shorter range a pair of cheap generic HopeRF-based modems [http://rctimer.com/index.php?gOo=goods_details.dwt&goodsid=815 such as these]

The RFD900 can be paired with cheap generic (single front-end) modules, if for example you use a small short range airframe with a ground station that's also used for long range operations.

== Laird (ex Aerocom) ==
Lairds's API mode is already implemented but some system integration is required. Full API more with addressed packets works well and was tested with AC4790-1x1 5mW low power modules. Maximim range achieved with a whip quater-wave antenna was 1Km.

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

See folder paparazzi3 / trunk / sw / aerocomm. It has all the required files to use this modem on the airborne and ground station side. The link.ml file is a direct replacement of the "main" link.ml file of the ground sttaion and will be merged into it in the future.. or you can do it as well.

{|
|
=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : 52€
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|
=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : 64€
|}

=== Pinout ===

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

{| border="1"
|+ Wiring the Laird AC4868 to the Tiny
|-valign="top"
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''
|-
||2||Tx||green||7||7||''(Note 1)''
|-
||3||Rx||blue||8||8||''(Note 1)''
|-
||5||GND||black||1||1|| -
|-
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''
|-
||17||C/D||white||3||?||Low = Command High = Data
|}
''Note 1 : names are specified with respect to the AEROCOMM module''

''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''

=== Laird RM024 ===
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]
The RM024 replaces the discontinued LT2510 (they are backwards compatible).

General features:
* Frequency Band 2.4GHz
* Output Power 2,5mW - 125mW
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps
* RF Data Rate 280/500 kbps
* UART up to 460800 baud
* Power Draw 90mA - 180mA TX / 10mA RX
* Supply Voltage 3.3v
* Range up to 4000m
* Dimensions 26 x 33 x 4mm
* Weight 4 grams
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)
* Chip antenna, U.FL antenna connector or both
* Price: 29-31€ @ mouser (SMD / XBEE header)

Two different mounting/pinuts are available: 
* smd version: can be soldered on a pcb 
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)

Available in two different output power versions:
{|border="1"
|-valign="top"
||''value''||''50mW version''||''125mW version''
|-
|output power
| 2,5 mW - 50 mW
| 2,5 mW - 125 mW
|-
|output power dbm
|4 dbm - 17 dbm
|4 dbm - 21 dbm
|-
|TX drain
|90mA
|<180mA
|-
|max range (280kbps with 2 dbi antenna)
|2400m
|4000m
|-
|approval
|CE for EU, FCC/IC for USA,
Canada PRM122/123 also for Japan
|FCC/IC for USA, Canada
|}

The RM024 uses frequency hopping (FHSS) which needs a client/server model. That means that one modem (most appropriately the ground station modem) needs to be set to server mode. It will transmit a beacon message and have all client modems synchronize to that in a time and frequency hopping scheme manner. For that all modems need to have the same channel (in fact the hopping scheme) and system-id. Clients can be set to auto-channel and auto-system-id to follow any/the first visible server.

====Documentation====
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual] 
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual] 
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]

'''Setup'''

Look at the [[Laird_RM024_setup page]]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : 20€
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

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

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

either make a virtual connection to a Bluetooth serial port each time you connect

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

or configure it once in /etc/bluetooth/rfcomm.conf

rfcomm0 {
bind yes;
device 00:06:66:00:53:AD;
}

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

== Telemetry via Video Transmitter==

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

It is possible to use the audio channel to send simple telemetry data to the groundstation. Uploading telemetry not possible via analog audio transmitter only.
 

== Antennas ==

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

This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna

[[Category:Hardware]]

Installation/MacOSX

2015-01-14T12:25:45Z

Dconger: /* Basic Install (Binary Installer) (On OS X 10.9.* Mavericks) */

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

'''Update on OS X installation: Currently, arm-none-eabi-gdb on 10.6 should be broken (gcc-arm-embedded can be compiled by hand if required without python support, or installing python2.7 as a framework from a dmg might work).'''

'''(Feb. 1, 2014) Current OS X limitations:'''
* '''10.6.* requires some manual effort to properly install gcc-arm-embedded, email the mailing list if help required (gcc-arm-embedded can be compiled by hand if required without python support, or installing python2.7 as a framework from a dmg might work)'''
* '''There is no cross compiler for the ARDrone2.'''

= Intro =
Would it not be great to also be able to run Paparazzi from your shiny Apple Mac? Well, this page explains how you can manage to do just that.

The task of supporting Paparazzi on Apple MacOS X is ongoing as the project evolves and the more people adapt it the process will be streamlined. Presently it is known that Paparazzi will install on OSX versions 10.6.*, 10.7.*, 10.8.*, and 10.9.*. Support on 10.6.* requires some additional effort.

= Basic Install (Binary Installer) =
Depending on the version of Mac OS you have installed on your computer the installation process will vary slightly. Also this install process is only recommended for beginners. If you want to be able to use more up to date Paparazzi and be able to track the development more closely, you should consider installing Paparazzi tools using the source solution described in the next chapter.

== Installation Video Tutorials (On OS X 10.9.* '''Mavericks''') ==

{{#ev:youtubehd|s5KFZqxqAr4}} {{#ev:youtubehd|lXB1y0Dv2y0}}

== Basic Install (Binary Installer) (On OS X 10.9.* '''Mavericks''') ==
If your Apple Mac operation system is OSX Mavericks or newer then the easiest way to get started with Paparazzi on your Apple Mac is to start with the following Basic install. If you have an older version you want to follow the slightly longer Basic install, below.

The steps you need to take to enjoy Paparazzi are:
# Install XQuartz from [http://xquartz.macosforge.org MacOSForge]. (You can alternatively use the X11.app if it is available for your version of Mac OS X.)
# Open the Terminal.app
# Install the command line tools by executing: <source lang="bash">xcode-select --install</source> and clicking on the "Install" button in the dialog that will pop up.
# Install the Paparazzi Tools installer for your OS version from [http://download.paparazziuav.org/darwin/ paparazziuav.org]
## You might get an error saying: "paparazzi-tools-xxxxxx.mpkg can't be opened because it is from an unidentified developer." To get rid of this error you will need to:
### Open "System Preferences"->"Security&Privacy" and change the "Allow apps downloaded from:" setting to "Anywhere". (The option might be greyed out. To activate the selection you will need to authenticate yourself as system administrator. Click on the lock in the left lower corner of the "System Preferences" window, to open the authentication window.)
# Set up your environment variables and Python appropriately using the pprz-env-set script:
## Get the script: <source lang="bash">curl https://raw.githubusercontent.com/paparazzi/paparazzi-portability-support/master/darwin/install/Contents/Resources/pprz-env-set >~/Desktop/pprz-env-set</source>
## Move script to right location: <source lang="bash">sudo mv ~/Desktop/pprz-env-set /opt/paparazzi/bin/pprz-env-set</source>
## Change script permissions: <source lang="bash">sudo chmod 755 /opt/paparazzi/bin/pprz-env-set</source>
## Run the script: <source lang="bash">sudo /opt/paparazzi/bin/pprz-env-set</source>
## Close the terminal. (Do that before you try to move on to the next step. Otherwise the newly set environment will not take effect and you will end up with compilation errors.)
# That's it! To run Paparazzi you need to open the Terminal app and build and run Paparazzi.
## In spotlight type Terminal and then open the Terminal App
## then type: <source lang="bash">cd ~/paparazzi && make && ./paparazzi</source> (The first time you start paparazzi it might take several minutes to show a window. It is because GTK is indexing the fonts the first time it starts up.) (If you get the error: "Fatal error: exception Gtk.error("GtkMain.init: initialization failed ml_gtk_init: initialization failed")" the most likely source of the issue is the lack of X11 server. Install either X11.app or XQuartz as mentioned in step 1.)

Notes:
* the binary installer will check if ~/paparazzi exists on your system. If it does, then the installer does nothing. If this directory does NOT already exist, the installer will automatically clone the Paparazzi Git repository into that directory.
* the binary installer will add a few lines to your ~/.profile for PATH modification and for default PAPARAZZI_HOME and PAPARAZZI_SRC env vars. If you have something other than the default ~/paparazzi installation, please edit your ~/.profile and comment out the env var exports.
* the binary installer creates a symbolic link between the available /opt/paparazzi/bin/python2.7 and /opt/paparazzi/bin/python. Combined with the PATH modification, this will cause <source lang="bash">python something.py</source> to call /opt/paparazzi/bin/python2.7 instead of any system pythons.

== Basic Install (Binary Installer) (Support: 10.7.* '''Lion''', 10.8.* '''Mountain Lion''') ==
If your Apple Mac operation system is OSX Snow Leopard or Lion or newer then the easiest way to get started with Paparazzi on your Apple Mac is to start with the Basic install.

The steps you need to take to enjoy Paparazzi are:
# Install XQuartz from [http://xquartz.macosforge.org MacOSForge]. (You alternatively can install the X11.app from Apple. If it is available for your version of Mac OS X.)
# Install the latest available [http://itunes.apple.com/us/app/xcode/id448457090?mt=12 Xcode] development tool for your OS, we had good success with [http://itunes.apple.com/us/app/xcode/id448457090?mt=12 Xcode] v4.2 on Snow Leopard and v4.3.2 on Lion. For Snow Leopard, Xcode 3.2.6 also works and is still available as a [https://developer.apple.com/downloads/ free download] with an Apple ID (search for ''xcode 3.2.6'').
## With Xcode 4.3 and above you need to install the command line tools. Xcode --> Preferences --> Downloads --> Components --> Command line tools
## Check that the correct version of Xcode is being used for compilation <source lang=bash>/usr/bin/xcodebuild -version</source> It should return the version of Xcode that has been installed, e.g. 4.2. In the rare case you need to change your XCode version run the following command in your terminal: <source lang=bash>sudo /usr/bin/xcode-select -switch /Applications/Xcode.app/Contents/Developer</source>
# Install the Paparazzi Tools installer for your OS version from [http://download.paparazziuav.org/darwin/ paparazziuav.org]
# Set up your environment variables and Python appropriately using the pprz-env-set script:
## Get the script: <source lang="bash">curl https://raw2.github.com/paparazzi/paparazzi-portability-support/master/darwin/install/Contents/Resources/pprz-env-set > ~/Desktop/pprz-env-set</source>
## Move script to right location: <source lang="bash">sudo mv ~/Desktop/pprz-env-set /opt/paparazzi/bin/pprz-env-set</source>
## Change script permissions: <source lang="bash">sudo chmod 755 /opt/paparazzi/bin/pprz-env-set</source>
## Run the script: <source lang="bash">sudo /opt/paparazzi/bin/pprz-env-set</source>
## Close the terminal. (Do that before you try to move on to the next step. Otherwise the newly set environment will not take effect and you will end up with compilation errors.)
# That's it! To run Paparazzi you need to open the Terminal app and build and run Paparazzi.
## In spotlight type Terminal and then open the Terminal App
## then type: <source lang="bash">cd ~/paparazzi && make && ./paparazzi</source> (The first time you start paparazzi it might take several minutes to show a window. It is because GTK is indexing the fonts the first time it starts up.) (If you get the error: "Fatal error: exception Gtk.error("GtkMain.init: initialization failed ml_gtk_init: initialization failed")" the most likely source of the issue is the lack of X11 server. Install either X11.app or XQuartz as mentioned in step 1.)

Notes:
* the binary installer will check if ~/paparazzi exists on your system. If it does, then the installer does nothing. If this directory does NOT already exist, the installer will automatically clone the Paparazzi Git repository into that directory.
* the binary installer will add a few lines to your ~/.profile for PATH modification and for default PAPARAZZI_HOME and PAPARAZZI_SRC env vars. If you have something other than the default ~/paparazzi installation, please edit your ~/.profile and comment out the env var exports.
* the binary installer creates a symbolic link between the available /opt/paparazzi/bin/python2.7 and /opt/paparazzi/bin/python. Combined with the PATH modification, this will cause <source lang="bash">python something.py</source> to call /opt/paparazzi/bin/python2.7 instead of any system pythons.

== Basic Uninstall ==
In the case you would like to uninstall Paparazzi after completing a basic installation, one must type the following in your terminal prompt:

'''Warning''' This first step removes your paparazzi source code, including any changes you may have made yourself locally. If you want to keep your git repository intact, skip this first step and only use the following two steps.

<source lang="bash">rm -rf ~/paparazzi</source>

<source lang="bash">
sudo pprz-env-set -u
</source>

<source lang="bash">
sudo rm -rf /opt/paparazzi
</source>

Note that pprz-env-setup -u removes the entry from ~/.profile and also removes the /opt/paparazzi/bin/python symlink.

== Using Luftboot and PyUSB ==

'''UPDATE:''' The lastest binary installer should have PyUSB included by default, no need to install it separately.

If you are planning on loading code onto a Luftboot-equipped STM32 board, you will need to have a Python version on your machine that is active and with [http://sourceforge.net/apps/trac/pyusb/ PyUSB] installed for that version.

To install PyUSB, execute
<source lang="bash">
sudo python setup.py install
</source>
from inside the unzipped PyUSB source directory.

To test which Python version is the default and whether this Python version can find the PyUSB module, in Terminal simply type:
<source lang="bash">
python
</source>
To start the default Python. At the Python prompt (>>>) type:
<source lang="bash">
import usb
</source>
If another prompt line comes up, PyUSB is installed correctly and you will be able to use Luftboot. If an error is thrown, then your configuration is not correct.

== MacPorts and PyUSB ==
If you have MacPorts installed, you can install either <code>py26-pyusb</code>, <code>py26-pyusb-devel</code> or <code>py27-pyusb-devel</code>, depending on which Python(s) you have installed already, or wish to install. For example:
<source lang="bash">
sudo port selfupdate
sudo port install py27-pyusb-devel
</source>

To find out what versions of Python are available on your system (via MacPorts):
<source lang="bash">
port select --list python
</source>
Default Apple Python versions have a -apple ending.

Select a different version of python to be the active version if desired. For example:
<source lang="bash">
sudo port select --set python python27
</source>

A good, working configuration would be to have MacPorts installed, and install <code>py27-pyusb-devel</code>, then ensure that python27 is the active version.

== Adjusting your PATH and Troubleshooting ==

There are sometimes path issues with OS X if you have MacPorts or a similar (Homebrew, Fink) system installed. The reason for this is there may be multiple copies of a binary required for Paparazzi in different places, and depending on the path, the desired instance is not correctly called. This often presents itself as an error when building the main Paparazzi source code. A typical error may involve the <code>pkg-config</code> program. This can often be corrected by checking and adjusting your PATH environment variable.

To check the currently configured default PATH:
<source lang="bash">
echo $PATH
</source>
Ideally, the Paparazzi binary paths (<code>/opt/paparazzi/bin</code> and <code>/opt/paparazzi/sbin</code>) should come first. To move the Paparazzi paths to the highest search priority:
<source lang="bash">
export PATH=/opt/paparazzi/bin:/opt/paparazzi/sbin:$PATH
</source>
This will only be active in the current terminal session. If you wish to manually modify the path permanently, you can edit ~/.profile and add the above line to the bottom of the file.

= Installing from source (MacPorts) =
Note: This is known to work for Mac OS X MountainLion. For newer Mac OS versions you should try the Homebrew based install.

The tools that are required to work with paparazzi on a Mac are installed from MacPorts. All of the commands are given by terminal commands, please open your terminal first.

In case you '''already have MacPorts installed''', it is advised to run the following steps before proceeding:

# check that /opt/local/bin is the first entry in your PATH, easy to check by giving the following command <source lang="bash">echo $PATH</source>
# Then give the following command to make sure your ports are up-to-date <source lang="bash">sudo port selfupdate && sudo port upgrade outdated</source>
..great, you now can run the installation steps starting from step '''4''' below.

If you don't already have MacPorts installed run the following steps:

# Install the latest [http://itunes.apple.com/us/app/xcode/id448457090?mt=12 XCode]. If you are using 10.9 (Mavericks) or newer you just need to run <source lang="bash">xcode-select --install</source>
# If you are using Mountain Lion, X11 is no longer included by default, use the [http://xquartz.macosforge.org/landing/ XQuartz project] to install it.
# Install [http://www.macports.org/install.php MacPorts]
# Edit the file <source lang="bash">/opt/local/etc/macports/sources.conf</source> and above the <source lang="bash">rsync://...</source> line add <source lang="bash">rsync://rsync.paparazziuav.org/macports/ports/</source> It is important that this line comes before the path to the standard ports as some of the Paparazzi ports are intended to replace the standard versions. The file is write protected so it will be necessary to be root in order to edit it. The simplest way is to open a terminal window and use nano thus: <source lang="bash">sudo nano /opt/local/etc/macports/sources.conf</source>
# Now update the available ports with the command: <source lang="bash">sudo port selfupdate</source>
# To install all of the paparazzi prerequisites: <source lang="bash">sudo port install paparazzi-tools</source>
# ...Then go and have lunch, get a coffee, get some sleep. This will probably take a long time.
# After installation, we need to set the correct python to override the default OS X python: <source lang="bash">sudo port select --set python python27</source>
# You can also [[#Changing the GTK look and feel|change the GTK theme]]

Now you can follow the generic instructions for [[Installation|installing the paparazzi source]].

'''NOTE:''' If you had previously used MacPorts to install Paparazzi, you may need to manually uninstall arm-none-eabi-binutils, arm-none-eabi-gcc-linaro, and arm-none-eabi-gdb prior to upgrading paparazzi-tools. libcmsis, libopenstm32 and libopencm3 ports may need to be uninstalled as well. For example:
<source lang="bash">sudo port uninstall -f libcmsis libopenstm32 libopencm3 arm-none-eabi-gdb arm-none-eabi-gcc-linaro arm-none-eabi-binutils</source>

== Lion and XCode 4.3 or newer notes ==

After installing Xcode 4.3 you will need to install the command line tools by opening the XCode preferences pane, Downloads and selecting Command Line Tools for isnstallation. Otherwise you will not find GCC in your unix path.

