PaparazziUAV - User contributions [en]

File:Protech-5fm-scope.jpg

2009-09-20T17:25:09Z

Dirkx:

File:Protech-5fm-pad.jpg

2009-09-20T17:24:58Z

Dirkx: With pad

With pad

File:Protech-5fm.jpg

2009-09-20T17:23:12Z

Dirkx:

Compiling

2008-10-11T18:10:27Z

Dirkx: /* Step 2 */

Flight plans, tuning and configuration settings are compiled into a single binary image and transferred to the microcontroler flash rom through USB. Most tuning and flight plan parameters can be changed in-flight but after each power cycle, the autopilot reverts to the original settings. Permanent changes must be made in the source files, compiled, and uploaded to the autopilot.

== Configuring Non-Root users to access USB ==

Non-Root users typically do not have access to hardware I/O with USB ports included. The user you are using to program the autpilots must be a member of the ''plugdev'' group. The original user login given during the Linux install process usually is a member. If not, add yourself to this group with the following command:

sudo adduser <your login> plugdev

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

newgrp plugdev

== USB flashing ==

The Paparazzi device rules are required for USB flashing. Copy them into place if you haven't already done so:
sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/

If you are using Ubuntu, the Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:

sudo apt-get remove brltty

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

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

=== Verify that above downloads work ===

==== Step 1 ====

Connect the USB cable to the USB port (U23, corner of the board). You then typically should see feedback like:

~/paparazzi3$ dmesg | tail -5
[79212.484187] pl2303 1-2.3:1.0: device disconnected
[82312.463077] usb 5-1: new high speed USB device using ehci_hcd and address 23
[82327.555770] usb 5-1: device descriptor read/64, error -110
[82342.752307] usb 5-1: device descriptor read/64, error -110
[82342.968031] usb 5-1: new high speed USB device using ehci_hcd and address 24

which confirms that your device is powered up and visible. If not - check your power and connections. Failing that - prepare to download the USB Bootloader through the 'Download' connector.

Above output is for the Tiny2.1.

==== Step 2 ====

Secondly - download some firmare (here we're using a modified [http://paparazzi.enac.fr/wiki/index.php/Using_demo_programs_in_sw/airborne demo2] - which flashes the LEDs with a Tiny2.1 board):

$ export PAPARAZZI_HOME=.. if needed... etc.
$ make AIRCRAFT=DEMO demo2.upload
make[1]: Leaving directory `/usr/share/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 all
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/home/dirkx/paparazzi3/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 upload
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/usr/share/paparazzi/sw/ground_segment/lpc21iap/lpc21iap /home/dirkx/paparazzi3/var/demo/demo2/demo2.elf
.
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#
Starting software at 0x00004000
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
make: Leaving directory `/usr/share/paparazzi'
~/paparazzi3$

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

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

==== Step 3 ====

Observe the LEDs flashing.

==== Step 4 ====

Disconnect the usb cable, powercylce the unit - LEDs should flash again.

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

Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the usb cable and power on the autopilot to receive the code.

* This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port. You will have no LED indicators or other autopilot functionality with this code. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.
* This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifing ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). Installing tunnel code with the ISP method will erase any USB bootloader code.

=== Installing the USB Bootloader ===

The USB bootloader should only need to be installed once when the board is first built. It is loaded through the serial interface UART0 (Serial1) by holding pin P0.14 low during power-up. If you were supplied with a Tiny Autopilot it may have already had the USB bootloader installed, please check with your supplier.

You will need to convert the PC's RS232 Serial with voltage levels of +/-13V to 3.3V (or 5V) TTL in order to communicate directly with the device. This can be accomplished in multiple ways. The easiest and most convenient method is to purchase or build a USB -> Serial 3.3V adapter similar to this one [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R-3V3.htm TTL-232R-3V3]
Here's a few other examples:
[http://www.sparkfun.com/commerce/product_info.php?products_id=199]
[http://www.sparkfun.com/commerce/product_info.php?products_id=718]
[http://www.pololu.com/products/pololu/0391/]
[http://www.hvwtech.com/products_view.asp?CatID=166&SubCatID=183&SubSubCatID=0&ProductID=409]
[http://shop.halfbase.com/product_info.php/products_id/54]
Users are strongly urged to use FTDI usb-serial converters as they are well supported by default in the linux kernel and since the Paparazzi ground station software is configured to look for modems on FTDI ports by default, the converter can likely serve as a modem interface after it's use in programming.

Make up a wiring harness similar to the following. You may vary the details however this is a working solution:

TINY RXD0 <-- PC SERIAL TX (5V or 3.3V) 
TINY TXD0 --> PC SERIAL RX (5V or 3.3V) 
TINY RESET --> ''optional'' wired to ground through a pushbutton so you can reset 
TINY P0.14 (SERIAL1-5) --> attach to ground, or wire through a pushbutton to ground 
TINY GND --> PC SERIAL ADAPTER GND 

Once this wiring is ready you will be ready to send the USB Bootloader to the Tiny from the PC.

To prepare the Tiny to accept programming over its serial port you must have pin P0.14 LOW for at least 3mS while it is powering up or resetting. While it is still powered up it is ready to accept code over serial. Proceed now to instructions to load it via software.

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

This will begin compiling your USB Bootloader and then attempt to transfer it to the Autopilot. This will also assume you are using a USB -> Serial adapter for the connection. It uses /dev/ttyUSB0 by default. If your adapter is mapped to a different tty, you will need to modify the Makefile accordingly.

'''In Windows'''

If for some reason you need to program your Tiny's USB Bootloader in windows grab a copy of [http://www.standardics.nxp.com/support/documents/microcontrollers/zip/flash.isp.utility.lpc2000.zip LPC2000 Flash Utility V2.2.3] or later. You will then prepare the Tiny and boot it into the ISP bootloader as mentioned above but program it with this utility. You will need to copy your compiled bl.hex file from Linux of course.

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

Compiling

2008-08-25T13:36:04Z

Dirkx:

Flight plans, tuning and configuration settings are compiled into a single binary image and transferred to the microcontroler flash rom through USB. Most tuning and flight plan parameters can be changed in-flight but after each power cycle, the autopilot reverts to the original settings. Permanent changes must be made in the source files, compiled, and uploaded to the autopilot.

