http://wiki.paparazziuav.org/w/api.php?action=feedcontributions&feedformat=atom&user=EsdenPaparazziUAV - User contributions [en]2026-05-25T01:47:29ZUser contributionsMediaWiki 1.37.1http://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=23314Lisa/MX2016-08-29T15:36:52Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the [[Lisa/M_v2.0|Lisa/M]] you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the [[Debug_Probes|Black Magic Probe]] or compatible [[JTAG|JTAG/SWD programmer]] to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaMX_V2_1_top_labeled.jpg|900px]]<br />
[[Image:LisaM_V2_1_top_labeled_verbose.jpg|900px]]<br />
</div><br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
== Schematic ==<br />
<gallery widths=250px heights=168px><br />
Image:Lisa_m_v2_1_r3_sheet_1.png | Lisa/MX V2.1 R3 Schematic Sheet 1/2<br />
Image:Lisa_m_v2_1_r3_sheet_2.png | Lisa/MX V2.1 R3 Schematic Sheet 1/2<br />
</gallery><br />
<br style="clear:both"><br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
= Troubleshooting Checklist =<br />
<br />
== Problem, it does not flash over USB ==<br />
<br />
* If you have a stock Lisa/MX it will not have a DFU boot loader, USB flashing is not supported by default<br />
* If you flashed luftboot bootloader on the board all following apply to Lisa/M as well as Lisa/MX<br />
* Connect the USB cable to the computer. Does the power LED light up?<br />
* Connect the USB cable, what does "dmesg" indicate before and after plugging in the cable? Do you see an indication that the linux kernel finds a USB device?<br />
* Check what "lsusb" is printing out. Do you see the device in there?<br />
* Test with a different USB cable. It is a known issue that some USB cables work and others don't. Find a better quality shorter USB cable and try again.<br />
* If it is there and it still is not flashing. Did you install the paparazzi udev rules?<br />
* Did you try flashing as root and it worked? Then your permissions are wrong, go back and install the udev rules again.<br />
* All fails use Black Magic Probe. It is the recommended way of programming the Lisa autopilots. If you have one do not use the USB boot loader.<br />
<br />
== Problem, it does not flash over Black Magic Probe ==<br />
<br />
* What does "dmesg" say?<br />
* Is the black magic probe enumerating correctly as ttyACM0 and ttyACM1?<br />
* Check your USB cable. Some USB cables are "bad".<br />
* Check what "lsusb" says.<br />
* Make sure you have permissions to access the tty devices. On many linux distributions the device is owned by "dialout" group. You can check what group you are in by typing "id" in the console. If you are not part of that group you should add yourself. Read some tutorials about Linux permission system if you don't know how it works.<br />
* Make sure you have the paparazzi udev rules installed. They create a node that makes the enumaration easier. See appropriate paparazzi documentation. [[Installation]]<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Contributing&diff=23307Contributing2016-08-24T17:22:54Z<p>Esden: /* Wiki */</p>
<hr />
<div>== How to contribute ==<br />
There are lots of ways to contribute to Paparazzi and get involved. Contributions in the form of elaborating on and expanding documentation, wiki pages, tutorials and code fixes are always welcome and encouraged. <br />
<br />
This page will give you a head start on how you can contribute.<br />
<br />
=== Wiki ===<br />
<br />
If you don't have a Wiki account yet join the [https://gitter.im/paparazzi/discuss Gitter channel] (there is an open chat button in the right lower corner of the page too) and ask and we will Create an account for you. You can then immediately start adding information, cleaning up, or fixing typos. It is a tremendous contribution to the quality of the PaparazziUAV documentation when you do this! Just Do It:<br />
<br />
[[Image:Just_Do_It.gif|400px]]<br />
<br />
You do not need a lot of deep technical knowledge to be helpful. If you read something and it is not clear to you, ask for an explanation in the Gitter Chat and then do not forget to add that information to the Wiki.<br />
<br />
Some information and links on how to edit the wiki can be found at [[Help:Editing|Help with Editing]].<br />
<br />
Please be aware of past edits and page histories. Try not to remove this; if you are moving/renaming a page, use the '''move''' tab at the top of a page. This ensures the revision history is moved with the page.<br />
<br />
=== Software development ===<br />
<br />
[[File:AGoodCombinationSTM32ProgressnDebugging.jpg|300px|thumb|Left|Learning Tools]]<br />
<br />
We use the distributed version control system [http://git-scm.com/ git]. The [http://github.com/paparazzi/paparazzi/ Papaprazzi master repository is hosted on Github].<br />
<br />
Also see the [[Git|Git wiki page]] for more details about setting up Git and cloning the source-code and data repository.<br />
<br />
Please also have a look at the [http://docs.paparazziuav.org/latest/styleguide.html Coding Style Guide].<br />
<br />
Here is the short version if you already know git:<br />
# Create an account on [http://github.com/ github].<br />
# Fork the [http://github.com/paparazzi/paparazzi/ papaprazzi repo] on github. (After logging in press the '''fork''' button).<br />
# If you want to clone with SSH: '''git clone git@github.com:<yourname>/paparazzi.git'''<br/>Or with HTTPS: '''git clone <nowiki>https://github.com/<yourname>/paparazzi.git</nowiki>'''<br/>[https://help.github.com/articles/which-remote-url-should-i-use Which remote URL should I use?]<br />
# '''git remote add upstream <nowiki>https://github.com/paparazzi/paparazzi.git</nowiki>'''<br />
# '''git fetch upstream'''<br />
# checkout a new branch based on the development branch (master):<br/>'''git checkout -b my_new_feature upstream/master'''<br />
# fix/code and commit in logical units (with a [http://bit.ly/goodcommitmessages good commit message])<br />
# push your feature/bugfix branch<br />
# Send us a [http://help.github.com/pull-requests/ pull request] on github. (Or send patches to the mailing list).<br />
<br />