Also if macports is complaining about xcodebuild and that you should run

<source lang="bash"> sudo xcode-select -switch /Applications/Xcode.app </source>

You should actually run

<source lang="bash"> sudo xcode-select -switch /Applications/Xcode.app/Contents/Developer</source>

so that xcodebuild can find the needed executables for you.

== Troubleshooting ==
If you continually experience problems installing paparazzi or paparazzi-tools then it may be that you have some other conflicting software installed. i.e. an old version of a library in /usr.

One way to work around issues relating to prior MacPort installs that has been found is to clean out everything MacPorts has installed and install from scratch using the latest MacPorts
# <source lang="bash">sudo port -f uninstall installed</source>
# <source lang="bash">sudo port clean --all uninstalled</source>
# <source lang="bash">sudo port selfupdate</source>
# <source lang="bash">sudo port install paparazzi-tools</source>
This was in fact the process used to check that the code installed on a clean machine.

== Upgrading to Lion ==
If you already have MacPorts and Paparazzi installed and running and you then upgrade to Lion you'll probably find that some things are broken. (make can't be found for example)
To remedy this situation you need to do the following:
# Upgrade Xcode to the Lion version. (App Store --> Search for Xcode and install)
# Install the Lion version of [http://www.macports.org/install.php MacPorts]
# <source lang="bash">sudo port -f uninstall installed</source>
# <source lang="bash">sudo port clean --all uninstalled</source>
# <source lang="bash">sudo port selfupdate</source>

Now here you have the opportunity to use the binary installer method detailed above or if installing from source then Macports can be used to build from source thus:

# <source lang="bash">sudo port install paparazzi-tools</source>

If you use a USB to serial converter that isn't based on the FTDI chipset then you may also find that your USB to Serial driver needs to be updated.
# Start console
# Plug in your USB to serial converter
You may get a message similar to this <source lang="bash">Jul 26 23:14:48 Bernies com.apple.kextd[10]: Can't load /System/Library/Extensions/osx-pl2303.kext - no code for running kernel's architecture.</source>

If you are fortunate enough to have a USB to serial converter that is using the PL2303 chipset then the [http://www.prolific.com.tw/eng/downloads.asp?id=31 Prolific] driver should sort you out. Installation instructions are included in the readme.txt and are well worth following.

== Keeping source files for debugging ==
If you wish to debug code using the source install then you'll find that many of the source files for the libraries are missing.

This is because MacPorts cleans up the build artifacts and source files after the installation is complete. This behaviour can be changed by adding the -k option to the port command.

For example:
sudo port -k install paparazzi-tools
This will result in all of the source and build artefact files being left on the hard disk.

Should you later wish to clean up these files you can do so with the clean command.

For example:
sudo port clean installed

== Mavericks Notes ==

'''Q:''' Can not find the command line tools package in XCode any more.

'''A:''' Since Mavericks (10.9) it is not necessary to install xcode to install the command line tools package that is needed for macports and paparazzi. Just run in the command line:
xcode-select --install

'''Q:''' libgcc is not compiling with error:
:info:build The directory that should contain system headers does not exist:
:info:build /usr/include

'''A:''' You probably upgraded from older OS X and are using old command line tools. Make sure to run '''xcode-select --install''' command. This should fix the libgcc compilation error.

= Installing from Source (Homebrew/Opam) =

Note: This is work in progress. This process will hopefully resolve some of the issues we are having with MacPorts on Mavericks and Yosemite.
Note: Macports used to conflict with homebrew. According to the homebrew website it is not the case any more as homebrew overrides the environment variables to have a pristine environment as if macports or fink were not installed on the system. It is not confirmed that opam does the same, so it probably is still a good idea to not have macports or fink installed simultanously with homebrew.

# Install [http://xquartz.macosforge.org/landing/ XQuartz].
# Add XQuarts libraries to pkg-config search path by adding the following line:
<source lang="bash">export PKG_CONFIG_PATH=/opt/X11/lib/pkgconfig</source>
to your ~/.profile, ~/.bashrc, ~/.zshrc.local or similar. Note: You have to restart your terminal for the variable to be set, or you execute the export manually in your terminal by pasting the line and pressing enter.
# Install [http://brew.sh/ homebrew].
# Not all packages are yet part of the official homebrew repository (like ivy-c or jsbsim) this is why you might want to run the installation in two steps using the official repository and then [paparazzi homebrew tap https://github.com/paparazzi/homebrew-paparazzi].
## Install the packages included in homebrew: <source lang="bash">brew install git coreutils gnu-sed gtk+ libglade libgnomecanvas sdl libusb libusb-compat gsl opam</source>
## Add paparazzi tap: <source lang="bash">brew tap paparazzi/homebrew-paparazzi</source>
## Install the remaining packages: <source lang="bash">brew install ivy-c jsbsim</source> Note: We provide these packages as a tap but the hope is to eventually include them in the official homebrew repository.
# <source lang="bash">opam init</source>
# <source lang="bash">opam install ocamlfind xml-light ocamlnet ivy conf-glade conf-gnomecanvas lablgtk.2.16.0</source> Note: we need to use lablgtk.2.16.0 because the default and newer 2.18 version carries API changes that are not supported by Paparazzi yet.
# Install [https://launchpad.net/gcc-arm-embedded GCC ARM embedded].
## Download the gcc-arm-none-eabi-version.tar.bz2 from the website.
## Extract it into your home directory: <source lang="bash">cd ~ tar xfvj ~/Downloads/gcc-arm-none-eabi-*.tar.bz2</source>
## Add the bin directory to your PATH environment variable by adding an export to your .profile or .bashrc or .zshrc.local or similar. <source lang="bash">echo export PATH=$(echo ~/gcc-arm-none-eabi-* | tr ' ' '\n' | sort -r | head -n 1 )/bin:\$PATH >> ~/.profile</source>
# As we are still investigating compatibility with Yosemite and current ocaml packages you will need to comment out a few lines using GnoDruid in paparazzi source code for now in file sw/supervision/pc_common.ml:
## lines 183:214
## lines 216:219
# Now you should be able to go into the cloned paparazzi repository and run make, and execute ./paparazzi

Note: If you are getting the error "Fatal error: exception Gtk.Error("GtkMain.init: initialization failed\nml_gtk_init: initialization failed")", try starting ./paparazzi inside of the XQuartz X11 terminal.

=Running Paparazzi=

Please see [[Installation]] for details on running Paparazzi, downloading source code from GitHub and updating software.

Paparazzi can be started in the usual way
cd ~/paparazzi
./paparazzi

=== Changing the GTK look and feel ===

Run /opt/local/bin/switch2 to select a different theme.
More detailed instructions can be found at http://gtk.php.net/manual/en/html/tutorials/tutorials.installation.macosx-stepbystep.html

Additional themes can be downloaded from http://art.gnome.org/themes/gtk2

A good choice is:
<source lang="bash">switch2 /opt/local/share/themes/ClearlooksClassic/</source>

=== USB Drivers for Telemetry ===

No drivers need to be installed in order to program either the STM32 based or LPC2148 based autopilot boards (ie TINY, TWOG, Booz, Lisa/L, Lisa/M) using a USB port. However telemetry between the vehicle and ground control station requires a modem. On an Apple Mac this will generally be connected to a USB port. Whatever modem is used it will be necessary to load drivers that allow Paparazzi to communicate with the modem. It is not possible to describe all possible modems and their configuration. However the most commonly used chipset for USB to serial communication is produced by FTDI. Below is described the installation of the FTDI drivers. This can be used as a guide for installing drivers for modems using other chipsets.

FTDI drivers can be downloaded from [http://www.ftdichip.com/Drivers/VCP.htm FTDI]

The device will probably become available as something like /dev/tty.usbserial-000013FD when connected. Note that different USB ports get different addresses. When connecting to another port the same device came up as /dev/tty.usbserial-000014FA

Since Paparazzi is currently configured to use /dev/ttyUSB0 it's easiest to just create a link to the required device.
# Remove all USB devices from the computer and run the command <code>ls -l /dev/*usb* /dev/*USB*</code> hopefully this will not list anything
# Plug in your radio and repeat the command <code>ls -l /dev/*usb* /dev/*USB*</code> this should now list the serial port that the radio has been connected to. In my case I get
#: <pre> ls -l /dev/*usb* /dev/*USB*
#: crw-rw-rw- 1 root wheel 11, 27 20 Jan 14:38 /dev/cu.usbserial-000013FD
#: crw-rw-rw- 1 root wheel 11, 26 20 Jan 14:38 /dev/tty.usbserial-000013FD</pre>
# Next we need to create a symbolic link to the tty.usbserial device listed to /dev/ttyUSB0 in my case the command is <code>sudo ln -s /dev/tty.usbserial-000013FD /dev/ttyUSB0</code>
# To check that everything is correct run the first command again <code>ls -l /dev/*usb* /dev/*USB*</code> and you should get something like this
#: <pre> ls -l /dev/*usb* /dev/*USB*
#: crw-rw-rw- 1 root wheel 11, 27 20 Jan 14:38 /dev/cu.usbserial-000013FD
#: crw-rw-rw- 1 root wheel 11, 26 20 Jan 14:38 /dev/tty.usbserial-000013FD
#: lrwxr-xr-x 1 root wheel 0 20 Jan 14:42 /dev/ttyUSB0 -> /dev/tty.usbserial-000013FD</pre>

Once the FTDI driver (kernel extension) is loaded it takes over for all FTDI connections. This means that it will not be possible to program the Lisa/L or Lisa/M boards while the driver is loaded.

To unload the driver use the command
sudo kextunload /System/Library/Extensions/FTDIUSBSerialDriver.kext
This should not give an error. if it does then try again a few times after quitting programs that may have used the connection. If the driver still fails to unload then a reboot may be required.

When it comes time to connect the modem again you'll again need the driver loaded. This can be done with the complementary command
sudo kextload /System/Library/Extensions/FTDIUSBSerialDriver.kext

=== Workaround for Issues with errors (Device busy) when trying to program a Lisa/L ===
====Programming the Lisa on OS X====

The problem:
The "default" vendor id and product id for the ftdi device on Lisa is the same one used by all the manufacturers of clone usb-serial interfaces. This isn't an issue on Linux because of the udev rules file we use does not load the ftdi drivers for lisas programming interface. Windows and Mac OS X don't use this file so they can only use vendor id and product id.
So as soon as you plug in Lisa they load USB->serial port drivers for the two ports they believe are on Lisa causing a conflict. The programming of Lisa happens through a different mechanism and does not want the programming interface of Lisa to be taken by the FTDI driver which has already been loaded. For OS X there is a hack we can do that makes it better until we can get vendor and product ids sorted out. It involves modifying the /System/Library/Extensions/FTDIUSBSerialDriver.kext/Contents/Info.plist file. We change it so only the first of the two serial interfaces is loaded. The second is not as it is the programming interface.

The File (edit with a text editor):
/System/Library/Extensions/FTDIUSBSerialDriver.kext/Contents/Info.plist

Here is a diff between a "vanilla OS X" and one that has been modified (Essentially below was removed):
quadzilla:Contents root# diff ~/Info.plist Info.plist
<source lang="diff">
1784,1805d1783
< <key>FT2232C_B</key>
< <dict>
< <key>CFBundleIdentifier</key>
< <string>com.FTDI.driver.FTDIUSBSerialDriver</string>
< <key>ConfigData</key>
< <dict>
< <key>LatencyTimer</key>
< <integer>2</integer>
< </dict>
< <key>IOClass</key>
< <string>FTDIUSBSerialDriver</string>
< <key>IOProviderClass</key>
< <string>IOUSBInterface</string>
< <key>bConfigurationValue</key>
< <integer>1</integer>
< <key>bInterfaceNumber</key>
< <integer>1</integer>
< <key>idProduct</key>
< <integer>24592</integer>
< <key>idVendor</key>
< <integer>1027</integer>
< </dict>
1830,1853d1807
< <key>FT2232H_B</key>
< <dict>
< <key>CFBundleIdentifier</key>
< <string>com.FTDI.driver.FTDIUSBSerialDriver</string>
< <key>ConfigData</key>
< <dict>
< <key>LatencyTimer</key>
< <integer>2</integer>
< </dict>
< <key>IOClass</key>
< <string>FTDIUSBSerialDriver</string>
< <key>IOProviderClass</key>
< <string>IOUSBInterface</string>
< <key>bConfigurationValue</key>
< <integer>1</integer>
< <key>bInterfaceNumber</key>
< <integer>1</integer>
< <key>bcdDevice</key>
< <integer>1792</integer>
< <key>idProduct</key>
< <integer>24592</integer>
< <key>idVendor</key>
< <integer>1027</integer>
< </dict>
</source>

Once you have edited the file
- sudo kextunload /System/Library/Extensions/FTDIUSBSerialDriver.kext/
- sudo kextload /System/Library/Extensions/FTDIUSBSerialDriver.kext/
To reload the driver or you can just reboot.

It is expected as Paparazzi moves to supporting more operating systems that unique product and vendor ids will be obtained thus removing the need for this step.

==Installing FlightGear==
FlightGear has been packaged for use on OS X. This package can be downloaded from:
http://www.flightgear.org/download/

There are several packages available. Recently, FlightGear 3.0 was released. A binary for OS X is available, and seems to work properly on Maverics (OS X 10.9.2). Follow the directions [http://www.flightgear.org/download/main-program/ here] for installation. Additional documentation can be found [http://macflightgear.sourceforge.net/home/documents/ here].

[[Image:Flightgear_launchgui_OSX_pprzoptions.png|thumb|350px|Screenshot of FlightGear launch gui in OS X with options for visualizing Paparazzi simulations]]
Once FlightGear is installed, the GUI launcher can be used to set common options. By clicking on the Advanced Features arrow, one can gain access to many more options as well as an interface to specify command line options (the Others tab). This is where one can specify the flight dynamics model and network connectivity required for visualizing Paparazzi simulations as described on the [[Simulation]] page.

* In Paparazzi Center, add to the simulator command the <tt>--fg</tt> option plus the IP address of the machine running flightgear in this case the loopback interace is used as Flightgear and Paparazzi are running on the same machine:
.../sw/simulator/pprzsim-launch --aircraft TJ1 -t sim --boot --norc --fg_host 127.0.0.1
Note TJ1 is the name of the aircraft you must substitute this with the name of your aircraft.
* Launch Flight Gear with the following set in the others tab under advanced settings:
--fdm=null --native-gui=socket,in,30,,5501,udp

For Flight Gear visualization, version 3.0 or greater with Rembrand switched on is best. If you wish to use version 2.4 or lower, you must add the following to the firmware section of your airframe file:

<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<define name="FG_2_4" value="1"/>
...
</firmware>
</source>

[[Image:Flightgear_pprz_sim_OSX.png|thumb|right|350px|Screenshot of Flightgear visualizing the default Microjet simulation in OS X (not the default Muret, FR location)]]

==Simulations Using JSBSim==
[http://jsbsim.sourceforge.net/index.html JSBSim] is an open-source flight dynamics and control software library. It can provide a more realistic simulation environment over the basic built-in Paparazzi simulator. See the [[Simulation|Simulation]] page for background information and how to run a normal simulation. After this can be done in a satisfactory manner, follow the steps below to utilize the JSBSim flight dynamics model.

Please see [[JSBSim]] for installation instructions and [[Simulation#JSBSim]] for instructions on how to use the JSBSim FDM in simulations.

==Differences with the Linux version==
This section is intended to document all the subtle differences between Linux and Mac OS X versions of Paparazzi.
===Change of text editor===
The default editor in Linux is gedit, but in OS X, it is open, which simply uses whatever the default program for opening .xml files is setup.

===Ivy subnet mask===
On Linux, the Ivy submask is 127.255.255.255

On Mac OS X, the Ivy submask is 224.255.255.255

In C applications, such as tmtc/c_ivy_client_example_1.c, this should be set adaptively by something like:

#ifdef __APPLE__
printf("Mac OS, network submask: 224.255.255.255\n");
IvyStart("224.255.255.255");
#else
printf("NO Mac OS, network submask: 127.255.255.255\n");
IvyStart("127.255.255.255");
#endif

Is there a better way to do this?

[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]

Control Loops

2014-11-03T20:18:54Z

Dconger: /* Global view */ changed 'th' to 'the' spelling fix

This page presents the default control loops used by the Paparazzi airborne code for navigation, guidance and control.

= General Information =

All the possible combinations of control loops might not be fully detailed. This is especially the case when using extra features such as '''AGR_CLIMB''', '''STRONG_WIND''', etc.

In the following diagrams, the block '''s''' is used for the '''derivative''' function and '''1/s''' is used for the '''integrator''' function.

The variables' names are the one used in the airborne code (written in '''C'''). Most of this name can the used capitalized in the [[Airframe Configuration]] file in order to define the default value of these variables. If in capital letters in the diagrams, the value is fixed and cannot be changed using [[Settings]] mechanism.

The best way to determine vehicle behavior is to look at the source code. For determining which control loops are engaged by various flight plan blocks and stages, it may be helpful to look at sw/airborne/subsystems/nav.h and the generated flightplan file in var/<AIRCRAFT_NAME>/generated/flight_plan.h.

= Fixed-wing autopilot =

== Global view ==

[[Image:Diagram_general.png|General overview]]

The elements '''servos''', '''rc_commands''', '''commands''' and '''command_laws''' correspond to specific section of the [[Airframe Configuration]] file. Most of the code located in these blocks is generated from the xml of the configuration file.

The value '''+/-9600''' correspond to '''+/-MAX_PPRZ'''. This '''pprz''' unit is used as a normalized internal unit for input and output values of the '''control_laws''' block.

== Navigation loop ==

The navigation loop is located in '''sw/airborne/subsystems/nav.*'''. The navigation routines are called from the [[Flight Plans]]. Advanced navigation routines are in '''sw/airborne/subsystems/navigation/'''.