== Configuring Non-Root users to access USB ==

Non-Root users typically do not have access to hardware I/O with USB ports included. The user you are using to program the autpilots must be a member of the ''plugdev'' group. The original user login given during the Linux install process usually is a member. If not, add yourself to this group with the following command:

sudo adduser <your login> plugdev

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

newgrp plugdev

== USB flashing ==

The Paparazzi device rules are required for USB flashing. Copy them into place if you haven't already done so:
sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/

If you are using Ubuntu, the Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:

sudo apt-get remove brltty

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

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

=== Verify that above downloads work ===

==== Step 1 ====

Connect the USB cable to the USB port (U23, corner of the board). You then typically should see feedback like:

~/paparazzi3$ dmesg | tail -5
[79212.484187] pl2303 1-2.3:1.0: device disconnected
[82312.463077] usb 5-1: new high speed USB device using ehci_hcd and address 23
[82327.555770] usb 5-1: device descriptor read/64, error -110
[82342.752307] usb 5-1: device descriptor read/64, error -110
[82342.968031] usb 5-1: new high speed USB device using ehci_hcd and address 24

which confirms that your device is powered up and visible. If not - check your power and connections. Failing that - prepare to download the USB Bootloader through the 'Download' connector.

Above output is for the Tiny2.1.

==== Step 2 ====

Secondly - download some firmare (here we're using a modified [http://paparazzi.enac.fr/wiki/index.php/Using_demo_programs_in_sw/airborne demo2] - which flashes the LEDs with a Tiny2.1 board):

make[1]: Leaving directory `/usr/share/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 all
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/home/dirkx/paparazzi3/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 upload
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/usr/share/paparazzi/sw/ground_segment/lpc21iap/lpc21iap /home/dirkx/paparazzi3/var/demo/demo2/demo2.elf
.
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#
Starting software at 0x00004000
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
make: Leaving directory `/usr/share/paparazzi'
~/paparazzi3$

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

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

==== Step 3 ====

Observe the LEDs flashing.

==== Step 4 ====

Disconnect the usb cable, powercylce the unit - LEDs should flash again.

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

Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the usb cable and power on the autopilot to receive the code.

* This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port. You will have no LED indicators or other autopilot functionality with this code. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.
* This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifing ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). Installing tunnel code with the ISP method will erase any USB bootloader code.

=== Installing the USB Bootloader ===

The USB bootloader should only need to be installed once when the board is first built. It is loaded through the serial interface UART0 (Serial1) by holding pin P0.14 low during power-up. If you were supplied with a Tiny Autopilot it may have already had the USB bootloader installed, please check with your supplier.

You will need to convert the PC's RS232 Serial with voltage levels of +/-13V to 3.3V (or 5V) TTL in order to communicate directly with the device. This can be accomplished in multiple ways. The easiest and most convenient method is to purchase or build a USB -> Serial 3.3V adapter similar to this one [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R-3V3.htm TTL-232R-3V3]
Here's a few other examples:
[http://www.sparkfun.com/commerce/product_info.php?products_id=199]
[http://www.sparkfun.com/commerce/product_info.php?products_id=718]
[http://www.pololu.com/products/pololu/0391/]
[http://www.hvwtech.com/products_view.asp?CatID=166&SubCatID=183&SubSubCatID=0&ProductID=409]
[http://shop.halfbase.com/product_info.php/products_id/54]
Users are strongly urged to use FTDI usb-serial converters as they are well supported by default in the linux kernel and since the Paparazzi ground station software is configured to look for modems on FTDI ports by default, the converter can likely serve as a modem interface after it's use in programming.

Make up a wiring harness similar to the following. You may vary the details however this is a working solution:

TINY RXD0 <-- PC SERIAL TX (5V or 3.3V) 
TINY TXD0 --> PC SERIAL RX (5V or 3.3V) 
TINY RESET --> ''optional'' wired to ground through a pushbutton so you can reset 
TINY P0.14 (SERIAL1-5) --> attach to ground, or wire through a pushbutton to ground 
TINY GND --> PC SERIAL ADAPTER GND 

Once this wiring is ready you will be ready to send the USB Bootloader to the Tiny from the PC.

To prepare the Tiny to accept programming over its serial port you must have pin P0.14 LOW for at least 3mS while it is powering up or resetting. While it is still powered up it is ready to accept code over serial. Proceed now to instructions to load it via software.

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

This will begin compiling your USB Bootloader and then attempt to transfer it to the Autopilot. This will also assume you are using a USB -> Serial adapter for the connection. It uses /dev/ttyUSB0 by default. If your adapter is mapped to a different tty, you will need to modify the Makefile accordingly.

'''In Windows'''

If for some reason you need to program your Tiny's USB Bootloader in windows grab a copy of [http://www.standardics.nxp.com/support/documents/microcontrollers/zip/flash.isp.utility.lpc2000.zip LPC2000 Flash Utility V2.2.3] or later. You will then prepare the Tiny and boot it into the ISP bootloader as mentioned above but program it with this utility. You will need to copy your compiled bl.hex file from Linux of course.

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

File:Tiny-demo2.txt

2008-08-25T13:32:47Z

Dirkx: Patch to make demo2 work with tiny 2.1 board.

Patch to make demo2 work with tiny 2.1 board.

Compiling

2008-08-25T13:23:35Z

Dirkx:

Flight plans, tuning and configuration settings are compiled into a single binary image and transferred to the microcontroler flash rom through USB. Most tuning and flight plan parameters can be changed in-flight but after each power cycle, the autopilot reverts to the original settings. Permanent changes must be made in the source files, compiled, and uploaded to the autopilot.

== Configuring Non-Root users to access USB ==

Non-Root users typically do not have access to hardware I/O with USB ports included. The user you are using to program the autpilots must be a member of the ''plugdev'' group. The original user login given during the Linux install process usually is a member. If not, add yourself to this group with the following command:

sudo adduser <your login> plugdev

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

newgrp plugdev

== USB flashing ==

The Paparazzi device rules are required for USB flashing. Copy them into place if you haven't already done so:
sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/

If you are using Ubuntu, the Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:

sudo apt-get remove brltty

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

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

=== Verify that above downloads work ===

==== Step 1 ====

Connect the USB cable to the USB port (U23, corner of the board). You then typically should see feedback like:

~/paparazzi3$ dmesg | tail -5
[79212.484187] pl2303 1-2.3:1.0: device disconnected
[82312.463077] usb 5-1: new high speed USB device using ehci_hcd and address 23
[82327.555770] usb 5-1: device descriptor read/64, error -110
[82342.752307] usb 5-1: device descriptor read/64, error -110
[82342.968031] usb 5-1: new high speed USB device using ehci_hcd and address 24
</source>

which confirms that your device is powered up and visible. If not - check your power and connections. Failing that - prepare to download the USB Bootloader through the 'Download' connector.

Above output is for the Tiny2.1.