=== Defects and Features ===<br />
To report a Paparazzi defect or issue. Submit a feature request using the simple [https://github.com/paparazzi/paparazzi/issues issue tracker on github].<br />
<br />
=== Continuous Integration Builds ===<br />
There are [[Builds|build servers]] running some [[Builds/Tests|Continuous Integration tests]].<br />
<br />
[[Category:Developer_Documentation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=File:Elle0-v1_2_r4_schematic.png&diff=23249File:Elle0-v1 2 r4 schematic.png2016-08-16T23:15:22Z<p>Esden: License: CC-BY-NC-SA
Copyright: 2016 1BitSquared LLC
Uploaded by Esden</p>
<hr />
<div>License: CC-BY-NC-SA<br />
Copyright: 2016 1BitSquared LLC<br />
Uploaded by [[User:Esden|Esden]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Elle0&diff=23248Elle02016-08-16T23:14:25Z<p>Esden: </p>
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<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:Elle0-v1 2-in-hand-prototype.jpg |right|500px|Elle0 V1.2 In Hand]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
[http://1bitsquared.com/products/elle0-autopilot Elle0] is a low cost STM32F4 based autopilot. It was developed by [http://1bitsquared.com 1BitSquared] specifically to work with the Paparazzi UAV framework. [http://1bitsquared.com/products/elle0-autopilot Elle0] features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the [[Lisa/M]] and [[Lisa/MX]] you know and love. The footprint of the board is a standard 30.5mm x 30.5mm that was made popular by the nano racer quad community. This makes it easy to replace the autopilot on your racer quad and benefit from the features and stability of the Paparazzi UAV framework. This hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested. If you are a hobbyist, researcher or system integrator that wants flexibility and high quality at a low cost this is the best choice for you. Because [http://1bitsquared.com/products/elle0-autopilot Elle0] was developed by and for the Paparazzi UAV developer community it provides a vast library of modules and subsystems making your path to autonomous flight a breeze. This version of the board supports programming over the built in USB port (DFU bootloader). It automatically detects if you power the board via USB and starts in Bootloader mode, which is a great simplification. The JTAG pins are broken out and can optionally be populated with a standard Cortex 10pin connector. We recommend the [[G0]] GPS module and [[R0]] telemetry radio kit together with the [http://1bitsquared.com/products/elle0-autopilot Elle0 autopilot] when using it for autonomous aircraft.<br />
<br />
= Features =<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer (connected over SPI for high speed sampling and low latency)<br />
* barometer (connected over dedicated SPI for low noise operation and low latency)<br />
* 1 I2C auxilary sensor connection<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 2 serial input interfaces for remote control receivers (using Spektrum compatible JST connectors)<br />
* 1 USB port for easy firmware upgrade<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 2 Analog inputs for system battery voltage and current measurement<br />
* CAN TX and RX lines are accessible<br />
<br />
<p style="color: red; font-size: 120%">Warning! The battery voltage measurement pin on the Elle0 does not have a built in [https://en.wikipedia.org/wiki/Voltage_divider voltage divider]! DO NOT CONNECT 12V to it!!! You need an external voltage divider depending on the type of battery you use. Please refer to the [[Elle0#Battery Monitoring | Battery Monitoring]] section for details!</p><br />
<br />
<gallery widths=200px heights=200px><br />
Image:Elle0-v1 2-prototype.jpg|Elle0 V1.2 top view<br />
Image:Elle0-v1 2-prototype-back.jpg|Elle0 V1.2 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
[[Image:Elle0-v1 2-top-labeled.png|900px]]<br />
[[Image:Elle0 V1.2 top verbose labeled.png|900px]]<br />
= Mechanical drawings =<br />
[[Image:Elle0-top-mechanical.png|900px]]<br />
<br />
= Videos =<br />
<br />
{{#ev:youtube|yPNSzWRVHuA|200|left}} Introduction to the [[Elle0]] Autopilot - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br style="clear:both"><br />
<br />
= Battery Monitoring =<br />
<br />
<p style="color: red; font-size: 120%">Warning! The battery voltage measurement pin on the Elle0 does not have a built in [https://en.wikipedia.org/wiki/Voltage_divider voltage divider]! DO NOT CONNECT 12V to it!!! You need an external voltage divider depending on the type of battery you use.</p><br />
<br />
The Elle0 does not provide a built in voltage divider for improved flexibility. Other autopilots like the Lisa/M come with a 10k Ohm - 2.2k Ohm voltage divider that is good for the use with 3s batteries. This setup does not have good resolution for smaller batteries and can not be used with larger batteries.<br />
<br />
In the default value that an Elle0 airframe file will assume is the before mentioned 10k Ohm - 2.2k Ohm voltage divider. To recreate it you connect one side of the 10k Ohm resistor to the battery, the other side of the resistor is connected to the 2.2k Ohm resistor and the voltage measurement pin of the Elle0. The remaining end of the 2.2k Ohm resistor is connected to ground. You can easily modify your uBEC to include the additional voltage divider. To build it by hand you can use industry standard 1/4w through hole resistors.<br />
<br />
If you want to measure a smaller battery with greater resolution you will have to adjust the resistor values to have a resulting voltage at the mid junction of not more than 3.3V. The nominal voltage of a fully charged LiPo cell is 4.2V. Also you will have to adjust the multiplication factor in your airframe file.<br />