== Course loop ==

[[Image:Diagram_course_loop.png|Course loop]]

The course loop is the upper stage of the horizontal control.
It is located in '''sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c''' (formerly fw_h_ctl.c).

== Roll loop ==

[[Image:Diagram_roll_loop.png|Roll loop]]

The roll loop is the lower stage of the horizontal control and is used for lateral attitude stabilization. It is located in '''stabilization_attitude.c'''.
If <tt>H_CTL_ROLL_ATTITUDE_GAIN</tt> is undefined, the code will fallback to a attitude-only loop, where <tt>estimator_p</tt> is disregarded and the gain for <tt>estimator_phi</tt> is <tt>H_CTL_ROLL_PGAIN</tt>.

Note; estimator_phi is the measured roll angle, and estimator_p is the measured rate of change in roll angle.

== Altitude loop ==

[[Image:Diagram_altitude_loop.png|Altitude loop]]

The altitude loop is the upper stage of the vertical control.
It is located in '''sw/airborne/firmwares/fixedwing/guidance/guidance_v.c''' (formerly fw_v_ctl.c)
If AGR_CLIMB is defined in the airframe file, the altitude loop also sets the v_ctl_auto_throttle_submode for use in the climb loop.

== Auto Throttle and Auto Pitch climb loops ==

Two climb loops are available. The are called from the [[Flight Plans#Navigation_modes|flight plan]] by changing the vertical navigation mode. The default mode is '''Auto Throttle'''. The '''Auto Pitch''' loop is only available if '''V_CTL_AUTO_PITCH_PGAIN''' is defined. Only one loop is active at a time. Note also that if '''USE_AIRSPEED''' is defined, then the Auto Throttle loop is replaced by the Auto Airspeed loop, see [Control_Loops#Control_loops_using_Airspeed_Sensor|below].

=== Auto throttle loop ===
[[Image:Diagram_auto_throttle_loop.png|Auto Throttle climb loop]]

If '''AGR_CLIMB''' is defined, then the auto throttle submode is used to determine setpoint outputs. This may be the standard control loop outputs, the aggressive outputs (static setpoints defined in airframe file) or a blend of both.

=== Auto pitch loop ===
[[Image:Diagram_auto_pitch_loop.png|924px|Auto Pitch climb loop]]

The climb loop is the intermediate stage of the vertical control. It is located in '''guidance_v.c'''.

== Pitch loop ==

[[Image:Diagram_pitch_loop.png|Pitch loop]]

The pitch loop is the lower stage of the vertical control and is used for longitudinal attitude stabilization. It is located in '''stabilization_attitude.c'''.
The first sum block of the diagram is not completely accurate. The input to the pitch stabilization loop is h_ctl_pitch_setpoint, though v_ctl_pitch_of_vz is not a direct input. Rather h_ctl_pitch_setpoint is assigned in the main autopilot loop from nav_pitch, in general (in auto1, it is assigned directly from the pitch r/c input). The nav_pitch value is obtained in a few ways, depending on which control loop(s) are active. If auto throttle is active, nav_pitch is the sum of v_ctl_pitch_of_vz and a fixed setpoint defined using the pitch attribute in the flightplan. If AGR_CLIMB is set, nav_pitch is either the airframe file defined ascent and descent pitch setpoints, the standard sum, or a blend of each. If auto pitch is active, nav_pitch is defined directly from the output of that loop. If airspeed is active, nav_pitch is defined in the auto airspeed pitch loop.

== Control loops using Airspeed Sensor ==

Adding an airspeed sensor measures actual airspeed resulting in better throttle control and aircraft performance especially in windy conditions. The use of an airspeed sensor is described [[Airspeed_sensor|here]].

[[Image:Diagram_auto_airspeed_loop.png|Auto Airspeed climb loop]]

The auto airspeed cascaded control loops control both pitch and throttle. This control loop set replaces the Auto Throttle climb loop; it is engaged in the same manner in the flight plan. It is located in '''guidance_v.c'''.

== Energy Control loops using Airspeed Sensor ==

Total Energy (speed + height) control for fixed wing vehicles developed by the [http://www.mavlab.info MAVLab] of the Technical [http://www.tudelft.nl University] of Delft. An airspeed sensor is mandatory.
The energy control loops control both pitch and throttle. This control loop set replaces the Auto Throttle climb loop and is located in '''energy_ctrl.c'''.

[[Image:Energycontrol.png|Energy Control loop]]

= Rotorcraft autopilot =

The schemes of the multi-rotor autopilot were made with the drawing tool from Google docs. To edit the drawings, send an e-mail to microuav@gmail.com.

== Overview ==

[[Image:Booz_autopilot_globalview.png]]

The code for this autopilot is located in '''sw/airborne/firmwares/rotorcraft'''.

== Vertical Control ==

Depending on the general mode selected, one of the following vertical modes is used.

=== mode: GUIDANCE_V_MODE_RC_CLIMB (speed control) ===
[[File:Rc_climb.png]]

=== mode: GUIDANCE_V_MODE_CLIMB (speed control) ===
[[File:Climb.png]]

=== mode: GUIDANCE_V_MODE_HOVER (altitude control) ===
[[File:Z_hold.png]]

=== mode: GUIDANCE_V_MODE_NAV ===

== Reference generators ==

z relates to altitude, zd to speed and zdd to acceleration

=== from z set point (desired altitude) ===

[[Image:Refgen_from_z_sp.png]]

=== from z dot set point (desired speed) ===

[[Image:Booz_refgen_zdot.png]]]

The '''adjust accel''' is a simple algorithm to set acceleration to zero when velocity reaches boundaries.

The code for these reference generators is located in '''guidance/guidance_v_ref.c'''

== Vertical loop ==
[[File:vertical_loop_V40.png]]

the source code is located in '''guidance\guidance_v.c'''

NOMINAL_HOVER_THROTTLE is the nominal thrust when hovering. It's calculated by default by an adaptative controller, in '''guidance\guidance_v_adpt.h'''.

Instead of the adaptative controller, NOMINAL_HOVER_TROTTLE can be set manually in the Airframe configuration file with:

<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>

The value is found after flying manually in hover: NOMINAL_HOVER_THROTTLE= THRUST/MAX_PPRZ (THRUST:mean value of ROTORCRAFT_FP THRUST message in hover, MAX_PPRZ:9600)

In most cases it makes more sense to not specify this explicitly and use the adaptive controller

== Horizontal Control ==

Depending on the general mode selected, one of the following horizontal modes is used.

=== mode: GUIDANCE_H_MODE_RATE ===
[[Image:GUIDANCE_H_MODE_RATE.png]]

=== mode: GUIDANCE_H_MODE_ATTITUDE ===
[[Image:GUIDANCE_H_MODE_ATTITUDE.png]]

=== mode: GUIDANCE_H_MODE_HOVER ===

When this mode is entered, the measured position at the instance of initiation is set as guidance_h_pos_sp. This means that the rotorcraft will hover on that position.

[[Image:GUIDANCE_H_MODE_HOVER.png]]

rotation to body:

<math>\phi_{cmd_{body}}= -\sin \psi \cdot x_{cmd_{earth}} + \cos \psi \cdot y_{cmd_{earth}} </math>

<math>\theta_{cmd_{body}}= -\left( \cos \psi \cdot x_{cmd_{earth}} + \sin \psi \cdot y_{cmd_{earth}} \right) </math>

=== mode: GUIDANCE_H_MODE_NAV ===

The set points guidance_h_pos_sp (x and y coordinates) are obtained from the navigation carrot after a 'NED of ENU' transformation:

guidance_h_pos_sp.x = navigation_carrot.y

guidance_h_pos_sp.y = navigation_carrot.x

[[Image:GUIDANCE_H_MODE_NAV.png]]

Rotation to body is the same as in GUIDANCE_H_MODE_HOVER.

== Reference generators ==

=== from euler attitude angle set point ===

[[Image:Booz_refgen_att.png]]

Acceleration is set to zero when rate reaches min or max value.

The code for this reference generator is located in '''stabilization/stabilization_attitude_ref_euler_int.c'''.

=== from angular rate set point ===

[[Image:Booz_refgen_rate.png]]

The code for this reference generator is located in '''stabilization/stabilization_rate.c'''.

=== from pos set point ===

[[Image:Booz_refgen_xy_sp.png]]

Acceleration is set to zero when rate reaches min or max value.

The code for this reference generator is located in '''guidance/guidance_h_ref.h'''.

== Attitude loop ==

[[Image:attitude_loop.png]]

The code for this loop is located in '''stabilization/stabilization_attitude_euler_int.c'''.

== Rate loop ==

[[Image:rate_loop.png]]

The code for this loop is located in '''stabilization/stabilization_rate.c'''.

== Guidance horizontal hover loop ==

[[Image:guidance_horizontal_hover.png]]

The code for this loop is located in '''guidance/guidance_h.c'''.

== Guidance horizontal navigation loop ==

[[Image:Booz_horizontal_nav.png]]

The code for this loop is located in '''guidance/guidance_h.c'''

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

Get Hardware

2014-06-05T04:33:13Z

Dconger: /* 100px|link=http://www.ppzuav.com PPZUAV */

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] 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.

<hr>

 
 

=Autopilots=

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1 BIT SQUARED ==
 
Paparazzi UAV, development, production and consulting company. Manufacturers and distributors of [[Lisa/S]] nano autopilot.

<hr>

== [[File:Ppzuav.jpg|100px|link=https://www.ppzuav.com/osc]] PPZUAV ==
[[Image:ApogeeV1_img01sm.JPG|thumb|100px|ApogeeV1]]
Assembling hardware for Paparazzi based projects since 2007.
We are a USA based company that makes the Open Sourced Paparazzi Hardware available around the World. If you need fully assembled or just PCBs we can help.

If you do not see what you need please do not hessitate to contact us via eMail to: sales@ppzuav.com for details.
Visit the [https://www.ppzuav.com/osc Web Store] to see the latest offerings.
 
<hr>
<hr>

NOTE: PPZUAV will be closed for vacation Sept 2014 to Jan 2015.

 
 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Elektronic distributor, sells all kinds of elektronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Paparazzi specifiv bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free wordwide shipping. Minimum order is 3 pcs.

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2014-05-18T02:38:15Z

Dconger: /* 100px|link=http://www.ppzuav.com PPZUAV */

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] 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.

<hr>

 
 

=Autopilots=

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1 BIT SQUARED ==
 
Paparazzi UAV, development, production and consulting company. Manufacturers and distributors of [[Lisa/S]] nano autopilot.

<hr>

== [[File:Ppzuav.jpg|100px|link=http://www.ppzuav.com]] PPZUAV ==
[[Image:ApogeeV1_img01sm.JPG|thumb|100px|ApogeeV1]]
Assembling hardware for Paparazzi based projects since 2007.
We are a USA based company that makes the Open Sourced Paparazzi Hardware available around the World. If you need fully assembled or just PCBs we can help.

If you do not see what you need please do not hessitate to contact us via eMail to: sales@ppzuav.com for details.
Visit the [https://www.ppzuav.com/ Web Store] to see the latest offerings.
 
<hr>
<hr>

NOTE: PPZUAV will be closed for vacation June 2014 to April 2015.

 
 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Elektronic distributor, sells all kinds of elektronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Paparazzi specifiv bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free wordwide shipping. Minimum order is 3 pcs.

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

[[Category:Hardware]] [[Category:User_Documentation]]

File:FTDIUtil640x588.JPG

2014-04-20T03:18:56Z

Dconger: FTDI Utility Board

FTDI Utility Board

CricketProbe/v1.00

2014-04-19T21:39:08Z

Dconger:

The CricketProbe is a debugging tool for ARM Cortex Microprocessors. 
It is a [http://http://www.blacksphere.co.nz Black Sphere Technologies] [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] PCB re-design, with some improvements made to the connectors, and is fully software-compatible. 

[[Image:CricketProbe_v100_3D_top.png|right|500px|CricketProbe v1.00 3D top view]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00 (current)||04/2014||Initial release
|-
|v0.00||02/2014||Prototype
|}

== Detailed Features ==
Fully compatible with the [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe], the features are identical: 
''(following is a copy of [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]'s webpage)''
:* Aimed at ARM Cortex based microcontrollers.
:* Allows direct connection to the targeted processors JTAG interface. Alternatively, you may use the ARM Serial Wire Debug protocol as well.
:* Full debugging functionality is provided. This includes: watchpoints, flash memory breakpoints, memory and register examination, flash memory programming, etc.
:* Multiple targets on a single JTAG scan chain is supported.
:* Interface to the host computer is a standard USB CDC ACM device (a virtual serial port), which does not require special drivers on Linux.
:* Implements the GDB extended remote debugging protocol for seamless integration with the GNU debugger and other GNU development tools.
:* Implements USB DFU class for easy firmware upgrades (as updates become available).
:* Windows, Linux and Mac environments supported.

This board allows you to:

:* Load your application into the target processor Flash memory or RAM.
:* Single step through your program.
:* Run your program in real-time with halt on demand.
:* Examine and modify CPU registers and memory.
:* Obtain a call stack backtrace.
:* Set up to 6 hardware assisted breakpoints.
:* Set up to 4 hardware assisted read, write or access watchpoints.
:* Set unlimited software breakpoints when executing your application from RAM.

== Pictures ==

== Pinout ==
''Pins Name and Type are specified with respect to the CricketProbe Board''

[[Image:CricketProbe_v100_pinout.png]]

== Schematic ==
[[Image:CricketProbe_v100_schematic.png|left|900px|CricketProbe v1.00 Schematic]]
 

== PCB ==

=== Gerber & Drill Files ===

== Assembly ==

===Components Layout===

<gallery>
Image:CricketProbe_v100_2D_top_components.png|CricketProbe v1.00 top components Layout
Image:CricketProbe_v100_2D_bottom_components.png|CricketProbe v1.00 bottom components Layout
Image:CricketProbe_v100_top_components.png|CricketProbe v1.00 top components detail
Image:CricketProbe_v100_bottom_components.png|CricketProbe v1.00 bottom components detail
</gallery>

=== Bill Of Material ===

'''''[[Media:CricketProbe_v100_BoM.zip|Download CricketProbe v1.00 Bill of Material (zipped .xls file)]]'''''
 
 

=== PCB and assembled boards suppliers ===

Check availability on [[Get_Hardware|Get Hardware]] page

== Mechanical Dimensions ==
[[Image:CricketProbe_v100_top_mechanical_dimensions.png|500px|CricketProbe v1.00 Top Mechanical Dimensions]]

== Programming ==

=== "Factory" (Bootloader) Programming ===

=== Firmware Upgrade ===

== Hardware Source Files ==

== Source code ==

[[Category:Hardware]]

CricketProbe/v1.00

2014-04-19T21:36:14Z

Dconger: /* Detailed Features */

The CricketProbe is a debugging tool for microprocessors. 
It is a PCB re-design and connectors improvement of the [http://http://www.blacksphere.co.nz Black Sphere Technologies] [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] and is fully software-compatible. 

[[Image:CricketProbe_v100_3D_top.png|right|500px|CricketProbe v1.00 3D top view]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00 (current)||04/2014||Initial release
|-
|v0.00||02/2014||Prototype
|}

== Detailed Features ==
Fully compatible with the [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe], the features are identical: 
''(following is a copy of [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]'s webpage)''
:* Aimed at ARM Cortex based microcontrollers.
:* Allows direct connection to the targeted processors JTAG interface. Alternatively, you may use the ARM Serial Wire Debug protocol as well.
:* Full debugging functionality is provided. This includes: watchpoints, flash memory breakpoints, memory and register examination, flash memory programming, etc.
:* Multiple targets on a single JTAG scan chain is supported.
:* Interface to the host computer is a standard USB CDC ACM device (a virtual serial port), which does not require special drivers on Linux.
:* Implements the GDB extended remote debugging protocol for seamless integration with the GNU debugger and other GNU development tools.
:* Implements USB DFU class for easy firmware upgrades (as updates become available).
:* Windows, Linux and Mac environments supported.

This board allows you to:

:* Load your application into the target processor Flash memory or RAM.
:* Single step through your program.
:* Run your program in real-time with halt on demand.
:* Examine and modify CPU registers and memory.
:* Obtain a call stack backtrace.
:* Set up to 6 hardware assisted breakpoints.
:* Set up to 4 hardware assisted read, write or access watchpoints.
:* Set unlimited software breakpoints when executing your application from RAM.

== Pictures ==

== Pinout ==
''Pins Name and Type are specified with respect to the CricketProbe Board''

[[Image:CricketProbe_v100_pinout.png]]

== Schematic ==
[[Image:CricketProbe_v100_schematic.png|left|900px|CricketProbe v1.00 Schematic]]
 

== PCB ==

=== Gerber & Drill Files ===

== Assembly ==

===Components Layout===

<gallery>
Image:CricketProbe_v100_2D_top_components.png|CricketProbe v1.00 top components Layout
Image:CricketProbe_v100_2D_bottom_components.png|CricketProbe v1.00 bottom components Layout
Image:CricketProbe_v100_top_components.png|CricketProbe v1.00 top components detail
Image:CricketProbe_v100_bottom_components.png|CricketProbe v1.00 bottom components detail
</gallery>

=== Bill Of Material ===

'''''[[Media:CricketProbe_v100_BoM.zip|Download CricketProbe v1.00 Bill of Material (zipped .xls file)]]'''''
 
 

=== PCB and assembled boards suppliers ===

Check availability on [[Get_Hardware|Get Hardware]] page

== Mechanical Dimensions ==
[[Image:CricketProbe_v100_top_mechanical_dimensions.png|500px|CricketProbe v1.00 Top Mechanical Dimensions]]

== Programming ==

=== "Factory" (Bootloader) Programming ===

=== Firmware Upgrade ===

== Hardware Source Files ==

== Source code ==

[[Category:Hardware]]

Get Hardware

2014-04-14T17:35:00Z

Dconger: /* 100px|link=http://www.ppzuav.com PPZUAV */

Get Hardware

2014-04-13T18:31:29Z

Dconger: /* 100px|link=http://www.ppzuav.com PPZUAV */

Get Hardware

2014-04-10T19:29:43Z

Dconger: /* 100px|link=http://www.ppzuav.com PPZUAV */

Get Hardware

2014-04-10T19:27:11Z

Dconger: /* Image:Ppzuav.jpg www.ppzuav.com */

Get Hardware

2014-04-10T19:22:49Z

Dconger: /* Image:Ppzuav.jpg www.ppzuav.com */

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] 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.