==== Step 2 ====

Secondly - download some firmare (here we're using a modified [http://paparazzi.enac.fr/wiki/index.php/Using_demo_programs_in_sw/airborne demo2] - which flashes the LEDs with a Tiny2.1 board):

make[1]: Leaving directory `/usr/share/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 all
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/home/dirkx/paparazzi3/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 upload
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/usr/share/paparazzi/sw/ground_segment/lpc21iap/lpc21iap /home/dirkx/paparazzi3/var/demo/demo2/demo2.elf
.
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#
Starting software at 0x00004000
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
make: Leaving directory `/usr/share/paparazzi'
~/paparazzi3$

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

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

==== Step 3 ====

Observe the LEDs flashing.

==== Step 4 ====

Disconnect the usb cable, powercylce the unit - LEDs should flash again.

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

Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the usb cable and power on the autopilot to receive the code.

* This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port. You will have no LED indicators or other autopilot functionality with this code. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.
* This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifing ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). Installing tunnel code with the ISP method will erase any USB bootloader code.

=== Installing the USB Bootloader ===

The USB bootloader should only need to be installed once when the board is first built. It is loaded through the serial interface UART0 (Serial1) by holding pin P0.14 low during power-up. If you were supplied with a Tiny Autopilot it may have already had the USB bootloader installed, please check with your supplier.

You will need to convert the PC's RS232 Serial with voltage levels of +/-13V to 3.3V (or 5V) TTL in order to communicate directly with the device. This can be accomplished in multiple ways. The easiest and most convenient method is to purchase or build a USB -> Serial 3.3V adapter similar to this one [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R-3V3.htm TTL-232R-3V3]
Here's a few other examples:
[http://www.sparkfun.com/commerce/product_info.php?products_id=199]
[http://www.sparkfun.com/commerce/product_info.php?products_id=718]
[http://www.pololu.com/products/pololu/0391/]
[http://www.hvwtech.com/products_view.asp?CatID=166&SubCatID=183&SubSubCatID=0&ProductID=409]
[http://shop.halfbase.com/product_info.php/products_id/54]
Users are strongly urged to use FTDI usb-serial converters as they are well supported by default in the linux kernel and since the Paparazzi ground station software is configured to look for modems on FTDI ports by default, the converter can likely serve as a modem interface after it's use in programming.

Make up a wiring harness similar to the following. You may vary the details however this is a working solution:

TINY RXD0 <-- PC SERIAL TX (5V or 3.3V) 
TINY TXD0 --> PC SERIAL RX (5V or 3.3V) 
TINY RESET --> ''optional'' wired to ground through a pushbutton so you can reset 
TINY P0.14 (SERIAL1-5) --> attach to ground, or wire through a pushbutton to ground 
TINY GND --> PC SERIAL ADAPTER GND 

Once this wiring is ready you will be ready to send the USB Bootloader to the Tiny from the PC.

To prepare the Tiny to accept programming over its serial port you must have pin P0.14 LOW for at least 3mS while it is powering up or resetting. While it is still powered up it is ready to accept code over serial. Proceed now to instructions to load it via software.

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

This will begin compiling your USB Bootloader and then attempt to transfer it to the Autopilot. This will also assume you are using a USB -> Serial adapter for the connection. It uses /dev/ttyUSB0 by default. If your adapter is mapped to a different tty, you will need to modify the Makefile accordingly.

'''In Windows'''

If for some reason you need to program your Tiny's USB Bootloader in windows grab a copy of [http://www.standardics.nxp.com/support/documents/microcontrollers/zip/flash.isp.utility.lpc2000.zip LPC2000 Flash Utility V2.2.3] or later. You will then prepare the Tiny and boot it into the ISP bootloader as mentioned above but program it with this utility. You will need to copy your compiled bl.hex file from Linux of course.

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

Compiling

2008-08-25T13:21:33Z

Dirkx:

Flight plans, tuning and configuration settings are compiled into a single binary image and transferred to the microcontroler flash rom through USB. Most tuning and flight plan parameters can be changed in-flight but after each power cycle, the autopilot reverts to the original settings. Permanent changes must be made in the source files, compiled, and uploaded to the autopilot.

== Configuring Non-Root users to access USB ==

Non-Root users typically do not have access to hardware I/O with USB ports included. The user you are using to program the autpilots must be a member of the ''plugdev'' group. The original user login given during the Linux install process usually is a member. If not, add yourself to this group with the following command:

sudo adduser <your login> plugdev

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

newgrp plugdev

== USB flashing ==

The Paparazzi device rules are required for USB flashing. Copy them into place if you haven't already done so:
sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/

If you are using Ubuntu, the Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:

sudo apt-get remove brltty

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

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

=== Verify that above downloads work ===

1) connect the USB cable to the USB port (U23, corner of the board). You then typically should see feedback like:
<source lang="shell">
~/paparazzi3$ dmesg | tail -5
[79212.484187] pl2303 1-2.3:1.0: device disconnected
[82312.463077] usb 5-1: new high speed USB device using ehci_hcd and address 23
[82327.555770] usb 5-1: device descriptor read/64, error -110
[82342.752307] usb 5-1: device descriptor read/64, error -110
[82342.968031] usb 5-1: new high speed USB device using ehci_hcd and address 24
</source>
which confirms that your device is powered up and visible.

Secondly - download some firmare (here we're using a modified [http://paparazzi.enac.fr/wiki/index.php/Using_demo_programs_in_sw/airborne demo2] - which flashes the LEDs):

make[1]: Leaving directory `/usr/share/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 all
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/home/dirkx/paparazzi3/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 upload
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/usr/share/paparazzi/sw/ground_segment/lpc21iap/lpc21iap /home/dirkx/paparazzi3/var/demo/demo2/demo2.elf
.
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#
Starting software at 0x00004000
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
make: Leaving directory `/usr/share/paparazzi'
~/paparazzi3$

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

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

3) Observe the LEDs flashing.

4) Disconnect the usb cable, powercylce the unit - LEDs should flash again.

=== Installing the UART tunnel for direct access to the GPS ===
Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the usb cable and power on the autopilot to receive the code.

* This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port. You will have no LED indicators or other autopilot functionality with this code. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.
* This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifing ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). Installing tunnel code with the ISP method will erase any USB bootloader code.

=== Installing the USB Bootloader ===

The USB bootloader should only need to be installed once when the board is first built. It is loaded through the serial interface UART0 (Serial1) by holding pin P0.14 low during power-up. If you were supplied with a Tiny Autopilot it may have already had the USB bootloader installed, please check with your supplier.