<br />
= Schematic =<br />
[[Image:Elle0-v1_2_r4_schematic.png|900px]]<br />
<br />
= System set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* G0 GPS receiver: [[G0]]<br />
* R0 Sub GHz telemetry radio modem: [[R0]]<br />
* UU0 USB to UART adapter: [[UU0]]<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/elle0-autopilot Elle0] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=User:Spammer&diff=23241User:Spammer2016-07-21T18:38:01Z<p>Esden: Esden moved page User:Alexender970 to User:Spammer: Automatically moved page while merging the user "Alexender970" to "Spammer"</p>
<hr />
<div>spam account, please ban.</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Installation&diff=21213Installation2016-04-30T02:19:41Z<p>Esden: </p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree><br />
__TOC__<br />
<br />
== Introduction ==<br />
<br />
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.<br />
<br />
The steps required to install the software needed to be able to let your UAS fly are:<br />
<br />
# Install tools and prerequisites needed by Paparazzi.<br />
# Download the source code from the source repository.<br />
# Compile the Paparazzi software from sourcecode<br />
# Complete any final configuration<br />
<br />
== Quickstart for Ubuntu users ==<br />
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...<br />
<br />
sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo add-apt-repository -y ppa:terry.guo/gcc-arm-embedded && sudo apt-get update && \ <br />
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> && \<br />
cd ~/paparazzi && git remote update -p && \<br />
git checkout -b v5.8 upstream/v5.8 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules && \<br />
make clean && make && ./paparazzi<br />
<br />
[[File:Done.jpg|frameless|center|Done!]]<br />
If all went well the Paparazzi Center should now be running... '''skip''' the rest of this page and go fly! <br />
<br />
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: [[Airframe_Configuration]]<br />
<br />
In case you have no autopilot hardware yet, no problem, you can 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).<br />
<br />
== OS Specific Instructions ==<br />
<br />
For Linux an instructional video explaining it all in detail can be found here https://www.youtube.com/watch?v=eW0PCSjrP78<br />
<br />
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:<br />
*[[Installation/Linux|Installing prerequisites tools on Linux]]<br />
*[[Installation/MacOSX|Installing prerequisites tools on Mac OS X]]<br />
*[[Installation/RaspberryPi|Installing prerequisites tools on the RaspberryPi (Raspbian)]]<br />
<br />
For more advanced installation information or developers, please see the following pages:<br />
*[[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.<br />
*[[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 skill- 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.<br />
<br />
=== Virtual Machines ===<br />
<br />
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.<br />
<br />
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.<br />
<br />
== Getting the Source Code ==<br />
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]].<br />
<br />
From the directory of your choice type:<br />
git clone --origin upstream https://github.com/paparazzi/paparazzi.git<br />
Check out the released stable version branch:<br />
git checkout v5.8<br />
<br />
'''If this whole "Git" thing is new to you, more options and information can be found on the [[git|Git page]].'''<br />
<br />
== Launching the Software ==<br />
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.<br />
The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd ~/paparazzi</tt>), run<br />
<br />
make<br />
<br />
You will have to run this command after each update of the source (<tt>git pull</tt> command).<br />
Launch the software from the <tt>paparazzi</tt> directory with<br />
<br />
./paparazzi<br />
<br />
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.<br />
<br />
=== Environment Variables ===<br />
<br />
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:<br />
{{Box Code|~/.bashrc|<br />
<source lang="bash"><br />
export PAPARAZZI_HOME=''your paparazzi software directory''<br />
export PAPARAZZI_SRC=''your paparazzi software directory''<br />
</source><br />
}}<br />
<br />
Verify that your variables are set correctly with the following command:<br />
:<source lang="bash">env | grep PAPARAZZI</source><br />
which should return the following:<br />
<source lang="bash"><br />
PAPARAZZI_HOME=''your paparazzi software directory''<br />
PAPARAZZI_SRC=''your paparazzi software directory''<br />
</source><br />
<br />
<br />
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:<br />
:<source lang="bash">export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`</source><br />
<br />
== Software Updates ==<br />
'''We manage the software with the git version control system. Learn it! If you are new to it, see the [[Git|Git wiki page]].'''<br />
<br />
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]].<br />
<br />
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.<br />
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.<br />
<br />
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.<br />
<br />
'''See also the [[Release Upgrades]] page for information on how to update your configuration from one release to the next.'''<br />
<br />
=== Quick'n dirty description ===<br />
<br />
To download and automatically merge any updated source files, run the following command from your Paparazzi directory<br />
git pull<br />
<br />
After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:<br />
<br />
make<br />
<br />
The ''make'' command will only recompile portions of the software where changed have been detected.<br />
If it does not behave as expected you can delete all compiled files and recompile from scratch with the following commands:<br />