<hr>

 
 

=Autopilots=

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1 BIT SQUARED ==
 
Paparazzi UAV, development, production and consulting company. Manufacturers and distributors of [[Lisa/S]] nano autopilot.

<hr>

== [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com ==
[[Image:ApogeeV1_img01sm.JPG|thumb|400px|Paparazzi controllers]]
Providing professional services for Paparazzi based projects since 2007.
We are a USA based company that makes the Paparazzi hardware available around the World at an affordable price. We offer fully assembled down to just PCBs for nearly every ENAC/Paparazzi hardware design.

If you do not see what you need please do not hessitate to contact us via eMail to: sales@ppzuav.com for details.
Visit the [https://www.ppzuav.com/ Web Store] to see the latest offerings.
<hr>
<hr>

 
 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Elektronic distributor, sells all kinds of elektronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 18$ / 14€

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Paparazzi specifiv bare and already assembled PCB's.

==[http://www.seeedstudio.com/service/index.php?r=site/pcbService Seeedstudio Fusion PCB]==
Very cheap 1, 2 and 4 layer boards from china. (perfect for bigger volumes and a low price) 
Shipping from china takes some time. Minimum order is 5 pcs.

==[http://oshpark.com/ OSH Park]==
Fast high quality 2 and 4 layer boards.(perfect for high requirements, but they're not the cheapest) 
Free wordwide shipping. Minimum order is 3 pcs.

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2014-03-13T22:29:43Z

Dconger: /* Image:Ppzuav.jpg www.ppzuav.com */

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] 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.

<hr>

 
 

=Autopilots=

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1 BIT SQUARED ==
 
Paparazzi UAV, development, production and consulting company. Manufacturers and distributors of [[Lisa/S]] nano autopilot.

<hr>

== [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com ==
[[Image:ApogeeV1_img01sm.JPG|thumb|400px|Paparazzi controllers]]
Providing professional services for Paparazzi based projects since 2007. We are a USA based company that assembles, tests theses incredible French Engineered E.N.A.C. Paparazzi hardware designs and makes them available for your Paparazzi based project.
Services include:
<ul>
<li>French Design/Engineering, Assembled and tested in the USA.</li>
<li>All [https://www.ppzuav.com/osc/index.php?cPath=2 assemblies] are tested and ready to start</li>
<li>Want to build your own? No problem, we offer [https://www.ppzuav.com/osc/index.php?cPath=1 just PCBs] at Low cost for nearly every Paparazzi Hardware Design</li>
<li>We offer [https://www.ppzuav.com/osc/product_info.php?products_id=172 Bundles] to help get you started with the necessities</li>
<li>Turnkey systems based on Paparazzi</li>
<li>Meteo Research S.U.M.O. [[SUMO]] bundles and [[SUMO/prepare_electronics|SUMO electronics]]</li>
</ul>

Please do not hessitate to contact us via eMail to: sales@ppzuav.com for details.

NEW: We have the [https://www.ppzuav.com/osc/product_info.php?cPath=2&products_id=154 STM32F4 based Apogee v1.]
Visit the [https://www.ppzuav.com/osc PPZUAV WebStore] to see the latest offerings.
<hr>
<hr>

 
 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Elektronic distributor, sells all kinds of elektronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 22$

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Need just the PCB? You are in luck. PPZUAV makes available every ENAC Paparazzi design PCB. [https://www.ppzuav.com/osc/index.php?cPath=1 here].
If you see it on the Wiki it is likely PPUAV has the PCB available for you [https://www.ppzuav.com/osc/index.php?cPath=1 here].

==[http://www.olimex.com/pcb/ Olimex]==
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb] 
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

==[http://www.platinensammler.de/%C3%BCber-mich/| platinensammler.de]==

Cheap 2 and 4 layer boards from Germany, he orders around once a month 2 layer and only some infrequently 4 layer's by a german manufacturer.

*2 layer 1cm² ~ 0.30€
*4 layer 1cm² ~ 0.60€

==[http://oshpark.com/| OSH Park]==
Cheap 2 and 4 Layer boards.
Free wordwide shipping.

cm²
*3x 2 Layer 1cm² = 0.78$
*3x 4 Layer 1cm² = 1.55$
(minimum order is 3 pcs, standard price is already for 3 pcs)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2014-03-13T22:05:38Z

Dconger: /* Image:Ppzuav.jpg www.ppzuav.com */

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] 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.

<hr>

 
 

=Autopilots=

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1 BIT SQUARED ==
 
Paparazzi UAV, development, production and consulting company. Manufacturers and distributors of [[Lisa/S]] nano autopilot.

<hr>

== [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com ==
[[Image:ApogeeV1_img01sm.JPG|thumb|400px|Paparazzi controllers]]
Providing professional services for Paparazzi based projects since 2007. We are a USA based company that assembles, tests theses incredible French Engineered E.N.A.C. Paparazzi hardware designs and makes them available for your Paparazzi based project.
Services include:
<ul>
<li>French Engineering, Assembled and tested in the USA.</li>
<li>Assembled and tested assemblies ready to program</li>
<li>Want to build your own? No problem, we offer [https://www.ppzuav.com/osc/index.php?cPath=1 just PCBs] at Low cost for nearly every Paparazzi Hardware Design</li>
<li>Turnkey systems based on Paparazzi</li>
<li>Meteo Research S.U.M.O. [[SUMO]] bundles and [[SUMO/prepare_electronics|SUMO electronics]]</li>
</ul>

Please do not hessitate to contact us via eMail to: sales@ppzuav.com for details.

NEW: We have the [https://www.ppzuav.com/osc/webadm/categories.php?ID=154 STM32F4 based Apogee v1.]
Visit the [https://www.ppzuav.com/osc PPZUAV WebStore] to see the latest offerings.
<hr>
<hr>

 
 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Elektronic distributor, sells all kinds of elektronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 22$

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Need just the PCB? You are in luck. PPZUAV makes available every ENAC Paparazzi design PCB. [https://www.ppzuav.com/osc/index.php?cPath=1 here].
If you see it on the Wiki it is likely PPUAV has the PCB available for you [https://www.ppzuav.com/osc/index.php?cPath=1 here].

==[http://www.olimex.com/pcb/ Olimex]==
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb] 
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

==[http://www.platinensammler.de/%C3%BCber-mich/| platinensammler.de]==

Cheap 2 and 4 layer boards from Germany, he orders around once a month 2 layer and only some infrequently 4 layer's by a german manufacturer.

*2 layer 1cm² ~ 0.30€
*4 layer 1cm² ~ 0.60€

==[http://oshpark.com/| OSH Park]==
Cheap 2 and 4 Layer boards.
Free wordwide shipping.

cm²
*3x 2 Layer 1cm² = 0.78$
*3x 4 Layer 1cm² = 1.55$
(minimum order is 3 pcs, standard price is already for 3 pcs)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

[[Category:Hardware]] [[Category:User_Documentation]]

Installation/Linux

2014-01-31T01:53:01Z

Dconger: /* gcc-arm-none-eabi as Ubuntu package */

Installation/Linux

2014-01-31T01:46:37Z

Dconger: /* gcc-arm-none-eabi as Ubuntu package */

Get Hardware

2014-01-27T19:16:36Z

Dconger:

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] 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.

<hr>

 
 

=Autopilots=

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1 BIT SQUARED ==
 
Paparazzi UAV, development, production and consulting company. Manufacturers and distributors of [[Lisa/S]] nano autopilot.

<hr>

== [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com ==
[[Image:ApogeeV1_img01sm.JPG|thumb|400px|Paparazzi controllers]]
Providing professional services for Paparazzi based projects since 2007.
Services include:
<ul>
<li>Assembled and tested assemblies ready to program
<li>Low cost individual PCBs for every Paparazzi Hardware Design
<li>Consulting services
<li>Turnkey systems based on Paparazzi
<li>Meteo Research S.U.M.O. [[SUMO]] bundles and [[SUMO/prepare_electronics|SUMO electronics]]
</ul>

Please do not hessitate to contact us via eMail to: sales@ppzuav.com for details.

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you get started (sales@ppzuav.com).

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Umarim, Apogee controllers available now. NOTE: Special orders welcome. Just let us know which item and the quantity.

Visit the PPZUAZ [https://www.ppzuav.com/osc WebStore] to see the latest offerings.
<hr>
<hr>

 
 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Elektronic distributor, sells all kinds of elektronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 22$

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Need just the PCB? You are in luck. PPZUAV makes available every ENAC Paparazzi design PCB. [https://www.ppzuav.com/osc/index.php?cPath=1 here].
If you see it on the Wiki it is likely PPUAV has the PCB available for you [https://www.ppzuav.com/osc/index.php?cPath=1 here].

==[http://www.olimex.com/pcb/ Olimex]==
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb] 
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

==[http://www.platinensammler.de/%C3%BCber-mich/| platinensammler.de]==

Cheap 2 and 4 layer boards from Germany, he orders around once a month 2 layer and only some infrequently 4 layer's by a german manufacturer.

*2 layer 1cm² ~ 0.30€
*4 layer 1cm² ~ 0.60€

==[http://oshpark.com/| OSH Park]==
Cheap 2 and 4 Layer boards.
Free wordwide shipping.

cm²
*3x 2 Layer 1cm² = 0.78$
*3x 4 Layer 1cm² = 1.55$
(minimum order is 3 pcs, standard price is already for 3 pcs)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

[[Category:Hardware]] [[Category:User_Documentation]]

Get Hardware

2014-01-27T19:03:02Z

Dconger: /* PPZUAV */

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] 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.

<hr>

 
 

=Autopilots=

== [[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]] 1 BIT SQUARED ==

Paparazzi UAV, development, production and consulting company. Manufacturers and distributors of [[Lisa/S]] nano autopilot.

== [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com [[Image:ApogeeV1_img01sm.JPG|thumb|400px|Paparazzi controllers]] ==
Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007 
''' Yes we have [[SUMO]] bundles and [[SUMO/prepare_electronics|SUMO electronics]].''' 
'''Yes we have [[https://www.ppzuav.com/osc/product_info.php?products_id=154 Apogee V1]] [[Apogee/v1.00|Apogee Fixed wing controller]].''' 
eMail to: sales@ppzuav.com for details.

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide (sales@ppzuav.com).

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Umarim, Apogee controllers available now. NOTE: Special orders welcome. Just let us know which item and the quantity.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.

Visit the PPZUAZ [https://www.ppzuav.com/osc WebStore] to see the latest offerings.

 
 

== [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] ==

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.sparkfun.com Sparkfun]==
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters (XBEE adapter)
* LEDs
* Etc.

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==Mouser==

Elektronic distributor, sells all kinds of elektronic parts or modules.
Free shipping as of 60€.

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

* [http://www.navilock.de/produkte/gruppen/13/Boards_und_Module navilock.de] (also available on [http://www.amazon.de Amazon.de])
* [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp rfdesign.co.za] (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
* [http://www.expedienttech.com/ expedittech.com]
* [http://www.csgshop.com/category.php?id_category=16 csgshop.com US UBLOX MAX-6Q] ( Lithuania )
* [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 ppzuav.com GPS13] (USA)
* [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html hobbyking.com NEO-6M] 22$

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors.
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

=PCB=
==[https://www.ppzuav.com/osc/index.php?cPath=1 PPZUAV]==
Need just the PCB? You are in luck. PPZUAV makes available every ENAC Paparazzi design PCB. [https://www.ppzuav.com/osc/index.php?cPath=1 here].
If you see it on the Wiki it is likely PPUAV has the PCB available for you [https://www.ppzuav.com/osc/index.php?cPath=1 here].

==[http://www.olimex.com/pcb/ Olimex]==
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb] 
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

==[http://www.platinensammler.de/%C3%BCber-mich/| platinensammler.de]==

Cheap 2 and 4 layer boards from Germany, he orders around once a month 2 layer and only some infrequently 4 layer's by a german manufacturer.

*2 layer 1cm² ~ 0.30€
*4 layer 1cm² ~ 0.60€

==[http://oshpark.com/| OSH Park]==
Cheap 2 and 4 Layer boards.
Free wordwide shipping.

cm²
*3x 2 Layer 1cm² = 0.78$
*3x 4 Layer 1cm² = 1.55$
(minimum order is 3 pcs, standard price is already for 3 pcs)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

[[Category:Hardware]] [[Category:User_Documentation]]

RT Paparazzi

2014-01-16T04:25:15Z

Dconger: /* Paparazzi with ChibiOS/RT */

= Real Time (RT) Paparazzi =

== Introduction ==

the '''RT Paparazzi''' initiative is a step towards extended flexibility for the core autopilot. In a real time operating system (RTOS) [http://en.wikipedia.org/wiki/Real-time_operating_system] multiple threads are available, which are doing specific jobs e.g. a telemetry thread, a radio thread, a failsafe thread, at a defined rate. Unlike ''bare-metal'' application which uses interrupt driven timers for timing tasks, real time OS has a kernel which takes care of scheduling and running the threads. Having a kernel, it is possible to set priority of each thread, how much memory it takes etc.etc. which gives the developer more control over timing and resource managment.

Besides kernel, a typical RTOS also has a harware abstraction layer (HAL) which stands between user application and actual hardware, so the core autopilot developer doesn't have to worry to much about writing drivers for the sensor to use.

One of the strengths of Paparazzi is it's modularity - combining this with precise timing, scheduling and resource management a RTOS brings along, Paparazzi is now in a position to exceed even the leading commecial closed-source UAs autopilots.

= Paparazzi with ChibiOS/RT =

RT Paparazzi is based on ChibiOS/RT [http://chibios.org/dokuwiki/doku.php]. ChibiOS/RT supports basically all architectures that standard Paparazzi does (see [http://chibios.org/dokuwiki/doku.php?id=chibios:architectures]), which makes both systems compatible. Since RTOS makes handling multiple I/O easier, but comes with some extra overhead (context switching, kernel code), it gives most leverage to to STM32 F1xx and F4xx based autopilots ([[Apogee/v1.00]],[[Lisa/M_v20]], [[Lisa/S]], [[STM32F4_Discovery]], [[KroozSD]]...).

The development of RT Paparazzi with ChibeOS was started by the AggieAir team [http://aggieair.usu.edu/] at Utah State University.

== Getting the sourcecode ==
Most recent code is available under ''rt_paparazzi'' branch from Paparazzi Git repo [https://github.com/paparazzi/paparazzi], however you can check these two repositories too ([https://github.com/podhrmic/ChibiOS-RT] and [https://github.com/podhrmic/paparazzi])

== Debugging with an Eclipse IDE ==
Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].