You will need to convert the PC's RS232 Serial with voltage levels of +/-13V to 3.3V (or 5V) TTL in order to communicate directly with the device. This can be accomplished in multiple ways. The easiest and most convenient method is to purchase or build a USB -> Serial 3.3V adapter similar to this one [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R-3V3.htm TTL-232R-3V3]
Here's a few other examples:
[http://www.sparkfun.com/commerce/product_info.php?products_id=199]
[http://www.sparkfun.com/commerce/product_info.php?products_id=718]
[http://www.pololu.com/products/pololu/0391/]
[http://www.hvwtech.com/products_view.asp?CatID=166&SubCatID=183&SubSubCatID=0&ProductID=409]
[http://shop.halfbase.com/product_info.php/products_id/54]
Users are strongly urged to use FTDI usb-serial converters as they are well supported by default in the linux kernel and since the Paparazzi ground station software is configured to look for modems on FTDI ports by default, the converter can likely serve as a modem interface after it's use in programming.

Make up a wiring harness similar to the following. You may vary the details however this is a working solution:

TINY RXD0 <-- PC SERIAL TX (5V or 3.3V) 
TINY TXD0 --> PC SERIAL RX (5V or 3.3V) 
TINY RESET --> ''optional'' wired to ground through a pushbutton so you can reset 
TINY P0.14 (SERIAL1-5) --> attach to ground, or wire through a pushbutton to ground 
TINY GND --> PC SERIAL ADAPTER GND 

Once this wiring is ready you will be ready to send the USB Bootloader to the Tiny from the PC.

To prepare the Tiny to accept programming over its serial port you must have pin P0.14 LOW for at least 3mS while it is powering up or resetting. While it is still powered up it is ready to accept code over serial. Proceed now to instructions to load it via software.

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

This will begin compiling your USB Bootloader and then attempt to transfer it to the Autopilot. This will also assume you are using a USB -> Serial adapter for the connection. It uses /dev/ttyUSB0 by default. If your adapter is mapped to a different tty, you will need to modify the Makefile accordingly.

'''In Windows'''

If for some reason you need to program your Tiny's USB Bootloader in windows grab a copy of [http://www.standardics.nxp.com/support/documents/microcontrollers/zip/flash.isp.utility.lpc2000.zip LPC2000 Flash Utility V2.2.3] or later. You will then prepare the Tiny and boot it into the ISP bootloader as mentioned above but program it with this utility. You will need to copy your compiled bl.hex file from Linux of course.

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

Compiling

2008-08-25T13:21:01Z

Dirkx: Demo/testing of flashing

Flight plans, tuning and configuration settings are compiled into a single binary image and transferred to the microcontroler flash rom through USB. Most tuning and flight plan parameters can be changed in-flight but after each power cycle, the autopilot reverts to the original settings. Permanent changes must be made in the source files, compiled, and uploaded to the autopilot.

== Configuring Non-Root users to access USB ==

Non-Root users typically do not have access to hardware I/O with USB ports included. The user you are using to program the autpilots must be a member of the ''plugdev'' group. The original user login given during the Linux install process usually is a member. If not, add yourself to this group with the following command:

sudo adduser <your login> plugdev

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

newgrp plugdev

== USB flashing ==

The Paparazzi device rules are required for USB flashing. Copy them into place if you haven't already done so:
sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/

If you are using Ubuntu, the Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:

sudo apt-get remove brltty

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

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

=== Verify that above downloads work ===

1) connect the USB cable to the USB port (U23, corner of the board). You then typically should see feedback like:
<source lang="shell">
~/paparazzi3$ dmesg | tail -5
[79212.484187] pl2303 1-2.3:1.0: device disconnected
[82312.463077] usb 5-1: new high speed USB device using ehci_hcd and address 23
[82327.555770] usb 5-1: device descriptor read/64, error -110
[82342.752307] usb 5-1: device descriptor read/64, error -110
[82342.968031] usb 5-1: new high speed USB device using ehci_hcd and address 24
</source>
which confirms that your device is powered up and visible.

Secondly - download some firmare (here we're using a modified [http://paparazzi.enac.fr/wiki/index.php/Using_demo_programs_in_sw/airborne demo2] - which flashes the LEDs):

make[1]: Leaving directory `/usr/share/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 all
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'

/home/dirkx/paparazzi3/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118

/home/dirkx/paparazzi3/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118

make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 upload
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/usr/share/paparazzi/sw/ground_segment/lpc21iap/lpc21iap /home/dirkx/paparazzi3/var/demo/demo2/demo2.elf
.
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#
Starting software at 0x00004000
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
make: Leaving directory `/usr/share/paparazzi'
~/paparazzi3$
</source>
which confirms that your device has the bootloader functioning. The important bit of output is:

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

3) Observe the LEDs flashing.

4) Disconnect the usb cable, powercylce the unit - LEDs should flash again.

=== Installing the UART tunnel for direct access to the GPS ===
Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the usb cable and power on the autopilot to receive the code.

* This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port. You will have no LED indicators or other autopilot functionality with this code. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.
* This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifing ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). Installing tunnel code with the ISP method will erase any USB bootloader code.

=== Installing the USB Bootloader ===

The USB bootloader should only need to be installed once when the board is first built. It is loaded through the serial interface UART0 (Serial1) by holding pin P0.14 low during power-up. If you were supplied with a Tiny Autopilot it may have already had the USB bootloader installed, please check with your supplier.

You will need to convert the PC's RS232 Serial with voltage levels of +/-13V to 3.3V (or 5V) TTL in order to communicate directly with the device. This can be accomplished in multiple ways. The easiest and most convenient method is to purchase or build a USB -> Serial 3.3V adapter similar to this one [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R-3V3.htm TTL-232R-3V3]
Here's a few other examples:
[http://www.sparkfun.com/commerce/product_info.php?products_id=199]
[http://www.sparkfun.com/commerce/product_info.php?products_id=718]
[http://www.pololu.com/products/pololu/0391/]
[http://www.hvwtech.com/products_view.asp?CatID=166&SubCatID=183&SubSubCatID=0&ProductID=409]
[http://shop.halfbase.com/product_info.php/products_id/54]
Users are strongly urged to use FTDI usb-serial converters as they are well supported by default in the linux kernel and since the Paparazzi ground station software is configured to look for modems on FTDI ports by default, the converter can likely serve as a modem interface after it's use in programming.

Make up a wiring harness similar to the following. You may vary the details however this is a working solution:

TINY RXD0 <-- PC SERIAL TX (5V or 3.3V) 
TINY TXD0 --> PC SERIAL RX (5V or 3.3V) 
TINY RESET --> ''optional'' wired to ground through a pushbutton so you can reset 
TINY P0.14 (SERIAL1-5) --> attach to ground, or wire through a pushbutton to ground 
TINY GND --> PC SERIAL ADAPTER GND 

Once this wiring is ready you will be ready to send the USB Bootloader to the Tiny from the PC.