<br />
make clean<br />
make<br />
<br />
If you'd like to check that the code compiles all example airframes then you can run the test suite using the command<br />
<br />
make test<br />
<br />
For more details see the [[Builds/Tests|tests page]].<br />
<br />
== Using the Live CD ==<br />
<br />
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.<br />
<br />
[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Udev&diff=21212Udev2016-04-29T19:59:08Z<p>Esden: </p>
<hr />
<div>Also see [http://www.openuas.org/pub/writing_udev_rules.html writing udev rules].<br />
<br />
Please see [[Installation/Linux/udev | paparazzi naming description]] for understanding why do we need udev rules.<br />
<br />
You can get the serial number of your FTDI usb/serial converter<br />
connected to your xbee via<br />
udevadm info --query=all --attribute-walk --name=/dev/ttyUSB0<br />
and looking for the lines<br />
ATTRS{manufacturer}=="FTDI"<br />
ATTRS{product}=="FT232R USB UART"<br />
ATTRS{serial}=="A80081ej"<br />
where the last one would be your serial you need to write into the rules file, e.g.<br />
# your own XBee ground modem with FTDI USB adapter (adapt serial number)<br />
SUBSYSTEM=="tty", ATTRS{product}=="FT232R USB UART", ATTRS{serial}=="A80081ej", SYMLINK+="paparazzi/xbee", GOTO="tty_FTDI232_end"<br />
<br />
<br />
To see what udev rules would match (It may show incorrect results, because<br />
some values may be different, or not available at a simulation run.)<br />
udevadm test --action=add $(udevadm info --query=path --name /dev/ttyUSB0)<br />
<br />
To actually retrigger without having to re-plug it:<br />
sudo udevadm trigger<br />
<br />
To reload the udev rules without rebooting your computer:<br />
sudo udevadm control --reload-rules<br />
<br />
== examples ==<br />
udev rule for the floss-jtag serial interface (will then be accessible under /dev/jtag-serial)<br />
SUBSYSTEM=="tty", ATTRS{interface}=="FLOSS-JTAG", ATTRS{bInterfaceNumber}=="01", SYMLINK+="jtag-serial"<br />
udev rule foe the BlackMagicProbe serial interface (will then be accessible under /dev/bmp-serial)<br />
SUBSYSTEM=="tty", ATTRS{interface}=="Black Magic UART Port", SYMLINK+="bmp-serial"</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Installation/Linux&diff=21211Installation/Linux2016-04-29T19:58:09Z<p>Esden: /* Udev rules */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree><br />
__TOC__<br />
<br />
'''<span style="color:red">This page only describes the installation of the prerequisite tools and dependencies on Debian/Ubuntu needed for Paparazzi.</span>'''<br />
<br />
'''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.'''<br />
<br />
== Introduction ==<br />
<br />
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).<br />
<br />
The steps required to install the software needed to be able to let your UAS fly <br />
<ul><br />
<li>[[Installation/Linux#Installation_of_dependencies|Install the basic Paparazzi dependencies]] and the [[Installation/Linux#ARM_embedded_toolchain|ARM cross compiling toolchain.]]<br />
<li>[[Installation#Getting_the_Source_Code|Download the source code from the source repository.]]<br />
<li>Allow access to your PC hardware connection by adding appropriate [[Udev]] rules.<br />
<li>[[Installation#Launching_the_Software|Compile the binaries from the sources and launch the software.]]<br />
</ul><br />
<br />
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]].<br />
<br />
===For the impatient===<br />
<br />
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.<br />
<br />
Since Paparazzi v5.0 the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended.<br />
Available as of Ubuntu 14.04, on older versions it can be [[Installation/Linux#ARM_embedded_toolchain|installed via tarball]].<br />
<br />
Or just use the [[Installation#Quickstart_on_Ubuntu_12.04|Quickstart for Ubuntu 12.04 LTS]].<br />
<br />
== Installation video Tutorials ==<br />
<br />
{{#ev:youtubehd|SshFJrBuku8}} {{#ev:youtubehd|eW0PCSjrP78}}<br />
<br />
== Installation of dependencies ==<br />
<br />
=== Ubuntu ===<br />
<br />
Add the installation sources for the Paparazzi software packages. Run from a terminal:<br />
sudo add-apt-repository ppa:paparazzi-uav/ppa<br />
<br />
Then update the systems package inventory and install the main Paparazzi software dependencies. This will take some time.<br />
sudo apt-get update <br />
sudo apt-get install paparazzi-dev<br />
<br />
=== Debian ===<br />
<br />
For Debian Wheezy (7.0) and Jessie (8.0) 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]<br />
<br />
[http://software.opensuse.org/download/package?project=home:flixr:paparazzi-uav&package=paparazzi-dev Install paparazzi-dev]<br />
<br />
First add the key:<br />
wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_8.0/Release.key" -O- | sudo apt-key add -<br />
<br />
Add the appropriate repo, depending on your Debian version to sources.list<br />
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/ ./" | tee -a /etc/apt/sources.list<br />
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_8.0/ ./" | tee -a /etc/apt/sources.list<br />
<br />
Update the systems package inventory and install the main Paparazzi software dependencies.<br />
sudo apt-get update <br />
sudo apt-get install paparazzi-dev<br />
<br />
== ARM embedded toolchain ==<br />
<br />
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).<br />
<br />
=== gcc-arm-none-eabi as Debian/Ubuntu package ===<br />
<br />
'''This is the recommended method'''<br />
<br />
Note that there are actually two '''different''' toolchains available that unfortunately have the same Debian package name (<tt>gcc-arm-none-eabi</tt>)!<br />
* [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain]<br />
** includes libstdc++ and newlib-nano<br />
* [https://packages.debian.org/jessie/gcc-arm-none-eabi Debian gcc-arm-none-eabi toolchain]<br />