An alternative guide is for example here [http://embeddedprogrammer.blogspot.com/2012/09/stm32f4discovery-development-with-gcc.html]

Just a few notes to the process:
* install GCC Arm Embedded toolchain [https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded] (recommended anyway for Paparazzi since v 5.0)
* get Black Magic probe from Blacksphere [http://www.blacksphere.co.nz/main/blackmagic], it will make your life easier
* in '''Creating a GDB Debug Configuration''' use the following commands for Black Magic Probe:
target extended-remote /dev/ttyACM0
monitor jtag_scan
attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
monitor option erase
set print pretty
(for [[Lisa/M_v2.0#Lisa.2FLia_F4 | Lisa/Lia F4]] board use '' swdp_scan'' instead of ''jtag_scan'')
* if you are using luftboot, don't forget to add image offset into the debug configuration:
[[File:Rt_paparazzi_eclipse_setup_2.png]]
* don't forget in "Eclipse->Window->Preferences->Run/Debug->Launching->Default Launchers->GDB Hardware Debugging" set preferred launcher to "Standard GDB" (otherwise the ChibiOS/RT plugin won't work, tested in Eclipse Kepler Service Release 1):
[[File:Rt_paparazzi_eclipse_setup_1.png]]
* to use ChibiOS/RT debug module for Eclipse, download ChibiStudio (it is for Windows only) from SourceForge [http://sourceforge.net/projects/chibios/files/ChibiStudio/], extract it and from ''ChibiStudio/eclipse/plugins'' copy
org.chibios.tools.eclipse.config_1.2.1.jar
org.chibios.tools.eclipse.debug_1.0.8.jar
to your ''eclipse/plugins'' directory. Restart Eclipse and in "Help->About Eclipe->Installation Details->Plugins" you should see both chibios plugins. Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [http://forum.chibios.org/phpbb/viewtopic.php?f=3&t=140] for details)

= Paparazzi on Linux =

Taking the ARDrone 2 base install is a good example how Paparazzi could be used to run the core Autopilot executable

= RT Paparazzi at ENAC =

There is an internal project at ENAC of a RT Paparazzi

= RT Paparazzi on Nuttix =

There are all reasons to assume the current Paparazzi code can run perfectly on Nuttix, only nobody so far bother to start this effort since the general consensus at the moment is that CHibeOS is a better choice for an RT operationg system

SUMO/prepare electronics

2013-11-12T19:00:55Z

Dconger: /* What you need */

__NOTOC__

== What you need ==


{|border="1" cellspacing="0" style="text-align:center" width="80%" valign="top"
|-style="background:LightYellow; color:black"
!Qty!!Manufacturer part number!!Description!!Manufacturer!!Digikey part number!!Other distributor
|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Autopilot''
|-
|1||Umarim Lite v2||Autopilot||Paparazzi|| ||
|-
|1||BEC cable female||Autopilot power supply|| || ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Modem''
|-
|1||(1P)XBP24-PKC-001-UA||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-PKC-001-UA-ND||Mouser 888-XBP24-PKC-001-UA
|-
|1||XBP24-AWI-001||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-AWI-001-ND||Mouser 888-XBP24-AWI-001
|-
|1||WRL-11373||XBee Explorer Regulated board||Sparkfun|| ||Sparkfun WRL-11373
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''GPS''
|-
|1||#387000004 (31135)||NEO-6M GPS Module||Hobbyking|| ||Navilock NL-652ETTL
|-

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors''
|-
|1||SHT75||Humidity Sensor||Sensirion|| ||Farnell #1590514
|-
|1||SHT75 adapter||SHT75 breakout board||Paparazzi|| ||
|-
|1||MLX90614||Infrared Thermometer||Melexis|| ||Sparkfun SEN-09570 FutureElectronics MLX90614ESF-BAA-000-TU
|-
|1||MLX90614 adapter||MLX90614 breakout board||Paparazzi|| ||paparazzi-hardware misc/mlx90614_small
|-
|1||ETS airspeed||Eagletree airspeed v3||Eagletree|| ||
|-
|1||PT1000 M222||PT1000 M222 temperature sensor||Heraeus|| ||Conrad #172041
|-
|1||TEMOD-I2C-R1||PT1000 converter board ||Hygrosens|| ||Conrad #502001
|-
|1||Multi I2C||Multi adapter Board||Paparazzi|| ||paparazzi-hardware misc/servo_i2c_multi

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors (optional version)''
|-
|1||BOB-08745||Logic Level Converter||Sparkfun|| ||Sparkfun BOB-08745
|-
|1||MS5611||Barometric pressure sensor||Meas Spec|| ||CSG #96 Drotek #44

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Logger''
|-
|1||TWOG v1.0||Logger||Paparazzi|| ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-
|1||BOB-00544||Board for microSD Transflash||Sparkfun|| ||Sparkfun BOB-00544

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Shrink tube (shrunken / not shrunken)''
|-
|1||PVC|| 13mm / 20mm || || ||Muldental Elektronik 64115
|-
|1||PVC|| 24mm / 37mm || || ||Muldental Elektronik 64246
|-
|1||PVC|| 29mm / 45mm || || ||Muldental Elektronik 64347
|-
|1||PVC|| 31mm / 51mm || || ||Muldental Elektronik 64446

|}



Shopping list

== Mounting ==

Use high quality cable, PVC cable gets very stiff in cold temperatures. All parts have to be put into shrink tube to isolate it from any conductive or electrostatic plastic. Some pictures below do not show this tube for better visibility.

=== Autopilot ===
[[Image:Umarim_bec.jpg|thumb|right|Umarim with BEC cable]]
[[Image:Umarim_usb.jpg|thumb|right|USB connector for Umarim]]

Solder the BEC to the Umarim. Cover the Umarim in shrink tube. Cut free the Molex connector openings

{|border="1"
|-valign="top"
||'''Umarim Supply (J15) pin'''||'''Umarim Supply'''||'''BEC male'''
|-
|1
|VBAT
| +
|-
|2
|GND
|
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Solder the cables to the USB breakout board, plug cables in 4-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''Umarim USB (J8) pin'''||'''Umarim USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|USB+
|D+
|-
|3
|USB-
|D-
|-
|4
|USB_VBUS
|VCC
|-
|''Molex 4pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 21cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

=== GPS ===
[[Image:Hk neo gps.jpg|thumb|right|NEO-6M GPS receiver]]

Connect the u-blox type GPS receiver to the UART0 of the Umarim. Put the GPS in shrink tube. Attach any HF cable with tape. Secure GPS connector with hot glue if needed.

{|border="1"
|-valign="top"
||'''Umarim UART0 (J9) pin'''||'''Umarim UART0'''||'''GPS receiver'''||'''HK NEO-6M pin'''
|-
|1
|GND
|GND
|1
|-
|2
|5V
|5V
|4
|-
|3
|
|
|
|-
|4
|RX0
|TX
|2
|-
|5
|TX0
|RX
|3
|-
|''Molex 5pin''
|
|
|''Molex 4pin''
|-
|colspan="4" align="left"|''Cable length 18cm''
|-
|colspan="4" align="left"|''Shrink tube 31mm / 51mm''
|}

=== Modem ===
[[Image:Xbee_cable.jpg|thumb|right|XBee pro modem]]

Solder the cables to the XBee explorer board, plug cables in 5-pin Molex connector. Secure cables on explorer board with hot glue. Plug XBee modem into explorer board and secure with shrink tube.

Recent Sparkfun boards (v14) are equipped with 3.3V to 5V converters. Although the Umarim/LPC2148 should be able to handle 5V it is safe to not use the converters. Remove R5, R6, R7, R8, Q1, and Q2 from the XBee explorer regulated breakout board. Bridge OUT-DOUT and IN-DIN within the transistor footprint.

{|border="1"
|-valign="top"
||'''Umarim UART1 (J10) pin'''||'''Umarim UART1'''||'''XBee Explorer Regulated'''
|-
|1
|GND
|GND
|-
|2
|5V
|5V
|-
|3
|
|
|-
|4
|RX1
|DOUT
|-
|5
|TX1
|DIN
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|-
|colspan="3" align="left"|''Shrink tube 29mm / 45mm''
|}

Solder a second wire (not shown in picture) from the XBee to the TWOG so that the data sent by the Umarim can be logged. That means that two wires are to be connected at the XBee DIN pin.

{|border="1"
|-valign="top"
||'''TWOG Download/GPS (J7) pin'''||'''TWOG Download/GPS'''||'''XBee Explorer Regulated'''
|-
|1
|
|
|-
|2
|
|
|-
|3
|
|
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD0
|DIN
|-
|''Molex 7pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|}

=== SHT75 humidity sensor ===
[[Image:Sht75_breakout_bot_90deg.jpg|thumb|right|SHT75 soldered to adapter board]]

Use SHT75 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/sht75_small repository]. Solder parts, secure sensor with hot glue to adapter board on the bottom side (not shown in picture).

{|border="1"
|-valign="top"
||'''Umarim AUX (J14) pin'''||'''Umarim AUX'''||'''SHT75'''||'''SHT75 pin'''||'''SHT75 adapter pin'''
|-
|1
|GND
|GND
|(3)
|1
|-
|2
|
|
|
|
|-
|3
| +3.3V
|VDD
|(2)
|2
|-
|4
|AUX1 (P0.13)
|DATA
|(4)
|3
|-
|5
|AUX2 (P0.15)
|SCK
|(1)
|4
|-
|6
|
|
|
|
|-
|7
|
|
|
|
|-
|''Molex 7pin''
|
|
|
|''Molex 4pin''
|-
|colspan="5" align="left"|''Cable length 17cm''
|-
|colspan="5" align="left"|''no shrink tube''
|}

=== MLX90614 infrared thermometer ===
[[Image:Mlx90614_bot.jpg‎|thumb|right|MLX90614 soldered to adapter board]]

Use MLX90614 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/mlx90614_small repository]. Solder parts, take care of sensor polarity. The I2C address of the MLX90614 needs to be programmed once before it can be used. Connect it as the only sensor to I2C and flash/run it with the IR_MLX_ONE_TIME_CONFIG option set (currently available in the master and campaign2013 branch). See [http://paparazzi.enac.fr/wiki/Module/Melexis_MLX90614#One-time_configuration Module/Melexis_MLX90614].

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''MLX90614'''||'''MLX90614 adapter pin'''
|-
|1
|GND
|Vss
|1
|-
|2
|
|
|
|-
|3
| +3.3V
|Vdd
|3
|-
|4
|SDA
|SDA
|4
|-
|5
|SCL
|SCL
|5
|-
|''Molex 5pin''
|
|
|''Molex 5pin''
|-
|colspan="5" align="left"|''Cable length 9cm''
|-
|colspan="5" align="left"|''Shrink tube 24mm / 37mm''
|}

=== Eagletree Airspeed v3 Sensor ===
[[Image:Ets_airspeed_v3.jpg|thumb|right|Eagletree Airspeed v3]]

Extend the sensor cable. Cut off the four outstanding pins.

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''ETS Airspeed wire colour'''
|-
|1
|GND
|white
|-
|2
| +5V
|red
|-
|3
|
|
|-
|4
|SDA
|yellow
|-
|5
|SCL
|brown
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 40cm''
|-
|colspan="3" align="left"|''keep original shrink tube''
|}

=== PT1000 temperature sensor ===
[[Image:Temod_i2c.jpg‎|thumb|right|Hygrosens TEMOD-I2C-R1]]

Solder the PT1000 sensor (little blue on the picture) to the two correct pads at the edge of the TEMOD-I2C-R1 board, where the pin plugs are. The pads on both side are not connected through. It has to be soldered to the side '''not''' carrying the chip. Remove pin header from TEMOD board. Solder 4pin cable to TEMOD, it will be connected to the Umarim through the multi_i2c board below. Fix cables with hot glue. Put some hot glue on the top of teh board, just behind the PT1000. Seal the board with shrink tube.

{|border="1"
|-valign="top"
||'''Multi board I2C_5V pin'''||'''Multi board I2C_5V'''||'''TEMOD-I2C-R1'''||'''TEMOD-I2C-R1 pin'''
|-
|1
|GND
|GND
|2
|-
|2
| +5V
|Vdd
|1
|-
|3
|SDA_5V
|SDA
|3
|-
|4
|SCL_5V
|SCL
|4
|-
|''Molex 4pin''
|
|
|''solder''
|-
|colspan="5" align="left"|''Cable length 18cm''
|-
|colspan="5" align="left"|''Shrink tube 13mm / 20mm''
|}

=== Multi Board ===
[[Image:Multi_i2c_ms5611.jpg‎‎|thumb|right|Multi connector board]]
[[Image:Multi_board_umarim.jpg|thumb|right|Multi board to Umarim]]

Use the multi board from the Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/servo_i2c_multi repository] to have multiple I2C connections, a MS5611 barometric pressure sensor, a 3.3V to 5V level shifter and servo JR connectors for BEC supply through the motor controller. Drill/burn holes into the shrink tube at the hole locations to attach the board with screws later on.

Connection between Multi Board I2C and Umarim I2C0.

{|border="1"
|-valign="top"
||'''Umarim I2C0 pin'''||'''I2C'''||'''Multi board I2C pin'''
|-
|1
|GND
|1
|-
|2
| +5V
|2
|-
|3
| +3.3V
|3
|-
|4
|SDA
|4
|-
|5
|SCL
|5
|-
|''Molex 5pin''
|
|''Molex 5pin''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Connection between Multi Board and Umarim for the servo signals.

{|border="1"
|-valign="top"
||'''Multi board Servo pin'''||'''Multi board Servo'''||'''Umarim Servo'''
|-
|1
|GND
|GND_SRV5
|-
|2
|
|
|-
|3
|
|
|-
|4
|S2
|SRV2
|-
|5
|S3
|SRV3
|-
|6
|S4
|SRV4
|-
|7
|S5
|SRV5
|-
|colspan="3" align="left"|''Cable length 7.5cm, 7.5cm, 8cm, 8.5cm, 9cm''
|}

The TEMOD/PT1000 temperature sensor gets connected through the 5V I2C connector.

{|border="1"
|-valign="top"
||'''Multi I2C_5V pin'''||'''Multi I2C_5V'''
|-
|1
|GND
|-
|2
| +5V
|-
|3
|SDA
|-
|4
|SCL
|}

=== Logger ===
[[Image:Umarim_logger_spi.jpg|thumb|right|Umarim with logger]]

The Umarim autopilot and the TWOG logger communicate through a bi-directional SPI connection.

{|border="1"
|-valign="top"
||'''Umarim SPI1 pin'''||'''Umarim SPI1'''||'''TWOG'''||'''TWOG conn.'''||'''TWOG name'''||'''TWOG pin'''
|-
|1
|
|
|
|
|
|-
|2
|
|
|
|
|
|-
|3
|SSEL1
|SSEL0
|USB
|BUTTON
|6
|-
|4
|MOSI1
|MOSI0
|PPM
|PPM_IN
|3
|-
|5
|MISO1
|MISO0
|PPM
|SERV_CLK
|5
|-
|6
|
|
|
|
|
|-
|7
|SCK1
|SCK0
|ADC1
|ADC_3
|5
|-
|''Molex 7pin''
|
|
|
|
|''various Molex''
|-
|colspan="6" align="left"|''Cable length 6cm''
|}

The TWOG can be supplied through its original power supply connector or through 5V from the Umarim if the switching supply board is removed from the TWOG:

{|border="1"
|-valign="top"
||'''Umarim SRV0 pin'''||'''Umarim SRV0'''||'''TWOG ADC1'''||'''TWOG ADC1 pin'''
|-
|1
|GND
|GND
|1
|-
|2
| +5V
| +5V
|2
|-
|3
|
|
|
|-
|''Molex 3pin''
|
|
|''Molex 5pin''
|-
|colspan="4" align="left"|''Cable length 6cm''
|}

Solder the cables to the USB breakout board for the TWOG logger, plug cables in 8-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''TWOG USB (J9) pin'''||'''TWOG USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
|USB+
|D+
|-
|4
|USB-
|D-
|-
|5
|USB_VBUS
|VCC
|-
|5
|
|
|-
|6
|
|
|-
|7
|
|
|-
|8
|
|
|-
|''Molex 8pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

[[Image:Sd_card_twog.jpg|thumb|right|micro SD card adapter]]
[[Image:Sd_card_twog_shrink.jpg|thumb|right|micro SD card adapter in tube]]

The micro SD card adapter is connected to the TWOGs SPI connector. Wrap the board in shrink tube so that the micro SD card can be plugged/unplugged.

{|border="1"
|-valign="top"
||'''TWOG SPI pin'''||'''TWOG SPI'''||'''microSD card board'''||'''microSD board pin'''
|-
|1
|GND
|GND
|5
|-
|2
| +3.3V
|VCC
|3
|-
|3
|SSEL
|CS
|1
|-
|4
|MOSI
|DI
|2
|-
|5
|MISO
|DO
|6
|-
|6
|
|
|
|-
|7
|SCK
|SCK
|4
|-
|''Molex 7pin''
|
|
|''solder''
|-
|colspan="4" align="left"|''Cable length 6cm''
|-
|colspan="4" align="left"|''Shrink tube 24mm / 37mm''
|}

Flight Plans

2013-10-12T05:24:44Z

Dconger: /* DTD and Structure */

A '''flight plan''' is a XML document which one can create and store aboard an autopilot. The flight plan will describe how you want your aircraft to travel if released into into the wild blue yonder.

== DTD and Structure ==

The formal description of the flight plan file is given in the [http://en.wikipedia.org/wiki/Document_Type_Definition '''DTD'''] (located in <tt>conf/flight_plans/flight_plan.dtd</tt>). This
DTD must be referenced in the header of your flight plan XML document using the following line: 

<source lang="xml"><!DOCTYPE flight_plan SYSTEM "flight_plan.dtd"></source>

The flight plans are stored in the <tt>conf/flight_plans</tt> directory. The [[Flight_Plan_Editor|flight plan editor]] can be used to create basic flight plans via the GUI.

Extract from the [http://en.wikipedia.org/wiki/Document_Type_Definition DTD]:
<tt><!ELEMENT flight_plan (header?,waypoints,sectors?,include*,exceptions?,blocks)></tt>

'''A flight plan is composed of two mandatory elements: [[#waypoints|waypoints]] and [[#blocks|blocks]]'''

The root <tt>flight_plan</tt> element is specified with several attributes:
<tt>'''<flight_plan name lat0 lon0 ground_alt security_height home_mode_height qfu alt max_dist_from_home>'''</tt>
; <tt>'''name'''</tt>: The name of the mission (a text string)
; <tt>'''lat0, lon0'''</tt>: Defines the latitude and longitude coordinates of the reference point {0,0} in WGS84 degree coordinates
; <tt>'''ground_alt'''</tt>: The ground altitude (in meters), Above Sea Level where you are flying (it is helpful to use hand-held GPS for this value). It defines the <tt>GROUND_ALT</tt> constant value which can be used to define waypoint altitudes
; <tt>'''security_height'''</tt>: The height (over <tt>'''ground_alt'''</tt>) used by the circle-home failsafe procedure and in other flight procedures such as formation flight and anti-collision avoidance. Warnings are produced if you place a waypoint lower than <tt>'''security_height'''</tt> (usually the case for the landing point)
; <tt>'''home_mode_height'''</tt> (optional): This optional attribute available since v4.2 allows to override <tt>'''security_height'''</tt> as failsafe height in home mode. If <tt>'''home_mode_height'''</tt> Is set lower than <tt>'''security_height'''</tt>, the later is used. This attribute is useful if you need to return home at a high altitude rather than a low altitude.
; <tt>'''qfu'''</tt> (optional): defines the global constant <tt>QFU</tt>. It usually is the magnetic heading in degrees (north=0, east=90) of the runway, the opposite of wind direction. This constant may be used in the mission description. It is also used by the simulator as the original course of the aircraft. So if you want to take off and climb to the West you would use qfu=270.
; <tt>'''alt'''</tt>: The default altitude of waypoints ([[Altitude_definitions|Above Sea Level]]). So if your ground altitude is 400 then alt needs to be a value greater than ground altitude and above any obstructions in the flight plan.
; <tt>'''max_dist_from_home'''</tt>: A radius representing the maximum allowed distance (in meters) from the HOME waypoint. Exceeding this value (ie flying outside the circle with this radius) will trigger an exception. It is up to you to define the block to be executed (ie what to do) for the exception.