To prepare the Tiny to accept programming over its serial port you must have pin P0.14 LOW for at least 3mS while it is powering up or resetting. While it is still powered up it is ready to accept code over serial. Proceed now to instructions to load it via software.

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

This will begin compiling your USB Bootloader and then attempt to transfer it to the Autopilot. This will also assume you are using a USB -> Serial adapter for the connection. It uses /dev/ttyUSB0 by default. If your adapter is mapped to a different tty, you will need to modify the Makefile accordingly.

'''In Windows'''

If for some reason you need to program your Tiny's USB Bootloader in windows grab a copy of [http://www.standardics.nxp.com/support/documents/microcontrollers/zip/flash.isp.utility.lpc2000.zip LPC2000 Flash Utility V2.2.3] or later. You will then prepare the Tiny and boot it into the ISP bootloader as mentioned above but program it with this utility. You will need to copy your compiled bl.hex file from Linux of course.

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

Compiling

2008-08-25T13:15:48Z

Dirkx:

Flight plans, tuning and configuration settings are compiled into a single binary image and transferred to the microcontroler flash rom through USB. Most tuning and flight plan parameters can be changed in-flight but after each power cycle, the autopilot reverts to the original settings. Permanent changes must be made in the source files, compiled, and uploaded to the autopilot.

== Configuring Non-Root users to access USB ==

Non-Root users typically do not have access to hardware I/O with USB ports included. The user you are using to program the autpilots must be a member of the ''plugdev'' group. The original user login given during the Linux install process usually is a member. If not, add yourself to this group with the following command:

sudo adduser <your login> plugdev

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

newgrp plugdev

== USB flashing ==

The Paparazzi device rules are required for USB flashing. Copy them into place if you haven't already done so:
sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/

If you are using Ubuntu, the Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:

sudo apt-get remove brltty

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

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

1) connect the USB cable to the USB port (U23, corner of the board). You then typically should see feedback like:
{{{
~/paparazzi3$ dmesg | tail -5
[79212.484187] pl2303 1-2.3:1.0: device disconnected
[82312.463077] usb 5-1: new high speed USB device using ehci_hcd and address 23
[82327.555770] usb 5-1: device descriptor read/64, error -110
[82342.752307] usb 5-1: device descriptor read/64, error -110
[82342.968031] usb 5-1: new high speed USB device using ehci_hcd and address 24
}}}
which confirms that your device is powered up and visible.

Secondly - download some firmare (here we're using a modified demo2 - which flashes the LEDs):
{{{
~/paparazzi3$ export PAPARAZZI_HOME=~/paparazzi3
~/paparazzi3$ ./paparazzi-make AIRCRAFT=demo demo2.upload
make: Entering directory `/usr/share/paparazzi'
demo
BUILD demo
make[1]: Entering directory `/usr/share/paparazzi'
make[1]: Nothing to be done for `all_ac_h'.
make[1]: Leaving directory `/usr/share/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 all
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'

/home/dirkx/paparazzi3/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118

/home/dirkx/paparazzi3/var/demo/demo2/demo2.elf :
section size addr
.text 956 16384
.ctors 0 17340
.dtors 0 17340
.data 0 1073741824
.bss 12 1073741824
.stack 4096 1073742080
.comment 54 0
Total 5118

make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/usr/share/paparazzi PAPARAZZI_HOME=/home/dirkx/paparazzi3 TARGET=demo2 upload
make[1]: Entering directory `/usr/share/paparazzi/sw/airborne'
/usr/share/paparazzi/sw/ground_segment/lpc21iap/lpc21iap /home/dirkx/paparazzi3/var/demo/demo2/demo2.elf
.
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#
Starting software at 0x00004000
make[1]: Leaving directory `/usr/share/paparazzi/sw/airborne'
make: Leaving directory `/usr/share/paparazzi'
~/paparazzi3$
}}}
which confirms that your device has the bootloader functioning.

3) Observe the LEDs flashing.

4) Disconnect the usb cable, powercylce the unit - LEDs should flash again.

=== Installing the UART tunnel for direct access to the GPS ===
Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the usb cable and power on the autopilot to receive the code.

* This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port. You will have no LED indicators or other autopilot functionality with this code. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.
* This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifing ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). Installing tunnel code with the ISP method will erase any USB bootloader code.

=== Installing the USB Bootloader ===

The USB bootloader should only need to be installed once when the board is first built. It is loaded through the serial interface UART0 (Serial1) by holding pin P0.14 low during power-up. If you were supplied with a Tiny Autopilot it may have already had the USB bootloader installed, please check with your supplier.

You will need to convert the PC's RS232 Serial with voltage levels of +/-13V to 3.3V (or 5V) TTL in order to communicate directly with the device. This can be accomplished in multiple ways. The easiest and most convenient method is to purchase or build a USB -> Serial 3.3V adapter similar to this one [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R-3V3.htm TTL-232R-3V3]
Here's a few other examples:
[http://www.sparkfun.com/commerce/product_info.php?products_id=199]
[http://www.sparkfun.com/commerce/product_info.php?products_id=718]
[http://www.pololu.com/products/pololu/0391/]
[http://www.hvwtech.com/products_view.asp?CatID=166&SubCatID=183&SubSubCatID=0&ProductID=409]
[http://shop.halfbase.com/product_info.php/products_id/54]
Users are strongly urged to use FTDI usb-serial converters as they are well supported by default in the linux kernel and since the Paparazzi ground station software is configured to look for modems on FTDI ports by default, the converter can likely serve as a modem interface after it's use in programming.

Make up a wiring harness similar to the following. You may vary the details however this is a working solution:

TINY RXD0 <-- PC SERIAL TX (5V or 3.3V) 
TINY TXD0 --> PC SERIAL RX (5V or 3.3V) 
TINY RESET --> ''optional'' wired to ground through a pushbutton so you can reset 
TINY P0.14 (SERIAL1-5) --> attach to ground, or wire through a pushbutton to ground 
TINY GND --> PC SERIAL ADAPTER GND 

Once this wiring is ready you will be ready to send the USB Bootloader to the Tiny from the PC.

To prepare the Tiny to accept programming over its serial port you must have pin P0.14 LOW for at least 3mS while it is powering up or resetting. While it is still powered up it is ready to accept code over serial. Proceed now to instructions to load it via software.

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

This will begin compiling your USB Bootloader and then attempt to transfer it to the Autopilot. This will also assume you are using a USB -> Serial adapter for the connection. It uses /dev/ttyUSB0 by default. If your adapter is mapped to a different tty, you will need to modify the Makefile accordingly.