** does not include libstdc++<br />
** does not include newlib-nano<br />
<br />
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.<br />
<br />
You can list the available versions with <tt>apt-cache policy gcc-arm-none-eabi</tt><br />
<br />
==== gcc-arm-embedded toolchain ====<br />
<br />
'''This is the recommended toolchain'''<br />
<br />
On ''most'' Ubuntu versions 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]:<br />
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded<br />
sudo apt-get update<br />
sudo apt-get install gcc-arm-none-eabi<br />
<br />
!!! 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.<br />
Check available versions after adding the PPA with<br />
<br />
apt-cache policy gcc-arm-none-eabi<br />
<br />
To install a specific version (the one from terry.guo PPA) specify the version explicitly, e.g.<br />
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded<br />
sudo apt-get update<br />
sudo apt-get install gcc-arm-none-eabi=4.9.3.2015q3-1trusty1<br />
Meanwhile we are working with Debian to consolidate and unify this toolchain.<br />
<br />
==== gcc-arm-none-eabi Debian toolchain ====<br />
<br />
Current Debian ('''jessie''') and Ubuntu (14.04 '''trusty''' and later) releases have the gcc-arm-none-eabi package in the official repositories ('''universe'''), and can be installed with:<br />
sudo apt-get update<br />
sudo apt-get install gcc-arm-none-eabi<br />
<br />
=== ARM gcc-arm-embedded tarball ===<br />
Another way is to download and unpack the tarball and add it to your PATH:<br />
<br />
* Download gcc-arm-none-eabi-*-*-linux.tar.bz2 from [https://launchpad.net/gcc-arm-embedded/+download External Downloads] section of ARM gcc-arm-embedded project<br />
* Unpack it to a directory of your choice<br />
* Add the bin folder in to your PATH<br />
<br />
e.g.:<br />
cd ~<br />
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<br />
sudo tar -vjxf gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2 -C /opt<br />
rm -r gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2<br />
exportline="PATH=$PATH:/opt/gcc-arm-none-eabi-4_7-2013q2/bin"<br />
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi<br />
source ~/.profile<br />
<br />
The file .profile will be sourced in every bash after logging out and in again. Until then,<br />
source ~/.profile<br />
can be used for every bash individually.<br />
<br />
If you can not access your toolchain with PATH working, look a the [[Installation/Linux#Troubleshooting]].<br />
<br />
=== Old toolchain for Paparazzi v4.x and earlier ===<br />
<br />
'''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).<br><br />
'''This toolchain does not properly support STM32F4 based autopilots!!'''<br />
<br />
You can install it explicitly with:<br />
sudo apt-get install paparazzi-arm-multilib<br />
<br />
== Optional Packages ==<br />
<br />
The packages <b>lpc21isp</b> and <b>openocd</b> are normally '''automatically installed''' as they are recommended packages of paparazzi-dev, '''if not''' you can manually install them via:<br />
<br />
sudo apt-get install lpc21isp openocd<br />
<br />
<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.<br />
<br />
== Installing and running Paparazzi ==<br />
<br />
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.<br />
<br />
== Udev rules ==<br />
<br />
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:<br />
<br />
cd <your paparazzi directory><br />
sudo cp conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/<br />
sudo udevadm control --reload-rules<br />
<br />
See the [[Udev]] page for more details.<br />
<br />
== Troubleshooting ==<br />
<br />
=== No access rights for USB devices ===<br />
<br />
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.<br><br />
If you have problems, make yourself a member of the ''plugdev'' and ''dialout'' groups:<br />
<br />
sudo adduser <your login> plugdev<br />
sudo adduser <your login> dialout<br />
<br />
Logout and login again.<br />
<br />
=== arm-none-eabi-gcc: Command not found ===<br />
Appeared on Debian Wheezy 7 (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)<br/><br />
If this error occurs, maybe the [https://packages.debian.org/de/wheezy/ia32-libs ia32-libs] are missing.<br />
<br />
Enable multiarch and install ia32-libs:<br />
dpkg --add-architecture i386<br />
apt-get update<br />
apt-get install ia32-libs<br />
<br />
=== arm-linux-gnueabi-gcc cross-compiler not found ===<br />
<br />
=== Ubuntu ===<br />
apt-get install gcc-arm-linux-gnueabi<br />
<br />
=== Debian ===<br />
Starting with jessie, there were [https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=771496#41 some changes] to the way cross-compilers are set up. To make it work you will have to add armel architecture and pick up some crossbuild tools.<br />
<br />
First edit your /etc/apt/sources.list and add the following line, to enable the emdebian repo:<br />
deb http://emdebian.org/tools/debian/ jessie main<br />
<br />
Run the following command in your terminal to add the keys for it<br />
curl http://emdebian.org/tools/debian/emdebian-toolchain-archive.key | sudo apt-key add -<br />
<br />
Then you could add armel architecture and fetch the missing cross-compiler packages<br />
dpkg --add-architecture armel<br />
apt-get update<br />
apt-get install crossbuild-essential-armel<br />
<br />
You could find out more about cross-toolchains in jessie on debian [https://wiki.debian.org/CrossToolchains wiki page].<br />
<br />
Note that some of your repos might not mirror embedded architectures, which would give you an error when you try to update the sources. In that case you will have to specify which architecture you do want from them by editing the corresponding entry in your sources.list file, in a way described [https://wiki.debian.org/Multiarch/HOWTO here]. Like in this example with the crunchbang repo you could specify it by adding [arch=amd64,i386] to the line, so you only enable amd64 and i386 architectures:<br />