Here is an example of the first line of a flight plan:

<source lang="xml">
<flight_plan name="Example Muret"
lat0="43.46223" lon0="1.27289" max_dist_from_home="300" qfu="270"
ground_alt="185" security_height="25" alt="250" home_mode_height="150">
</source>

Note that a flight plan could also contain optional <tt>include</tt>'s and <tt>exceptions</tt> cases.

In English the above flight plan says the name is Example Muret. The reference coordinates for the 0,0 point is: 43.46223 (lat) and 1.27289 (long). The flying site 0,0 location is 185m above sea level. The security height is 25m above 0,0 point or 210m above sea level. The default (ie if not defined in a waypoint this alt is used) altitude is 250m (above sea level). The home mode block altitude is defined to be 150m above sea level. Also, for security, a circle is defined with a radius that's 300m from 0,0 position. This is the max_dist_from_home value. Fly 301m from 0,0 and an exception is triggered. A useful block is to trigger/go to the home mode block and return to home when the aircraft flies outside the safety circle. Example flight plans are helpful for study before you build your own from scratch.

== Waypoints ==

The waypoints are the geographic locations used to specify the trajectories. A waypoint is specified by it's name and coordinates:
<tt>''' <waypoint name wpx wpy [alt] [height]/> '''</tt>
where wpx and wpy are real positional coordinates ( <tt>'''lat/lon'''</tt> ) '''or''' UTM coordinates ( <tt>'''utm_x0/utm_y0'''</tt> ) '''or''' relative coordinates ( <tt>'''x/y'''</tt> ) in meters from your reference point {0,0} . <tt>alt</tt> and <tt>height</tt> are optional parameters and can be used to assign an altitude to a particular waypoint that is different from the globally defined <tt>alt</tt> parameter of the flightplan. To set the waypoint altitude relative to the [[Altitude_definitions|ground altitude]] (<tt>ground_alt</tt>) of the flight plan for this waypoint, use the <tt>height</tt> attribute instead of <tt>alt</tt>.

An example:
<source lang="xml">
<waypoints>
<waypoint name="HOME" x="0.0" y="30.0"/>
<waypoint name="BRIDGEOVERRIVER" x="-100.0" y="60.0" alt="270."/>
<waypoint name="MyBarn" x="-130.0" y="217.5" alt="3000."/>
<waypoint name="3" x="-30.0" y="50" height="50."/>
<waypoint name="4" x="-30.0" y="50." alt="ground_alt + 50"/>
<waypoint name="_MYHELPERSPOT" x="-30.0" y="60" height="50."/>
<waypoint name="_MYOTHERHELPERSPOT" x="-70.0" y="90" height="70."/>
<waypoint name="TOWER" lat="48.858249" lon="2.294494" height="324."/>
<waypoint name="MountainCAFE" utm_x0="360284.8" utm_y0="4813595.5" alt="1965."/>
</waypoints>
</source>

'''Tips'''
* Waypoints are easily adjusted with the [[Flight_Plan_Editor|flight plan editor]].
* If a waypoint name starts with an underscore, the waypoint is '''not displayed''' in the GCS, except in editor mode.
* The maximum number of waypoints is 254.
* A waypoint named <tt>HOME</tt> is required if the failsafe HOME mode procedure is used.

== Sectors ==

Flat ''Sectors'' can be described as an area defined by list of waypoint corners. Such an area will be displayed in the Ground Control Station (GCS) by colored lines.
A function is generated to check if a point, usually the aircraft itself, is ''inside'' this sector. Currently, this feature requires that the polygon is convex and described in a clockwise order. For a sector named <tt>sector</tt>. Note that sector names are not allowed to contain spaces. The generated function is <tt>bool_t InsideSector(float x, float y);</tt> where <tt>x</tt> and <tt>y</tt> are east and north coordinated, in meters, relative to the geographic reference of the flight plan. If the flight plan is dynamically relocated, such a sector will be relocated but the display is currently not updated on the GCS. It would be great if one would help improving that part of the source code.

For example, with the following element in a flight plan.
<source lang="xml">
<sectors>
<sector name="MyCosySector" color="red">
<corner name="_1"/>
<corner name="_2"/>
<corner name="_3"/>
<corner name="_4"/>
</sector>
</sectors>
</source>

It is then possible to write a exception. For example if the aircraft for some reason flies outside this sector the airframe will fly to a standby waypoint. The exclamation mark (!) means the boolean operator <tt>NOT</tt> in this example. In regular language one would describe "If my airframe is NOT inside the Murret sector anymore then deroute it to the standby waypoint." In Flightplan "Speak" this is written like:
<source lang="xml">
<exception cond="! InsideMyCosySector(GetPosX(), GetPosY())" deroute="standby"/>
</source>

'''Tips'''
* A nice option in the corner notation is that one can add an underscore in front of the name; a corner or waypoint name that starts with an underscore is not displayed in the GCS. Only in editor mode it is visible. It is visible in editor mode, because if you the could not see it, it also would be not possible to edit or drag the corner or waypoint to another position.
* The color of the sector is not fixed but can be defined by oneself if wished for via the color attribute.

== Includes ==

<tt>include</tt> is used to add some flight plan elements defined in an external procedure. It’s useful to include pre-written procedures with only few arguments and then clarify the flight plan.
Here is the structure:
<tt><include name procedure> [<arg name value />]*[<with from to />]*</include></tt>
where <tt>name</tt> attribute of the include element will be used in this flight plan to prefix the blocks of the <tt>procedure</tt>, the XML referenced file.
Named arguments may be given with their value in the <tt>arg</tt> elements. The <tt>with</tt> tag allows to link labels (e.g. attribute of a deroute instruction or of an exception) from the procedure to blocks of the main flight plan.
Then, each block of the procedure is like any block of the flight plan and is designated with a dotted identifier: block <tt>b</tt> of a procedure named <tt>p</tt> is named <tt>b.p</tt> .

Here is an example:
<source lang="xml">
<includes>
<include name="landing" procedure="landing.xml"/>
</includes>
</source>

== Blocks ==

Block elements are the main part of a flight plan: they describe each unit of the mission.
They are made of various primitives, called stages and exceptions, you can put one after the other. When a
stage (or a block) is finished, the autopilot goes to the next one. The behaviour after the last stage of the last block is undefined.

As described in the DTD, the <tt>blocks</tt> element is composed of <tt>block</tt> elements which are sequence of ''stages'':
<source lang="xml">
<!ELEMENT blocks (block+)>
<!ELEMENT block (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|home|path)*>
</source>

Example:
<source lang="xml">
<block name="circlehome">
<circle radius="75" wp="HOME"/>
</block>
</source>

You can add a button in the [[GCS#Strips|strip of the aircraft]] with the attribute <tt>strip_button</tt>:
<source lang="xml">
<block name="descent" strip_button="Descent">
<circle wp="HOME" throttle="0.0" pitch="-15" vmode="throttle"/>
</block>
</source>
This button will activate the block. If the attribute <tt>group</tt> is specified, all strip buttons of the same group will be placed vertically on top of each other.

In the same way, a key shortcut can be specified:
<source lang="xml">
<block key="D" name="descent" strip_button="Descent">
<circle wp="HOME" throttle="0.0" pitch="-15" vmode="throttle"/>
</block>
</source>
Modifiers are allowed, using the syntax of [http://library.gnome.org/devel/gtk/2.15/gtk-Keyboard-Accelerators.html#gtk-accelerator-parse GTK accelerators].

An icon can be specified to display the button. The <tt>strip_button</tt> label then is a tooltip for the icon. The icon must be an image file available in the directory <tt>data/pictures/gcs_icons</tt>:
<source lang="xml"><block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff"></source>

You can call functions before or after each execution of the block:
<source lang="xml">
<block name="circlehome" pre_call="function_to_call_before_circle()" post_call="function_to_call_after_circle()">
<circle wp="HOME"/>
</block>
</source>

==== Expressions ====

Most of the numeric attributes in stages are analyzed as C expressions. The syntax of this C expression is restricted to
* numeric constants
* some internal autopilot variables (not fully documented, see examples)
* Some binary operators: <, >, <=, >=, <>, ==, +, -, /, *
* Some utility functions

Some examples of usable expressions are given in the next sections.
=== Initialization Blocks ===
The first three blocks of flight plan are initialization blocks.

The first block waits until the GPS fix has been established, as shown below.
<source lang="xml">
<blocks>
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
</source>
The second block updates the local waypoints with respect to the UAV.
<source lang="xml">
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
</source>
This next block prevents the UAV from starting the engine and taking off.
<source lang="xml">
<block name="Holding point">

<set value="1" var="kill_throttle"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
</source>
=== Exceptions ===

The flight manager can handle exceptions. They consist in conditions checked periodically (at the same pace as the navigation control), allowing the control to jump to a given block. Here is the syntax of exceptions:
<source lang="xml"><exception cond="..." deroute="..."></source>
where <tt>cond</tt> is an expression and <tt>deroute</tt> is the name of the block we want to switch to as soon as the condition is true.

Here are some example of exceptions:
<source lang="xml">
<exception cond="10 > PowerVoltage()" deroute="go_down"/>
<exception cond="(ground_alt+10 > GetPosAlt())" deroute="go_up"/>
<exception cond="(autopilot_flight_time > 840)" deroute="quick_land"/>
</source>

Exceptions can be local to a block or global to the flight plan, in the <tt><exceptions></tt> element. In the following example, time since last reception of a message from the ground station is monitored and the navigation is switched to the <tt>Standby</tt> block if no message have been received for 22s. This exception is valid for '''all''' the blocks.
<source lang="xml">
<flight_plan ...>
<waypoints> ... </waypoints>
<exceptions>
<exception cond="datalink_time > 22" deroute="Standby"/>
</exceptions>
<blocks> ...
</source>

=== Deroute ===

The <tt>deroute</tt> is the ''goto'' directive of the flight plan; it switches the navigation to the given block:
<source lang="xml"><deroute block="landing"/></source>

Note that this primitive should not be used to execute loops which are provided by the following elements.

=== Loops ===

Unbounded loops are written with <tt>while</tt> elements whose <tt>cond</tt> attribute is a boolean expression.
Children of <tt>while</tt> are stages:
<source lang="xml">
<while cond="TRUE">
<go wp="A"/>
<go wp="B"/>
<go wp="C"/>
<while cond="5 > stage_time"/>
</while>
</source>
In this example, we run an infinite loop, lettin the aircraft try to go via waypoints <tt>A</tt>, <tt>B</tt> and <tt>C</tt> and waiting for 5 seconds before repeating.

Bounded loops are written with the <tt>for</tt> tag:
<source lang="xml">
<for var="i" from="0" to="3">
...
</for>
</source>
where the body of the loop will be run four times.

The variable of a <tt>for</tt> loop can be used inside expressions appearing as attributes of the stages:
<source lang="xml">
<for var="i" from="1" to="5">
<circle wp="HOME" radius="75" alt="ground_alt+50*$i" until="stage_time>10" />
</for>
</source>

In this example, the aircraft will circle around waypoint '''HOME''' for 10 seconds at and altitude above ground of 50m, 10 seconds at altitude 100 meter (50+50), ... until 250m (5x +50).

Note: Two bounded loops using the same control variable are not allowed in the same block.

=== Navigation modes ===

Navigation modes give the description of the desired trajectory in 3D. While the horizontal mode is specified through
''stages'', the vertical control is specified with various attributes of these stages. The current available navigation stages are
* attitude : just keep a fixed attitude;
* heading : keep a given course;
* go : go to a given waypoint;
* path : list of waypoints linked by ''go''
* circle : circle around a waypoint;
* oval : two half circles with a straight between two nav points
* eight : fly a figure of eight through a waypoint and around another
* stay : hold the position (hard to realize for a fixed-wing aircraft);
* follow : follow another aircraft;
* xyz : circle around a point moveable with the RC transmitter stick (obsolete with the datalink).

The vertical control is achieved using the <tt>vmode</tt> attribute of these stages. The possible values are
* '''alt''' (the default) : the autopilot keeps the desired altitude which is the altitude of the waypoint (if any) or the altitude specified with the <tt>alt</tt> attribute;
* '''climb''' : the autopilot keeps the desired vertical speed specified with the <tt>climb</tt> attribute (in m/s);
* '''throttle''' : the autopilots sets the desired throttle specified with the <tt>throttle</tt> attribute (between 0 and 1);
* '''glide''' : the autopilot keeps the desired slope between two waypoints

The default control is done with the throttle. However, setting the <tt>pitch</tt> attribute to '''auto''' and the <tt>throttle</tt> attribute to a constant allows a vertical control only by controlling the attitude of the A/C.
The <tt>pitch</tt> attribute also can be set to any value (in degrees) while the throttle control is in use: it usually affects the airspeed of the aircraft.

The different navigation modes are detailed in the next sections.

=== Attitude ===

Element <tt>attitude</tt> is the navigation mode which corresponds to the current lowest control loop for horizontal mode.
The autopilot then keeps a constant attitude. The <tt>roll</tt> attribute is required (in degrees, positive to put right wing low).

To fly away, at constant airspeed:
<source lang="xml"><attitude roll="0" vmode="throttle", throttle="0.5"/></source>

To fly around, holding a given altitude:
<source lang="xml"><attitude roll="30" alt="ground_alt+50"/></source>

Note that it is not a ''safe'' navigation mode since the geographic position of the plane is not controlled. However, this mode is useful to tune the roll attitude control loop.

=== Heading ===

<tt>heading</tt> primitive is relative to the second level loop for horizontal mode in the autopilot which will keep the given <tt>course</tt>, a required attribute (in degrees, clockwise, north=0, east=90).

One example to takeoff, following the QFU, 80% throttle, nose up (15 degrees) until height of 30m is reached:
<source lang="xml"><heading course="QFU" vmode="throttle" throttle="0.8" pitch="15" until="(GetPosAlt() > ground_alt+30)"/></source>

=== Go ===

The <tt>go</tt> primitive is probably the most useful one. Basically, the autopilot will try to join a given waypoint (<tt>wp</tt>, the only required attribute). So the simplest thing you can ask for is
<source lang="xml"><go wp="HOME"/></source>
which will set the '''HOME''' waypoint as the desired target position. Note than since <tt>vmode="alt"</tt> is the default, the altitude of the target waypoint is also taken into account. The navigation will switch to the next stage as soon as the target is reached.

It is usually not a good idea to try to join a waypoint without asking for a precise trajectory, i.e. a given line.
Setting the <tt>hmode</tt> attribute to '''route''', the navigation will go over a segment joining two waypoints:
<source lang="xml"><go from="wp1" wp="wp2" hmode="route"/></source>

The target altitude is the altitude of the target waypoint; it can also be set with the <tt>alt</tt> attribute. The following example keeps an altitude with fixed throttle:
<source lang="xml"><go from="wp2" wp="wp3" hmode="route" pitch="auto" throttle="0.75" alt="ground_alt+100"/></source>

The attributes related to the vertical control can also be set to replace the default altitude mode:
<source lang="xml"><go from="wp1" wp="wp2" hmode="route" vmode="climb" climb="1.5"/></source>

Finally, the <tt>approaching_time</tt> (in seconds) attribute helps to decide when the target is ''reached''. It can be set
to '''0''' to go over the target waypoint (default value is the '''CARROT''' time, set in the airframe configuration file).
<source lang="xml"><go from="wp1" wp="wp2" hmode="route" approaching_time="1"/></source>

=== Path ===

The <tt>path</tt> primitive is just a shorthand expression for a set of <tt>go</tt> primitives. A list of waypoints defined with the <tt>wpts</tt> attribute is pre-processed into a set of <tt>go</tt> primitives with the <tt>hmode</tt> attribute. For example:
<source lang="xml"><path wpts="wp1, wp2, wp3"/></source>

Other attributes are optional:
<source lang="xml"><path wpts="wp3, w1, wp2" approaching_time="1" pitch="auto" throttle="0.5"/></source>

=== Circle ===

The <tt>circle</tt> primitive is the second main navigation mode: the trajectory is defined as a circle around a given waypoint with a given radius:
<source lang="xml"><circle wp="HOME" radius="75"/></source>
A positive radius makes the UAS move clockwise, a negative counter-clockwise.

The <tt>until</tt> attribute may be used to control the end of the stage. The following example defines an ascending trajectory at constant throttle, nose up (15 degrees), over growing circles, until the battery level is low:
<source lang="xml"><circle wp="wp1" radius="50+(GetPosAlt()-ground_alt)/2" vmode="throttle" throttle="0.75" pitch="15" until="10>PowerVoltage()"/></source>

=== Oval ===
The oval consists of two half circles that are connected with two straight lines. This flight path is usefull when a IMU is used because the straights allow for level flight.
<source lang="xml"> <oval p1="1" p2="2" radius="nav_radius"/> </source>

=== Eight ===
Fly a figure of eight that consists of two straight legs that pass though the center and the center of the half circle at the end of the two legs is in the turn around waypoint. The altitude of the center waypoint is used for the entire figure. The turn around waypoint is moved to match radius given.
<source lang="xml"> <eight center="1" radius="nav_radius" turn_around="2"/> </source>

=== Follow ===

The <tt>follow</tt> is a special primitive which makes the UAS follow another UAS (real or simulated, named with its <tt>ac_id</tt>) at a given <tt>distance</tt> (in meters) behind and at a given <tt>height</tt> (in meters) above.

In this example, the autopilot will try to follow A/C number '''4''', staying '''50'''m behind and '''20'''m above.
<source lang="xml"><follow ac_id="4" distance="50" height="20"/></source>
Note that the <tt>traffic_info.c</tt> file is required by this feature and the <tt>TRAFFIC_INFO</tt> flag has to be set to enable it. Then, the following lines must be added in the airframe file:
<tt>ap.srcs += traffic_info.c</tt>
<tt>ap.CFLAGS += -DTRAFFIC_INFO</tt>
<tt>sim.srcs += traffic_info.c</tt>
<tt>sim.CFLAGS += -DTRAFFIC_INFO</tt>

=== Stay ===

The <tt>stay</tt> is a mode for UAS's able to hover:
<source lang="xml"><stay wp="HOME" alt="10"/></source>

=== XYZ ===

<tt>xyz</tt> is a special mode where the UAS circles around a user moveable waypoint. This waypoint is moved with the RC sticks:
* YAW channel controls the point over the west-east axis;
* PITCH channel controls the point over the south-north axis;
* ROLL channel controls the altitude.