'''In Windows'''

If for some reason you need to program your Tiny's USB Bootloader in windows grab a copy of [http://www.standardics.nxp.com/support/documents/microcontrollers/zip/flash.isp.utility.lpc2000.zip LPC2000 Flash Utility V2.2.3] or later. You will then prepare the Tiny and boot it into the ISP bootloader as mentioned above but program it with this utility. You will need to copy your compiled bl.hex file from Linux of course.

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

Installation/Linux

2008-06-01T18:58:32Z

Dirkx:

Precompiled binaries can be downloaded and executed with the ''paparazzi-bin'' package but to maintain the power and flexibility of open-source code, most operations within Paparazzi involve recompilation of autopilot and/or ground station code. Therefore the typical installation requires all of the necessary C and OCaml compilers as well as some XML and [http://www.tls.cena.fr/products/ivy/ Ivy] handlers. These tools are provided by the ''paparazzi-dev'' package.

The Paparazzi sources are hosted by [http://savannah.nongnu.org/cvs/?group=paparazzi Savannah].

The Paparazzi packages are hosted at the [http://www.recherche.enac.fr/paparazzi/debian ENAC repository].

== Installation on Debian based distributions ==

Paparazzi is packaged for Debian as well as all of its dependencies. The [http://www.recherche.enac.fr/paparazzi/debian repository] hosted at ENAC holds their latest version.

=== Installation from the Command Line===
Just add the following lines to your repository list (/etc/apt/sources.list) and then
uncomment the line relevant to your operating system (e.g. one of Sarge, etch, gutsy or hardy):

{{Box Code|/etc/apt/sources.list|
# Uncomment just _one_ of the next 4 lines - depending on your OS version
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> sarge main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> etch main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> gutsy main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> hardy main
}}

Then, update your sources and install the precompiled binaries
apt-get update
apt-get install paparazzi-bin
or the dependencies needed for recompiling from the source (dev), and the cross-compiler (arm7) :
apt-get update
apt-get install paparazzi-dev
apt-get install paparazzi-arm7
Note: It is not recommended to install both <tt>paparazzi-bin</tt> and <tt>paparazzi-dev</tt>. While the bin package is self-contained and should be sufficient for users who do not want to patch the code, the dev meta-package provides only the tools to compile the source code which must be separately downloaded, from an archive or the CVS repository.

==== Optional/Obsolete Packages ====
Users of older AVR based boards will also need the paparazzi-avr package.

==== Extra for Ubuntu ====

The Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:

sudo apt-get remove brltty

=== Installation thru Synaptic Package Manager ===
* Launch ''Synaptic Package Manager'' (''Applications/System'' Tools Menu)
* In '''Settings/Repositories''', add a new repository on URI = '''<nowiki>http://paparazzi.enac.fr/debian</nowiki>''', Distribution = '''etch''' (or '''sarge''' or '''sid'''), Section = '''main''' . For Ubuntu, replace '''debian''' by '''ubuntu''' and '''etch''' by '''gutsy''' (or '''hardy''')
* Search for <tt>paparazzi-bin</tt>, <tt>paparazzi-dev</tt>, and <tt>paparazzi-arm7</tt> packages (use the ''Search'' button)
* Mark them for installation (right-click on package names)
* Left-click on ''Apply''

== Manual Installation of Individual Packages ==
Users of other Linux flavors or anyone needing manual control of each individual package can install them independently. The list of dependencies of the Debian package is located in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/debian/control.etch?revision=1.16&view=markup <tt> debian/control.etch</tt>] file and may help users of other distributions.

The binary packages and some corresponding source tarballs can be downloaded from

http://paparazzi.enac.fr/debian/dists/etch/main/binary-i386/

For distributions using RPM packaging, the [http://packages.debian.org/unstable/source/alien alien] tool can be used to translate a .deb package into a .rpm package.

For Fedora (Core8) users, you can install the following packages from standard repository:
* ocaml.i386
* ocaml-camlimages-devel.i386
* ocaml-lablgtk-devel.i386
* ocaml-xml-light-devel.i386
* boa.i386
* libgnomecanvas-devel.i386
* libusb-devel.i386
* pcre-devel.i386
* arm-gp2x-linux-gcc.i386
* arm-gp2x-linux-binutils.i386
* glade2.i386
* and gcc, make, cvs, gnuplot, imagemagik...

Then you need [http://packages.debian.org/unstable/source/alien alien] tool to convert packages from the paparazzi repository:
* ivy-c
* ivy-c-dev
* ivy-ocaml (WARNING: debian and fedora have different path for ocaml (/usr/lib/ocaml/<version> vs. /usr/lib/ocaml), so you need to move by hand the files in /usr/lib/ocaml/<version> to /usr/lib/ocaml)
* lpc21isp

== Installing the Source Code (not needed with paparazzi-bin) ==
After the <tt>paparazzi-dev</tt> package is installed the complete source code should be downloaded from the CVS repository. See the [http://savannah.nongnu.org/cvs/?group=paparazzi project page] at Savannah for more details. From the directory of your choice type:
cvs -z3 -d:pserver:anonymous@cvs.savannah.nongnu.org:/sources/paparazzi co paparazzi3
This will download all of the code and install it into <tt>paparazzi3/</tt>

If you cannot use the CVS install, dayly updated tarballs can also be fetched from the [[Downloads|Downloads]] page.

== Launching the Software ==

If you are using the <tt>paparazzi-bin</tt> package or the Live-CD, just launch the <tt>paparazzi</tt> binary application and you will be guided through the installation of your personal configuration files.

If you are using the source code, the first step is to compile it. From the <tt>paparazzi3</tt> directory (<tt>cd paparazzi3</tt>), run

make

You will have to run this command after each update of the source (<tt>cvs update</tt> command).
Launch the software from the <tt>paparazzi3</tt> directory with

./paparazzi

From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''MJ5'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session.

If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]), 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|/home/your_username/.bashrc|
export PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi3 directory''
export PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi3 directory''
}}
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:
export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`
Verify that your variables are set correctly with the following command:
env | grep PAPARAZZI
which should return the following:
PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi3 directory''
PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi3 directory''

== Setting access rights for USB download ==

This may be required to flash the Paparazzi-boards directly thru USB. For flashing details, see [[Compiling]].