deb [arch=amd64,i386] http://packages.crunchbang.org/waldorf waldorf main<br />
<br />
===arm-none-eabi-gdb: error with libncurses.so.5===<br />
Appeared on Xubuntu 14.04 LTS (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)<br/><br />
Terminal output: arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory<br />
<br />
If this error occours, maybe [http://packages.ubuntu.com/search?keywords=lib32ncurses5 lib32ncurses5] is missing. <br/><br />
Found on [https://answers.launchpad.net/gcc-arm-embedded/+question/226680 launchpad q&a]<br />
<br />
=== FTDI serial adapter not working on old Ubuntu version ===<br />
<br />
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:<br />
<br />
sudo apt-get remove brltty<br />
<br />
=== Code not starting on autopilot after changing gcc ===<br />
<br />
If you changed the toolchain (e.g. installed a new one for having FPU-Support for the F4), you need to run<br />
<br />
make clean && make<br />
<br />
in sw/ext in order to rebuild the libs. Otherwise the embedded code can behave strange (most likely not start)<br />
<br />
[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Installation&diff=21210Installation2016-04-29T19:57:27Z<p>Esden: added command to reload udev rules</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree><br />
__TOC__<br />
<br />
== Introduction ==<br />
<br />
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.<br />
<br />
The steps required to install the software needed to be able to let your UAS fly are:<br />
<br />
# Install tools and prerequisites needed by Paparazzi.<br />
# Download the source code from the source repository.<br />
# Compile the Paparazzi software from sourcecode<br />
# Complete any final configuration<br />
<br />
== Quickstart for Ubuntu users ==<br />
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...<br />
<br />
sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo add-apt-repository -y ppa:terry.guo/gcc-arm-embedded && sudo apt-get update && \ <br />
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> && \<br />
cd ~/paparazzi && git remote update -p && \<br />
git checkout -b v5.8 upstream/v5.8 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && udevadm control --reload-rules && \<br />
make clean && make && ./paparazzi<br />
<br />
[[File:Done.jpg|frameless|center|Done!]]<br />
If all went well the Paparazzi Center should now be running... '''skip''' the rest of this page and go fly! <br />
<br />
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: [[Airframe_Configuration]]<br />
<br />
In case you have no autopilot hardware yet, no problem, you can 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).<br />
<br />
== OS Specific Instructions ==<br />
<br />
For Linux an instructional video explaining it all in detail can be found here https://www.youtube.com/watch?v=eW0PCSjrP78<br />
<br />
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:<br />
*[[Installation/Linux|Installing prerequisites tools on Linux]]<br />
*[[Installation/MacOSX|Installing prerequisites tools on Mac OS X]]<br />
*[[Installation/RaspberryPi|Installing prerequisites tools on the RaspberryPi (Raspbian)]]<br />
<br />
For more advanced installation information or developers, please see the following pages:<br />
*[[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.<br />
*[[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 skill- 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.<br />
<br />
=== Virtual Machines ===<br />
<br />
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.<br />
<br />
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.<br />
<br />
== Getting the Source Code ==<br />
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]].<br />
<br />
From the directory of your choice type:<br />
git clone --origin upstream https://github.com/paparazzi/paparazzi.git<br />
Check out the released stable version branch:<br />
git checkout v5.8<br />
<br />
'''If this whole "Git" thing is new to you, more options and information can be found on the [[git|Git page]].'''<br />
<br />
== Launching the Software ==<br />
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.<br />
The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd ~/paparazzi</tt>), run<br />
<br />
make<br />
<br />
You will have to run this command after each update of the source (<tt>git pull</tt> command).<br />
Launch the software from the <tt>paparazzi</tt> directory with<br />
<br />
./paparazzi<br />
<br />
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.<br />
<br />
=== Environment Variables ===<br />
<br />
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:<br />
{{Box Code|~/.bashrc|<br />
<source lang="bash"><br />
export PAPARAZZI_HOME=''your paparazzi software directory''<br />
export PAPARAZZI_SRC=''your paparazzi software directory''<br />
</source><br />
}}<br />
<br />
Verify that your variables are set correctly with the following command:<br />
:<source lang="bash">env | grep PAPARAZZI</source><br />
which should return the following:<br />
<source lang="bash"><br />
PAPARAZZI_HOME=''your paparazzi software directory''<br />
PAPARAZZI_SRC=''your paparazzi software directory''<br />
</source><br />
<br />
<br />
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:<br />
:<source lang="bash">export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`</source><br />
<br />
== Software Updates ==<br />
'''We manage the software with the git version control system. Learn it! If you are new to it, see the [[Git|Git wiki page]].'''<br />
<br />
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]].<br />
<br />
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.<br />
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.<br />
<br />
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.<br />
<br />
'''See also the [[Release Upgrades]] page for information on how to update your configuration from one release to the next.'''<br />