Example (default radius is '''100'''):
<source lang="xml"><xyz radius="40"/></source>

=== Set ===

The <tt>set</tt> element is a dangerous one which should be used only by expert users: it is used to directly set an internal variable of the autopilot. For example, you can change the value of the default ground altitude, a variable used by the home mode failsafe procedure (and maybe by your own flight plan):
<source lang="xml"><set var="ground_alt" value="ground_alt+50"/></source>
This directive is extremely powerful and has great potential for error - use with caution.

=== Call ===

The <tt>call</tt> allows the user to define its own navigation procedures in C. The <tt>value</tt> must be a call to a boolean function which must return TRUE as long as the stage is not completed (a function which should be called only once would then return immediately FALSE).
This feature is illustrated with the '''line''' pattern:
<source lang="xml">
<call fun="nav_line_init()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/>
</source>
where <tt>nav_line_init()</tt> returns FALSE and <tt>nav_line()</tt> always returns TRUE (this stage never ends).
Such functions usually are defined in a supplementary C file which must be specified in the airframe file (in the <tt>makefile</tt> section)
<tt>ap.srcs += nav_line.c
sim.srcs += nav_line.c</tt>
These functions also must be declared in a header file which must be mentioned in the header element of the flight plan:
<source lang="xml">
<header>
#include "nav_line.h"
</header>
</source>
These C source file and H header file must be located in the <tt>sw/airborne</tt> directory.

You can also call functions before or after each execution of the block:
<source lang="xml">
<block name="circlehome" pre_call="function_to_call_before_circle()" post_call="function_to_call_after_circle()">
<circle wp="HOME"/>
</block>
</source>

== Advanced Examples ==
Parameters used in a flight plan can be computed expressions. In this example, the plane is asked to perform 5 circles at progressively increasing altitudes for exactly one minute at each altitude:
<source lang="xml">
<for var = "i" from = "1" to = "5">
<circle wp = "HOME" radius="75"
alt = "ground_alt+50*$i"
until = "stage_time>60" />
</for>
</source>

=== Immobilize Actuators ===

h_ctl setpoints variable are set by the h_ctl_attitude_loop() (from fw_h_ctl.c) loop) which can be disabled with the
h_ctl_disabled flag:
<source lang="xml">
<set var="h_ctl_disabled" value="TRUE"/>
<set var="h_ctl_aileron_setpoint" value="0"/>
<set var="h_ctl_elevator_setpoint" value="MAX_PPRZ/2"/>
.... waiting for a condition ...
<set var="h_ctl_disabled" value="FALSE"/>
</source>

== Procedures ==

Procedures are libraries which can be included in flight plans. They are composed of waypoints, sectors and blocks. The header of a procedure may contain some parameters which are replaced by arguments when the procedure is included.

Extract of the DTD: a procedure is a sequence of parameters, waypoints, ...:
<source lang="xml"><!ELEMENT procedure (param*,header?,waypoints?,sectors?,exceptions?,blocks?)></source>

A <tt>param</tt>eter is just a name. A parameter is optional if it is declared with a default value.
An example with a required and an optional parameter:
<source lang="xml">
<param name="alt"/>
<param name="radius" default_value="75"/>
</source>

Procedures are called with the <tt>include</tt> element in a flight plan. A procedure cannot be included twice or by another procedure. A procedure call requires:

* the name of the procedure file, the name given to this inclusion;
* values for the parameters;
* backlinks for block name exits of the procedure.

For example:
<source lang="xml"><include name="landing" procedure="landing.xml"/></source>

Here is the corresponding procedure '''landing.xml''':
<source lang="xml">
<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
<procedure>
<waypoints>
<waypoint name="AF" x="177.4" y="45.1" alt="30"/>
<waypoint name="TD" x="28.8" y="57.0" alt="0"/>
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
</waypoints>
<blocks>
...
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(GetPosAlt()- WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
...
</blocks>
</procedure>
</source>

Note that the name of procedure '''land''' block will be renamed into '''landing.land''':
<source lang="xml"><deroute block="landing.land"/></source>
will jump to this procedure block.

Suppose you have a go-around condition in your landing procedure. You would write it
<source lang="xml"><exception cond="..." deroute="go-around"/></source>
then you must link this block exit with one of your block (e.g. <tt>Standby</tt>). So you would include the procedure as follows:
<source lang="xml">
<include name="landing" procedure="landing.xml">
<with from="go-around" to="Standby"/>
</include>
</source>

== Tips and Tricks ==

There are many ways to skin a cat just as there are many ways to craft your flight plan. Following the best practices tips can save you from a lot of frustration and mishap.

* Simulate your flight plan before taking it to the sky. Flight plans should always be carefully tested prior to flight, take a look at the [[Simulation|simulation]] page for details on how to simulate your plan.
* Make an subdirectory in the Flight_plan directory with your own name and add your flight plans there. Make sure that the location of the DTD is correct, e.g by using relative directory double dots as in <tt><!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd"></tt>

* Take a good look at other flight plans included with Paparazzi. To learn from example flight plans please visit the [[Flight_Plan_Examples|flight plan examples]] page
* There are several option to build failsafe features into you flightplan, [[Failsafe|for some examples visit the Failsafe page]].
* Some flight plan examples define waypoint locations using relative coordinates. These are relative positions from the fixed lat and lon in the header of the flight plan. When simulating your flight plan the aircraft always use the lat/lon as defined in the flight plan since a regular simulation has no notion of you current position of you local PC where you simulate on. This is something to keep in mind if you test your flight plan in real flights.

[[Category:Software]] [[Category:User_Documentation]]

Get Hardware

2013-09-14T18:23:02Z

Dconger: /* Image:Ppzuav.jpg www.ppzuav.com thumb|400px|Paparazzi controllers */

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

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

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com [[Image:ApogeeV1_img01sm.JPG|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007</h2>
NEW: Yes we have [[SUMO]] bundles and [[SUMO/prepare_electronics|SUMO electronics]].
NEW: Yes we have [[https://www.ppzuav.com/osc/product_info.php?products_id=154 Apogee V1]] [[Apogee/v1.00|Apogee Fixed wing controller]].
eMail to: sales@ppzuav.com for details.

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Umarim, Apogee controllers available now. NOTE: Special orders welcome. Just let us know which item and the quantity.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.


Visit the PPZUAZ [https://www.ppzuav.com/osc WebStore] to see the latest offerings.

<h4>Need Just PCBs? We have them. Click [https://www.ppzuav.com/osc/index.php?cPath=1 here] to see them.</h4>
 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] =

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

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

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q) ( Lithuania )
*http://www.ppzuav.com [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 GPS13] (USA)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

[[Category:Hardware]] [[Category:User_Documentation]]

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

==[http://www.platinensammler.de/%C3%BCber-mich/| platinensammler.de]==

Cheap 2 and 4 layer boards from Germany, he orders around once a month 2 layer and only some infrequently 4 layer's by a german manufacturer.

*2 layer 1cm² ~ 0.30€
*4 layer 1cm² ~ 0.60€

==[http://oshpark.com/| OSH Park]==
Cheap 2 and 4 Layer boards.
Free wordwide shipping.

in²
*3x 2 Layer 1in² = 5$
*3x 4 Layer 1in² = 10$

cm²
*3x 2 Layer 1in² = 0.78$
*3x 4 Layer 1in² = 1.55$
(minimum order is 3 pcs, standard price is already for 3 pcs)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

Get Hardware

2013-09-12T20:28:26Z

Dconger: /* Image:Ppzuav.jpg www.ppzuav.com thumb|400px|Paparazzi controllers */

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

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

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com [[Image:ApogeeV1_img01sm.JPG|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007</h2>
NEW: Yes we have [[SUMO]] bundles and [[SUMO/prepare_electronics|SUMO electronics]].
NEW: Yes we have [[Apogee V1]] [[Apogee/v1.00|Apogee Fixed wing controller]].
eMail to: sales@ppzuav.com for details.

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Umarim, Apogee controllers available now. NOTE: Special orders welcome. Just let us know which item and the quantity.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.


Visit the PPZUAZ [https://www.ppzuav.com/osc WebStore] to see the latest offerings.

<h4>Need Just PCBs? We have them. Click [https://www.ppzuav.com/osc/index.php?cPath=1 here] to see them.</h4>
 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] =

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

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

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q) ( Lithuania )
*http://www.ppzuav.com [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 GPS13] (USA)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

[[Category:Hardware]] [[Category:User_Documentation]]

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

==[http://www.platinensammler.de/%C3%BCber-mich/| platinensammler.de]==

Cheap 2 and 4 layer boards from Germany, he orders around once a month 2 layer and only some infrequently 4 layer's by a german manufacturer.

*2 layer 1cm² ~ 0.30€
*4 layer 1cm² ~ 0.60€

==[http://oshpark.com/| OSH Park]==
Cheap 2 and 4 Layer boards.
Free wordwide shipping.

in²
*3x 2 Layer 1in² = 5$
*3x 4 Layer 1in² = 10$

cm²
*3x 2 Layer 1in² = 0.78$
*3x 4 Layer 1in² = 1.55$
(minimum order is 3 pcs, standard price is already for 3 pcs)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

Get Hardware

2013-09-12T18:53:47Z

Dconger: /* Image:Ppzuav.jpg www.ppzuav.com thumb|400px|Paparazzi controllers */

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

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

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com [[Image:ApogeeV1_img01sm.JPG|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007</h2>
NEW: Yes we have [[SUMO]] bundles and [[SUMO/prepare_electronics|SUMO electronics]].
NEW: Yes we have [[Apogee V1]] [[Apogee/v1.00|Apogee Fixed wing controller]].
eMail to: sales@ppzuav.com for details.

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Umarim, Apogee controllers available now. NOTE: Special orders welcome. Just let us know which item and the quantity.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.


Visit the PPZUAZ [https://www.ppzuav.com WebStore] to see the latest offerings.

NEW BUNDLE->:[https://www.ppzuav.com/osc/product_info.php?cPath=2&products_id=144 UmarimLite v2 Bundle]
<h4>Need Just PCBs? We have them. Click [https://www.ppzuav.com/osc/index.php?cPath=1 here] to see them.</h4>
 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] =

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

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

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q) ( Lithuania )
*http://www.ppzuav.com [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 GPS13] (USA)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

[[Category:Hardware]] [[Category:User_Documentation]]

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

==[http://www.platinensammler.de/%C3%BCber-mich/| platinensammler.de]==

Cheap 2 and 4 layer boards from Germany, he orders around once a month 2 layer and only some infrequently 4 layer's by a german manufacturer.

*2 layer 1cm² ~ 0.30€
*4 layer 1cm² ~ 0.60€

==[http://oshpark.com/| OSH Park]==
Cheap 2 and 4 Layer boards.
Free wordwide shipping.

in²
*3x 2 Layer 1in² = 5$
*3x 4 Layer 1in² = 10$

cm²
*3x 2 Layer 1in² = 0.78$
*3x 4 Layer 1in² = 1.55$
(minimum order is 3 pcs, standard price is already for 3 pcs)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

File:ApogeeV1 img01sm.JPG

2013-09-12T18:47:59Z

Dconger: Apogee Assembly PPZUAV

Apogee Assembly PPZUAV

SUMO/prepare electronics

2013-08-13T15:44:21Z

Dconger: /* Multi Board */

__NOTOC__

== What you need ==


{|border="1" cellspacing="0" style="text-align:center" width="80%" valign="top"
|-style="background:LightYellow; color:black"
!Qty!!Manufacturer part number!!Description!!Manufacturer!!Digikey part number!!Other distributor
|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Autopilot''
|-
|1||Umarim Lite v2||Autopilot||Paparazzi|| ||
|-
|1||BEC cable female||Autopilot power supply|| || ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Modem''
|-
|1||XBP24-AWI-001||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-AWI-001-ND||Mouser 888-XBP24-AWI-001
|-
|1||WRL-11373||XBee Explorer Regulated board||Sparkfun|| ||Sparkfun WRL-11373
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''GPS''
|-
|1||NL-652ETTL||GPS receiver u-blox 6||Navilock|| ||Hobbyking #387000004
|-

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors''
|-
|1||SHT75||Humidity Sensor||Sensirion|| ||Farnell #1590514
|-
|1||SHT75 adapter||SHT75 breakout board||Paparazzi|| ||
|-
|1||MLX90614||Infrared Thermometer||Melexis|| ||Sparkfun SEN-09570 FutureElectronics MLX90614ESF-BAA-000-TU
|-
|1||MLX90614 adapter||MLX90614 breakout board||Paparazzi|| ||paparazzi-hardware misc/mlx90614_small
|-
|1||ETS airspeed||Eagletree airspeed v3||Eagletree|| ||
|-
|1||PT1000 M222||PT1000 M222 temperature sensor||Heraeus|| ||Conrad #172041
|-
|1||TEMOD-I2C-R1||PT1000 converter board ||Hygrosens|| ||Conrad #502001
|-
|1||Multi I2C||Multi adapter Board||Paparazzi|| ||paparazzi-hardware misc/servo_i2c_multi

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors (optional version)''
|-
|1||BOB-08745||Logic Level Converter||Sparkfun|| ||Sparkfun BOB-08745
|-
|1||MS5611||Barometric pressure sensor||Meas Spec|| ||CSG #96 Drotek #44

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Logger''
|-
|1||TWOG v1.0||Logger||Paparazzi|| ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-
|1||BOB-00544||Board for microSD Transflash||Sparkfun|| ||Sparkfun BOB-00544

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Shrink tube (shrunken / not shrunken)''
|-
|1||PVC|| 13mm / 20mm || || ||Muldental Elektronik 64115
|-
|1||PVC|| 24mm / 37mm || || ||Muldental Elektronik 64246
|-
|1||PVC|| 29mm / 45mm || || ||Muldental Elektronik 64347
|-
|1||PVC|| 31mm / 51mm || || ||Muldental Elektronik 64446

|}



Shopping list

== Mounting ==

Use high quality cable, PVC cable gets very stiff in cold temperatures. All parts have to be put into shrink tube to isolate it from any conductive or electrostatic plastic. Some pictures below do not show this tube for better visibility.

=== Autopilot ===
[[Image:Umarim_bec.jpg|thumb|right|Umarim with BEC cable]]
[[Image:Umarim_usb.jpg|thumb|right|USB connector for Umarim]]

Solder the BEC to the Umarim. Cover the Umarim in shrink tube. Cut free the Molex connector openings

{|border="1"
|-valign="top"
||'''Umarim Supply (J15) pin'''||'''Umarim Supply'''||'''BEC male'''
|-
|1
|VBAT
| +
|-
|2
|GND
|
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Solder the cables to the USB breakout board, plug cables in 4-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''Umarim USB (J8) pin'''||'''Umarim USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|USB+
|D+
|-
|3
|USB-
|D-
|-
|4
|USB_VBUS
|VCC
|-
|''Molex 4pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 21cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

=== GPS ===
[[Image:Hk_gps_lea6h.jpg|thumb|right|LEA-6H GPS receiver]]

Connect the u-blox type GPS receiver to the UART0 of the Umarim. Put the GPS in shrink tube. Attach any HF cable with tape. Secure GPS connector with hot glue if needed (see picture).

{|border="1"
|-valign="top"
||'''Umarim UART0 (J9) pin'''||'''Umarim UART0'''||'''GPS receiver'''
|-
|1
|GND
|GND
|-
|2
|5V
|5V
|-
|3
|
|
|-
|4
|RX0
|TX
|-
|5
|TX0
|RX
|-
|''Molex 5pin''
|
|''solder/connector''
|-
|colspan="3" align="left"|''Cable length 18cm''
|-
|colspan="3" align="left"|''Shrink tube 31mm / 51mm''
|}

=== Modem ===
[[Image:Xbee_cable.jpg|thumb|right|XBee pro modem]]

Solder the cables to the XBee explorer board, plug cables in 5-pin Molex connector. Secure cables on explorer board with hot glue. Plug XBee modem into explorer board and secure with shrink tube.

Recent Sparkfun boards (v14) are equipped with 3.3V to 5V converters. Although the Umarim/LPC2148 should be able to handle 5V it is safe to not use the converters. Remove R5, R6, R7, R8, Q1, and Q2 from the XBee explorer regulated breakout board. Bridge OUT-DOUT and IN-DIN within the transistor footprint.

{|border="1"
|-valign="top"
||'''Umarim UART1 (J10) pin'''||'''Umarim UART1'''||'''XBee Explorer Regulated'''
|-
|1
|GND
|GND
|-
|2
|5V
|5V
|-
|3
|
|
|-
|4
|RX1
|DOUT
|-
|5
|TX1
|DIN
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|-
|colspan="3" align="left"|''Shrink tube 29mm / 45mm''
|}

Solder a second wire (not shown in picture) from the XBee to the TWOG so that the data sent by the Umarim can be logged. That means that two wires are to be connected at the XBee DIN pin.

{|border="1"
|-valign="top"
||'''TWOG Download/GPS (J7) pin'''||'''TWOG Download/GPS'''||'''XBee Explorer Regulated'''
|-
|1
|
|
|-
|2
|
|
|-
|3
|
|
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD0
|DIN
|-
|''Molex 7pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|}

=== SHT75 humidity sensor ===
[[Image:Sht75_breakout_bot_90deg.jpg|thumb|right|SHT75 soldered to adapter board]]

Use SHT75 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/sht75_small repository]. Solder parts, secure sensor with hot glue to adapter board on the bottom side (not shown in picture).