Default linux rights may not allow standard (non root) users to directly access the USB bus. You will need to make yourself a member of a "group" and then create a "rule", associated with that "group". 
Make yourself a member of the ''plugdev'' group:

sudo adduser <your login> plugdev

Logout and login again. Then add the following rule: 
<tt> # all (fake VID 0x7070) LPCUSB devices (access through libusb) 
BUS=="usb", SYSFS{idVendor}=="7070", GROUP="plugdev"</tt>

The file ''10-paparazzi.rules'' contains the above rule as well as other related rules. Simply copy it as root from $PAPARAZZI_HOME/conf/system/udev/rules/ to /etc/udev/rules.d/

su -
cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/
exit su with "Ctrl-D"

== Software Updates ==
Paparazzi is a very rapidly evolving project and as such, you will find that variables and functions are frequently added, changed, or removed. 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. Your airframe file will not be updated by the CVS system and therefore any new or modified variable names will need to be added manually. The compiler will usually identify the problem variables at which point you can look at some of the most recent airframe files on the CVS to find the proper syntax. See the [[Compiling]] page for more help if needed.
 
That said, keeping your software up to date is easy with the CVS system. The system will compare all source code files with the server and update any that are needed, automatically merging any minor changes that you have incorporated along the way.

To download and automatically merge any updated source files, run the following command from your Paparazzi directory
cvs update -d
where the <tt>-d</tt> is needed to get any new directories.

After any CVS update or source code modification the code can be recompiled from ''your paparazzi3 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 deleted all compiled files and recompile from scratch with the following commands:

make clean
make

See the [[Compiling]] page for more info.

Users making changes to their code structure may prefer to have more control over the updating and merging process and may wish to install and use '''tkcvs''' instead which provides highlighted comparisons of any files that differ between your code and the CVS server and allows for a file by file update.

To update your Linux distribution as well as any dependencies of Paparazzi (seldom necessary), run the following as root:
apt-get update
apt get upgrade

== LiveCd ==

The LiveCD is an easy way to test Paparazzi: no installation is required and no changes are made to your computer. Simply burn the image as a boot CD and reboot! The LiveCD includes Linux and the complete paparazzi binary package (code source, tools and cross compilers). It is intended for demonstration only and not frequently updated but it contains the complete system and can store changed files on a pen drive or compressed file on your hard drive so that it can compile, flash, and operate any aircraft, albeit slowly.

The CD image is available from the [[Downloads|Downloads]] page.

The Paparazzi demo is launchable on the Live CD from the Paparazzi icon.

Knoppix allows for all the user data to be saved on a hard disk partition (most file systems are supported) or on a removable device (typically a USB pendrive). Note that this action is not destructive: the user data tree is compressed and stored on your file system as a single file (<tt>knoppix.img</tt>).
* From the Knoppix menu (second from bottom left), choose '''Configure''', '''Create a persistent KNOPPIX disk image'''
* Choose your media (be sure to connect your USB pendrive before booting!)
* Choose if you want an encrypted filesystem (to protect your flight plan designed for the next MAV competition :-) )
* Choose the size of your home directory (100Mb is recommended)
On the next reboot, this saved state will be automatically located and loaded.

Using this persistent feature, the Paparazzix Live CD can really be used to configure, simulate and fly an aircraft with the Paparazzi system.

The Live CD can also be used to install a Debian system on the hard disk, using the <tt>knoppix-installer</tt> command. Be sure to backup the hard disk before trying ...

[[Image:Lightscribe_CD_Cover_1.JPG|thumb|320px|LightScribe CD Cover]] A LiveCD needs some looks... In color or in LightScribe format, your CD will always look cool.
* Get the PDF version for download here [http://paparazzi.enac.fr/wiki_images/Lightscribe_CD_Cover_1.pdf LightScribe CD Cover 1].

* The LightScribe version is in Nero Cover Design format (.ncd) and it's here for download [http://paparazzi.enac.fr/wiki_images/Lightscribe_CD_Cover_1.zip LightScribe CD Cover 1]

Installation/Linux

2008-06-01T18:57:57Z

Dirkx:

Precompiled binaries can be downloaded and executed with the ''paparazzi-bin'' package but to maintain the power and flexibility of open-source code, most operations within Paparazzi involve recompilation of autopilot and/or ground station code. Therefore the typical installation requires all of the necessary C and OCaml compilers as well as some XML and [http://www.tls.cena.fr/products/ivy/ Ivy] handlers. These tools are provided by the ''paparazzi-dev'' package.

The Paparazzi sources are hosted by [http://savannah.nongnu.org/cvs/?group=paparazzi Savannah].

The Paparazzi packages are hosted at the [http://www.recherche.enac.fr/paparazzi/debian ENAC repository].

== Installation on Debian based distributions ==

Paparazzi is packaged for Debian as well as all of its dependencies. The [http://www.recherche.enac.fr/paparazzi/debian repository] hosted at ENAC holds their latest version.

=== Installation from the Command Line===
Just add the following line to your repository list (/etc/apt/sources.list).:
{{Box Code|/etc/apt/sources.list|
# Uncomment just _one_ of the next 4 lines - depending on your OS version
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> sarge main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> etch main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> gutsy main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> hardy main
}}

Then, update your sources and install the precompiled binaries
apt-get update
apt-get install paparazzi-bin
or the dependencies needed for recompiling from the source (dev), and the cross-compiler (arm7) :
apt-get update
apt-get install paparazzi-dev
apt-get install paparazzi-arm7
Note: It is not recommended to install both <tt>paparazzi-bin</tt> and <tt>paparazzi-dev</tt>. While the bin package is self-contained and should be sufficient for users who do not want to patch the code, the dev meta-package provides only the tools to compile the source code which must be separately downloaded, from an archive or the CVS repository.

==== Optional/Obsolete Packages ====
Users of older AVR based boards will also need the paparazzi-avr package.

==== Extra for Ubuntu ====

The Braille TTY driver interferes with FTDI USB Serial adapters and should be removed:

sudo apt-get remove brltty

=== Installation thru Synaptic Package Manager ===
* Launch ''Synaptic Package Manager'' (''Applications/System'' Tools Menu)
* In '''Settings/Repositories''', add a new repository on URI = '''<nowiki>http://paparazzi.enac.fr/debian</nowiki>''', Distribution = '''etch''' (or '''sarge''' or '''sid'''), Section = '''main''' . For Ubuntu, replace '''debian''' by '''ubuntu''' and '''etch''' by '''gutsy''' (or '''hardy''')
* Search for <tt>paparazzi-bin</tt>, <tt>paparazzi-dev</tt>, and <tt>paparazzi-arm7</tt> packages (use the ''Search'' button)
* Mark them for installation (right-click on package names)
* Left-click on ''Apply''

== Manual Installation of Individual Packages ==
Users of other Linux flavors or anyone needing manual control of each individual package can install them independently. The list of dependencies of the Debian package is located in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/debian/control.etch?revision=1.16&view=markup <tt> debian/control.etch</tt>] file and may help users of other distributions.