<br />
=== Quick'n dirty description ===<br />
<br />
To download and automatically merge any updated source files, run the following command from your Paparazzi directory<br />
git pull<br />
<br />
After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:<br />
<br />
make<br />
<br />
The ''make'' command will only recompile portions of the software where changed have been detected.<br />
If it does not behave as expected you can delete all compiled files and recompile from scratch with the following commands:<br />
<br />
make clean<br />
make<br />
<br />
If you'd like to check that the code compiles all example airframes then you can run the test suite using the command<br />
<br />
make test<br />
<br />
For more details see the [[Builds/Tests|tests page]].<br />
<br />
== Using the Live CD ==<br />
<br />
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.<br />
<br />
[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/M_v2.0&diff=21150Lisa/M v2.02016-04-08T22:41:14Z<p>Esden: /* Using JTAG */</p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on a STM32 processor for extensive peripheral connection and faster processing.<br />
<br />
A number of tutorials are being prepared for getting started with Lisa/M:<br />
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]<br />
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]<br />
<br />
Please join us in our quest to make the getting started information even more, eh... informative, by adjusting those pages with your own improvements.<br />
<br />
== Features ==<br />
<br />
Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.<br />
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].<br />
<br />
* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM<br />
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085] (optional as of 08/2012)<br />
* 7 x Analog input channels<br />
* 3 x Generic digital in-/out-puts<br />
* 2 x 3.3V TTL UART (5V tolerant)<br />
* 8 x Servo PPM outputs (only 6 if second I2C (I2C1) bus in use)<br />
* 1 x CAN bus<br />
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus<br />
* 1 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus (2 x when using only the first 6 Servo PPM outputs)<br />
* 1 x Micro USB<br />
* 4 x status LEDs with attached test point<br />
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)<br />
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)<br />
* ~34mm x ~60mm x ~10mm<br />
* 4 layers PCB design<br />
<br />
With mounted Aspirin IMU has the following additional sensors on board:<br />
<br />
* 3 Axis Gyroscope<br />
* 3 Axis Accelerometer<br />
* 3 Axis Magnetometer<br />
* Barometer MS5611 (as of Aspirin v2.1)<br />
<br />
NOTE:<br />
'''Lisa/M has pads for the BMP085 pressure sensor. Lias/M 2 boards made before August 2012 had the BMP085 sensor mounted. Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1 which has the new MS5611-01BA03 barometric pressure sensor.'''<br />
<br />
So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view<br />
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view<br />
</gallery><br />
<br />
== Pinout ==<br />
Pins Name and Type are specified with respect to the Autopilot Board.<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaM_V2_0_top_labeled.png|900px]]<br />
[[Image:LisaM_warning_label.png|200px]]<br />
</div><br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''SERVO1/2/3/4/5/6/7/8'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red<br />
|-<br />
|3||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''JTAG'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART3'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red<br />
|-<br />
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART1/5'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red<br />
|-<br />
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|-<br />
|4||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red<br />
|-<br />
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''GPIO'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan<br />
|-<br />
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''ANALOG2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta<br />
|-<br />
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink<br />
|-<br />
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''USB'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''I2C1 CAN'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| V_BATT||PWR||V_BATT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red<br />
|-<br />
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red<br />
|-<br />
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange<br />
|-<br />
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow<br />
|-<br />
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green<br />
|-<br />
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''SPI1'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange<br />
|-<br />
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow<br />
|-<br />
|5||SCK||Out||SCK||style="background:green; color:white"|Green<br />
|-<br />
|6||SS||Out||SS||style="background:blue; color:white"|Blue<br />
|-<br />
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''ANALOG1'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green<br />
|-<br />
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue<br />
|-<br />
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red<br />
|-<br />
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''I2C2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green<br />
|-<br />
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue<br />
|}<br />
<br />
<br />
'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. Therefore one has to choose, either use SERVO7 and SERVO8 '''OR''' have the I2C1 bus available, if that one needs to be used for whatever reason alongside the I2C2 bus. To use the servos 7 and 8 just set the <define name="USE_SERVOS_7AND8"/> in your airframe file and you are good to go. For this to work one must make sure to have the latest Paparazzi sourcecode.<br />