{|border="1"
|-valign="top"
||'''Umarim AUX (J14) pin'''||'''Umarim AUX'''||'''SHT75'''||'''SHT75 pin'''||'''SHT75 adapter pin'''
|-
|1
|GND
|GND
|(3)
|1
|-
|2
|
|
|
|
|-
|3
| +3.3V
|VDD
|(2)
|2
|-
|4
|AUX1 (P0.13)
|DATA
|(4)
|3
|-
|5
|AUX2 (P0.15)
|SCK
|(1)
|4
|-
|6
|
|
|
|
|-
|7
|
|
|
|
|-
|''Molex 7pin''
|
|
|
|''Molex 4pin''
|-
|colspan="5" align="left"|''Cable length 17cm''
|-
|colspan="5" align="left"|''no shrink tube''
|}

=== MLX90614 infrared thermometer ===
[[Image:Mlx90614_bot.jpg‎|thumb|right|MLX90614 soldered to adapter board]]

Use MLX90614 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/mlx90614_small repository]. Solder parts, take care of sensor polarity. The I2C address of the MLX90614 needs to be programmed once before it can be used. Connect it as the only sensor to I2C and flash/run it with the IR_MLX_ONE_TIME_CONFIG option set (currently available in the master and campaign2013 branch). See [http://paparazzi.enac.fr/wiki/Module/Melexis_MLX90614#One-time_configuration Module/Melexis_MLX90614].

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''MLX90614'''||'''MLX90614 adapter pin'''
|-
|1
|GND
|Vss
|1
|-
|2
|
|
|
|-
|3
| +3.3V
|Vdd
|3
|-
|4
|SDA
|SDA
|4
|-
|5
|SCL
|SCL
|5
|-
|''Molex 5pin''
|
|
|''Molex 5pin''
|-
|colspan="5" align="left"|''Cable length 9cm''
|-
|colspan="5" align="left"|''Shrink tube 24mm / 37mm''
|}

=== Eagletree Airspeed v3 Sensor ===
[[Image:Ets_airspeed_v3.jpg|thumb|right|Eagletree Airspeed v3]]

Extend the sensor cable. Cut off the four outstanding pins.

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''ETS Airspeed wire colour'''
|-
|1
|GND
|white
|-
|2
| +5V
|red
|-
|3
|
|
|-
|4
|SDA
|yellow
|-
|5
|SCL
|brown
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 40cm''
|-
|colspan="3" align="left"|''keep original shrink tube''
|}

=== PT1000 temperature sensor ===
[[Image:Temod_i2c.jpg‎|thumb|right|Hygrosens TEMOD-I2C-R1]]

Solder the PT1000 sensor (little blue on the picture) to the two correct pads at the edge of the TEMOD-I2C-R1 board, where the pin plugs are. The pads on both side are not connected through. It has to be soldered to the side '''not''' carrying the chip. Remove pin header from TEMOD board. Solder 4pin cable to TEMOD, it will be connected to the Umarim through the multi_i2c board below. Fix cables with hot glue. Put some hot glue on the top of teh board, just behind the PT1000. Seal the board with shrink tube.

{|border="1"
|-valign="top"
||'''Multi board I2C_5V pin'''||'''Multi board I2C_5V'''||'''TEMOD-I2C-R1'''||'''TEMOD-I2C-R1 pin'''
|-
|1
|GND
|GND
|2
|-
|2
| +5V
|Vdd
|1
|-
|3
|SDA_5V
|SDA
|3
|-
|4
|SCL_5V
|SCL
|4
|-
|''Molex 4pin''
|
|
|''solder''
|-
|colspan="5" align="left"|''Cable length 18cm''
|-
|colspan="5" align="left"|''Shrink tube 13mm / 20mm''
|}

=== Multi Board ===
[[Image:Multi_i2c_ms5611.jpg‎‎|thumb|right|Multi connector board]]
[[Image:Multi_board_umarim.jpg|thumb|right|Multi board to Umarim]]

Use the multi board from the Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/servo_i2c_multi repository] to have multiple I2C connections, a MS5611 barometric pressure sensor, a 3.3V to 5V level shifter and servo JR connectors for BEC supply through the motor controller. Drill/burn holes into the shrink tube at the hole locations to attach the board with screws later on.

Connection between Multi Board I2C and Umarim I2C0.

{|border="1"
|-valign="top"
||'''Umarim I2C0 pin'''||'''I2C'''||'''Multi board I2C pin'''
|-
|1
|GND
|1
|-
|2
| +5V
|2
|-
|3
| +3.3V
|3
|-
|4
|SDA
|4
|-
|5
|SCL
|5
|-
|''Molex 5pin''
|
|''Molex 5pin''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Connection between Multi Board and Umarim for the servo signals.

{|border="1"
|-valign="top"
||'''Multi board Servo pin'''||'''Multi board Servo'''||'''Umarim Servo'''
|-
|1
|GND
|GND_SRV5
|-
|2
|
|
|-
|3
|
|
|-
|4
|S2
|SRV2
|-
|5
|S3
|SRV3
|-
|6
|S4
|SRV4
|-
|7
|S5
|SRV5
|-
|colspan="3" align="left"|''Cable length 7.5cm, 7.5cm, 8cm, 8.5cm, 9cm''
|}

The TEMOD/PT1000 temperature sensor gets connected through the 5V I2C connector.

{|border="1"
|-valign="top"
||'''Multi I2C_5V pin'''||'''Multi I2C_5V'''
|-
|1
|GND
|-
|2
| +5V
|-
|3
|SDA
|-
|4
|SCL
|}

=== Logger ===
[[Image:Umarim_logger_spi.jpg|thumb|right|Umarim with logger]]

The Umarim autopilot and the TWOG logger communicate through a bi-directional SPI connection.

{|border="1"
|-valign="top"
||'''Umarim SPI1 pin'''||'''Umarim SPI1'''||'''TWOG'''||'''TWOG conn.'''||'''TWOG name'''||'''TWOG pin'''
|-
|1
|
|
|
|
|
|-
|2
|
|
|
|
|
|-
|3
|SSEL1
|SSEL0
|USB
|BUTTON
|6
|-
|4
|MOSI1
|MOSI0
|PPM
|PPM_IN
|3
|-
|5
|MISO1
|MISO0
|PPM
|SERV_CLK
|5
|-
|6
|
|
|
|
|
|-
|7
|SCK1
|SCK0
|ADC1
|ADC_3
|5
|-
|''Molex 7pin''
|
|
|
|
|''various Molex''
|-
|colspan="6" align="left"|''Cable length 6cm''
|}

The TWOG can be supplied through its original power supply connector or through 5V from the Umarim if the switching supply board is removed from the TWOG:

{|border="1"
|-valign="top"
||'''Umarim SRV0 pin'''||'''Umarim SRV0'''||'''TWOG ADC1'''||'''TWOG ADC1 pin'''
|-
|1
|GND
|GND
|1
|-
|2
| +5V
| +5V
|2
|-
|3
|
|
|
|-
|''Molex 3pin''
|
|
|''Molex 5pin''
|-
|colspan="4" align="left"|''Cable length 6cm''
|}

Solder the cables to the USB breakout board for the TWOG logger, plug cables in 8-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''TWOG USB (J9) pin'''||'''TWOG USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
|USB+
|D+
|-
|4
|USB-
|D-
|-
|5
|USB_VBUS
|VCC
|-
|5
|
|
|-
|6
|
|
|-
|7
|
|
|-
|8
|
|
|-
|''Molex 8pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

[[Image:Sd_card_twog.jpg|thumb|right|micro SD card adapter]]
[[Image:Sd_card_twog_shrink.jpg|thumb|right|micro SD card adapter in tube]]

The micro SD card adapter is connected to the TWOGs SPI connector. Wrap the board in shrink tube so that the micro SD card can be plugged/unplugged.

{|border="1"
|-valign="top"
||'''TWOG SPI pin'''||'''TWOG SPI'''||'''microSD card board'''||'''microSD board pin'''
|-
|1
|GND
|GND
|5
|-
|2
| +3.3V
|VCC
|3
|-
|3
|SSEL
|CS
|1
|-
|4
|MOSI
|DI
|2
|-
|5
|MISO
|DO
|6
|-
|6
|
|
|
|-
|7
|SCK
|SCK
|4
|-
|''Molex 7pin''
|
|
|''solder''
|-
|colspan="4" align="left"|''Cable length 6cm''
|-
|colspan="4" align="left"|''Shrink tube 24mm / 37mm''
|}

Get Hardware

2013-05-16T18:26:46Z

Dconger: /* u-Blox GPS receivers */

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

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

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007</h2>
NEW: Yes we have [[SUMO]] bundles and [[SUMO/prepare_electronics|SUMO electronics]].
eMail to: sales@ppzuav.com for details.

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Tiny2.11, Umarim, YAPA2 we can make them all in any quantity you require.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.


Visit the PPZUAZ [https://www.ppzuav.com WebStore] to see the latest offerings.

NEW BUNDLE->:[https://www.ppzuav.com/osc/product_info.php?cPath=2&products_id=144 UmarimLite v2 Bundle]
<h4>Need Just PCBs? We have them. Click [https://www.ppzuav.com/osc/index.php?cPath=1 here] to see them.</h4>
 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] =

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

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

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q) ( Lithuania )
*http://www.ppzuav.com [https://www.ppzuav.com/osc/product_info.php?cPath=13&products_id=75 GPS13] (USA)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

[[Category:Hardware]] [[Category:User_Documentation]]

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

Module/Melexis MLX90614

2013-05-08T21:26:57Z

Dconger: /* One-time configuration */ Added the missing "_" in IR_MLX_ONE_TIME_CONFIG directive between the words TIME and CONFIG

__NOTOC__
[[Image:Mlx90614_top.jpg|thumb|right|Melexis MLX90614 on breakout board]]
[[Image:Mlx90614_bot.jpg|thumb|right|Melexis MLX90614 bottom view]]
===Overview===

The Melexis MLX90614 is a digital infrared radiation sensor. It is used to measure earths surface temperature when flying at low altitudes. It measures both the object (earth) temperature and the case (sensor) temperature.

{|border="1"
|-valign="top"
||Module name||meteo/ir_mlx
|-
|Sensor type
|temperature
|-
|Range (object)
| -70°C .. +380°C
|-
|Resolution
|0.02°C
|-
|Refresh rate
|8Hz
|-
|I2C address
|0x06
|}

[http://www.melexis.com/Infrared-Thermometer-Sensors/Infrared-Thermometer-Sensors/MLX90614-615.aspx MLX90614 product homepage]

===Hardware===

The board does have a 3.3V I2C interface.

Breakout board: [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/mlx90614_small Paparazzi hardware repo]

Supplier:

[http://www.futureelectronics.com/en/technologies/semiconductors/analog/sensors/temperature/Pages/4179966-MLX90614ESF-BAA-000-TU.aspx?IM=0 Future Electronics]

[http://www.sparkfun.com/products/9570 Sparkfun]

==== Wiring ====
{|border="1"
|-valign="top"
||'''Autopilot I2C pin'''||'''Autopilot I2C'''||'''MLX90614'''||'''MLX90614 pin'''
|-
|1
|GND
|Vss
|4
|-
|2
|
|
|
|-
|3
| +3.3V
|Vdd
|3
|-
|4
|SDA
|SDA
|2
|-
|5
|SCL
|SCL
|1
|}

===Usage===

To use the infrared radiation sensor:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<modules>
<load name="ir_mlx.xml"/>
</modules>
</source>
}}

===One-time configuration===

(currently only available in the master branch)

The I2C address is stored in internal flash memory and is usually ''randomly'' set. To set it to a useful value (0x06) put the below define '''only once''' while setting your equipment up.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<load name="ir_mlx.xml">
<define name="IR_MLX_ONE_TIME_CONFIG" value="1"/>
</load>
</source>
}}

===Result message===

Both the sensor case temperature and infrared object temperature are measured. The raw data (itemp_case/_obj) and the converted result (temp_case/_obj) is written to the log file. The message is automatically sent when new data is received, it does not have to be added to the telemetry file.
{{Box Code|conf/messages.xml|
<source lang="xml">
<message name="MLX_STATUS" id="85">
<field name="itemp_case" type="uint16"/>
<field name="temp_case" type="float" unit="deg_celsius" format="%.2f"/>
<field name="itemp_obj" type="uint16"/>
<field name="temp_obj" type="float" unit="deg_celsius" format="%.2f"/>
</message>
</source>
}}

The sensors 64bit serial number is read out at init and transmitted every 30 seconds.
{{Box Code|conf/messages.xml|
<source lang="xml">
<message name="MLX_SERIAL" id="113">
<field name="serial0" type="uint32"/>
<field name="serial1" type="uint32"/>
</message>
</source>
}}

Sample log file lines
6.000 123 MLX_SERIAL -1468333052 -931101532
6.518 123 MLX_STATUS 14703 20.91 14702 20.89
6.634 123 MLX_STATUS 14703 20.91 14702 20.89
6.750 123 MLX_STATUS 14704 20.93 14705 20.95
6.878 123 MLX_STATUS 14703 20.91 14702 20.89

===NOTES===

If flying at higher altitudes the infrared radiation from the in-between water vapor is also measured.

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

Get Hardware

2013-05-08T15:14:17Z

Dconger: /* Image:Ppzuav.jpg www.ppzuav.com thumb|400px|Paparazzi controllers */

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

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

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007</h2>
NEW: Yes we have [http://paparazzi.enac.fr/wiki/SUMO SUMO] bundles and [http://paparazzi.enac.fr/wiki/SUMO/prepare_electronics SUMO electronics].
eMail to: sales@ppzuav.com for details.

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Tiny2.11, Umarim, YAPA2 we can make them all in any quantity you require.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.


Visit the PPZUAZ [https://www.ppzuav.com WebStore] to see the latest offerings.

NEW BUNDLE->:[https://www.ppzuav.com/osc/product_info.php?cPath=2&products_id=144 UmarimLite v2 Bundle]
<h4>Need Just PCBs? We have them. Click [https://www.ppzuav.com/osc/index.php?cPath=1 here] to see them.</h4>
 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] =

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

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

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

[[Category:Hardware]] [[Category:User_Documentation]]

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

Get Hardware

2013-05-08T15:07:51Z

Dconger: /* Image:Ppzuav.jpg PPZUAV.com thumb|400px|Paparazzi controllers */

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

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

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] www.ppzuav.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007</h2>
<h4>NEW: Yes we have SUMO bundles and SUMO components.</h4>
eMail to: sales@ppzuav.com for details.

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Tiny2.11, Umarim, YAPA2 we can make them all in any quantity you require.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.


Visit the PPZUAZ [https://www.ppzuav.com WebStore] to see the latest offerings.

NEW BUNDLE->:[https://www.ppzuav.com/osc/product_info.php?cPath=2&products_id=144 UmarimLite v2 Bundle]
<h4>Need Just PCBs? We have them. Click [https://www.ppzuav.com/osc/index.php?cPath=1 here] to see them.</h4>
 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] =

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

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

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

[[Category:Hardware]] [[Category:User_Documentation]]

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

Get Hardware

2013-05-01T04:55:47Z

Dconger: /* Image:Ppzuav.jpg PPZUAV.com thumb|400px|Paparazzi controllers */

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

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

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007</h2>

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Tiny2.11, Umarim, YAPA2 we can make them all in any quantity you require.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.


Visit the PPZUAZ [https://www.ppzuav.com WebStore] to see the latest offerings.

NEW BUNDLE->:[https://www.ppzuav.com/osc/product_info.php?cPath=2&products_id=144 UmarimLite v2 Bundle]
<h4>Need Just PCBs? We have them. Click [https://www.ppzuav.com/osc/index.php?cPath=1 here] to see them.</h4>
 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] =

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

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

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

[[Category:Hardware]] [[Category:User_Documentation]]

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

Get Hardware

2013-04-10T03:08:18Z

Dconger:

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

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

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware and PCBs for your Paparazzi Projects since 2007</h2>

We want to help you get your Paparazzi project off the ground. We have helped hundreds of projects become successful. Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

Whatever the part we make all the Paparazzi hardware available either via bare PCBs or fully assembled ready to program. TWOG, Tiny2.11, Umarim, YAPA2 we can make them all in any quantity you require.

If you do not see what you need just ask. Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible.


Visit the PPZUAZ [https://store.ppzuav.com WebStore] to see the latest offerings.

NEW BUNDLE->:[https://store.ppzuav.com/osc/product_info.php?cPath=2&products_id=144 UmarimLite v2 Bundle]
<h4>Need Just PCBs? We have them. Click [https://store.ppzuav.com/osc/index.php?cPath=1 here] to see them.</h4>
 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:LisaM_V2_0_TopView.JPG|thumb|Lisa/M V2.0 top view]][[Image:LisaM_V2_0_BottomView.JPG|thumb|Lisa/M V2.0 bottom view]] =

Transition Robotics Inc. is a young company developing new solutions for and with the Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside the Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://transition-robotics.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://transition-robotics.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://transition-robotics.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.unmannedtechshop.co.uk/ [UK]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

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

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

[[Category:Hardware]] [[Category:User_Documentation]]

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://unmannedtechshop.co.uk/UAV-Components/UAV-telemetry (UK)
*http://mouser.com/ (AU and other regions)

= Old vendors =

Here is a list of former paparazzi hardware vendors for reference. They were providing a great service to the Paparazzi community.

* [http://chebuzz.com/paparazzi Chebuzz Pprz] had to move back to US and close his store, [http://aerofu.com/ AeroFu] is carrying on his business.
* [http://jobyrobotics.com Joby Robotics] stock and IP was bought by [http://transition-robotics.com Transition Robotics] that is carrying on their business.

File:RadJet420b sm.jpg

2013-02-10T18:28:04Z

Dconger: Insides of the small 420mm drone.

Insides of the small 420mm drone.