The binary packages and some corresponding source tarballs can be downloaded from

http://paparazzi.enac.fr/debian/dists/etch/main/binary-i386/

For distributions using RPM packaging, the [http://packages.debian.org/unstable/source/alien alien] tool can be used to translate a .deb package into a .rpm package.

For Fedora (Core8) users, you can install the following packages from standard repository:
* ocaml.i386
* ocaml-camlimages-devel.i386
* ocaml-lablgtk-devel.i386
* ocaml-xml-light-devel.i386
* boa.i386
* libgnomecanvas-devel.i386
* libusb-devel.i386
* pcre-devel.i386
* arm-gp2x-linux-gcc.i386
* arm-gp2x-linux-binutils.i386
* glade2.i386
* and gcc, make, cvs, gnuplot, imagemagik...

Then you need [http://packages.debian.org/unstable/source/alien alien] tool to convert packages from the paparazzi repository:
* ivy-c
* ivy-c-dev
* ivy-ocaml (WARNING: debian and fedora have different path for ocaml (/usr/lib/ocaml/<version> vs. /usr/lib/ocaml), so you need to move by hand the files in /usr/lib/ocaml/<version> to /usr/lib/ocaml)
* lpc21isp

== Installing the Source Code (not needed with paparazzi-bin) ==
After the <tt>paparazzi-dev</tt> package is installed the complete source code should be downloaded from the CVS repository. See the [http://savannah.nongnu.org/cvs/?group=paparazzi project page] at Savannah for more details. From the directory of your choice type:
cvs -z3 -d:pserver:anonymous@cvs.savannah.nongnu.org:/sources/paparazzi co paparazzi3
This will download all of the code and install it into <tt>paparazzi3/</tt>

If you cannot use the CVS install, dayly updated tarballs can also be fetched from the [[Downloads|Downloads]] page.

== Launching the Software ==

If you are using the <tt>paparazzi-bin</tt> package or the Live-CD, just launch the <tt>paparazzi</tt> binary application and you will be guided through the installation of your personal configuration files.

If you are using the source code, the first step is to compile it. From the <tt>paparazzi3</tt> directory (<tt>cd paparazzi3</tt>), run

make

You will have to run this command after each update of the source (<tt>cvs update</tt> command).
Launch the software from the <tt>paparazzi3</tt> directory with

./paparazzi

From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''MJ5'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session.

If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]), 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|/home/your_username/.bashrc|
export PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi3 directory''
export PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi3 directory''
}}
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:
export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`
Verify that your variables are set correctly with the following command:
env | grep PAPARAZZI
which should return the following:
PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi3 directory''
PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi3 directory''

== Setting access rights for USB download ==

This may be required to flash the Paparazzi-boards directly thru USB. For flashing details, see [[Compiling]].

Default linux rights may not allow standard (non root) users to directly access the USB bus. You will need to make yourself a member of a "group" and then create a "rule", associated with that "group". 
Make yourself a member of the ''plugdev'' group:

sudo adduser <your login> plugdev

Logout and login again. Then add the following rule: 
<tt> # all (fake VID 0x7070) LPCUSB devices (access through libusb) 
BUS=="usb", SYSFS{idVendor}=="7070", GROUP="plugdev"</tt>

The file ''10-paparazzi.rules'' contains the above rule as well as other related rules. Simply copy it as root from $PAPARAZZI_HOME/conf/system/udev/rules/ to /etc/udev/rules.d/

su -
cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/
exit su with "Ctrl-D"

== Software Updates ==
Paparazzi is a very rapidly evolving project and as such, you will find that variables and functions are frequently added, changed, or removed. 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. Your airframe file will not be updated by the CVS system and therefore any new or modified variable names will need to be added manually. The compiler will usually identify the problem variables at which point you can look at some of the most recent airframe files on the CVS to find the proper syntax. See the [[Compiling]] page for more help if needed.
 
That said, keeping your software up to date is easy with the CVS system. The system will compare all source code files with the server and update any that are needed, automatically merging any minor changes that you have incorporated along the way.

To download and automatically merge any updated source files, run the following command from your Paparazzi directory
cvs update -d
where the <tt>-d</tt> is needed to get any new directories.

After any CVS update or source code modification the code can be recompiled from ''your paparazzi3 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 deleted all compiled files and recompile from scratch with the following commands:

make clean
make

See the [[Compiling]] page for more info.

Users making changes to their code structure may prefer to have more control over the updating and merging process and may wish to install and use '''tkcvs''' instead which provides highlighted comparisons of any files that differ between your code and the CVS server and allows for a file by file update.

To update your Linux distribution as well as any dependencies of Paparazzi (seldom necessary), run the following as root:
apt-get update
apt get upgrade

== LiveCd ==

The LiveCD is an easy way to test Paparazzi: no installation is required and no changes are made to your computer. Simply burn the image as a boot CD and reboot! The LiveCD includes Linux and the complete paparazzi binary package (code source, tools and cross compilers). It is intended for demonstration only and not frequently updated but it contains the complete system and can store changed files on a pen drive or compressed file on your hard drive so that it can compile, flash, and operate any aircraft, albeit slowly.

The CD image is available from the [[Downloads|Downloads]] page.

The Paparazzi demo is launchable on the Live CD from the Paparazzi icon.

Knoppix allows for all the user data to be saved on a hard disk partition (most file systems are supported) or on a removable device (typically a USB pendrive). Note that this action is not destructive: the user data tree is compressed and stored on your file system as a single file (<tt>knoppix.img</tt>).
* From the Knoppix menu (second from bottom left), choose '''Configure''', '''Create a persistent KNOPPIX disk image'''
* Choose your media (be sure to connect your USB pendrive before booting!)
* Choose if you want an encrypted filesystem (to protect your flight plan designed for the next MAV competition :-) )
* Choose the size of your home directory (100Mb is recommended)
On the next reboot, this saved state will be automatically located and loaded.

Using this persistent feature, the Paparazzix Live CD can really be used to configure, simulate and fly an aircraft with the Paparazzi system.

The Live CD can also be used to install a Debian system on the hard disk, using the <tt>knoppix-installer</tt> command. Be sure to backup the hard disk before trying ...

[[Image:Lightscribe_CD_Cover_1.JPG|thumb|320px|LightScribe CD Cover]] A LiveCD needs some looks... In color or in LightScribe format, your CD will always look cool.
* Get the PDF version for download here [http://paparazzi.enac.fr/wiki_images/Lightscribe_CD_Cover_1.pdf LightScribe CD Cover 1].

* The LightScribe version is in Nero Cover Design format (.ncd) and it's here for download [http://paparazzi.enac.fr/wiki_images/Lightscribe_CD_Cover_1.zip LightScribe CD Cover 1]