<br />
=== LEDs ===<br />
Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs (LED_6, LED_7, LED_8) that are not populated by default (in favor of using ADC1-3 on the ANALOG1 connector).<br />
By default the LEDs are use for:<br />
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz<br />
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initialized) and then stays on<br />
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix<br />
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok<br />
; LED_5, green : not set to anything by default<br />
<br />
=== Jumper Configuration ===<br />
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.<br />
<br />
The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BATT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BATT pin to measure the battery voltage, if so desired.<br />
<br />
<gallery widths=380px heights=205px><br />
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs<br />
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers<br />
</gallery><br />
<br style="clear:both"><br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''Power Jumper Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP1||SERVO_BUS to V_IN||OPEN||If closed then connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail<br />
|-<br />
|JP2||V_BATT to V_IN||OPEN||If closed then connects I2C1/CAN rail V_BATT to autopilot input voltage V_IN rail<br />
|-<br />
|JP3||V_IN to +5V||OPEN||If closed then connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART3 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail<br />
|-<br />
|JP7||UART3_VCC to +3V3||OPEN||If closed then connects UART3 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''<br />
<br />
'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART2 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP4||UART2_VCC to V_IN||OPEN||If closed then connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''<br />
|-<br />
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||If closed then connects UART2 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).<br />
<br />
'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART1 and UART5 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP8||UART1&5_VCC to V_IN||OPEN||If closed then connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail<br />
|-<br />
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||If closed then connects UART1 and UART5 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''<br />
<br />
There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.<br />
<br />
=== Powering the Board ===<br />
<br />
[[Image:LisaM_warning_label.png|right|200px]]<br />
<br />
The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice. <br />
<br />
The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.<br />
<br />
When measuring the supply voltage of a battery with the V_BATT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BATT is<br />
<br />
<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math><br />
<br />
If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).<br />
<br />
== Schematic ==<br />
<gallery widths=250px heights=168px><br />
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3<br />
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3<br />
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3<br />
</gallery><br />
<gallery widths=250px heights=168px><br />
Image:Lisa_m_v2_1_r3_sheet_1.png | Lisa/M V2.1 R3 Schematic Sheet 1/2<br />
Image:Lisa_m_v2_1_r3_sheet_2.png | Lisa/M V2.1 R3 Schematic Sheet 1/2<br />
</gallery><br />
<br style="clear:both"><br />
<br />
== Examples of Airborne Equipment Electrical Connections ==<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers, PWM Motor Controllers (ESC) and dedicated avionics Battery Elimination Circuit (BEC) ===<br />
<br />
[[File:LisaM_V2_0_wiring_quadrocopter_spektrum_bec_pwmesc.png|700px]]<br />
<br />
This is a recommended powering configuration. It eliminates the balancing issues of the built in BECs into the ESCs.<br />
<br />
The dotted lines from the BEC show the alternative wiring that does not require closing the VS jumper on the Lisa/M. The disadvantage is that you have to wire/crimp the BEC output wires into the picoblade molex connector providing the battery voltage reference. Usually it is easier to just use the existing "servo" connector on the BEC and closing the jumper instead.<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===<br />
<br />
[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]<br />
<br />
This configuration assumes the ESCs have a battery eliminator circuit (BEC) function and provide 5 volts on their 5V pins. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
<span style="color:red">Warning:</span> The built in BECs on the ESCs are usually linear voltage regulators, they are fairly inefficient compared to dedicated BECs that are usually implemented as switching DC/DC converters.<br />
<br />
<span style="color:red">Warning:</span> Due to manufacturing differences of BECs, connecting more then one BEC in parallel will likely cause one of the BECs to take majority of the load and dissipate most of the drop down voltage. ([https://en.wikipedia.org/wiki/Linear_regulator Read on how linear voltage regulators work.]) As in this example the BECs are part of the ESCs, one of the ESCs will get warmer than the others, which in turn may lead to reliability issues.<br />
<br />
[[File:LisaM_V2_0_wiring_quadrocopter_spektrum_pwmesc_shunts.png|700px]]<br />
<br />
<span style="color:green">Tip:</span> To improve balancing between the ESC built in BECs you can add a 1Ohm resistor in the +5V line coming from the motor controller. This will cause some pre-loading of the voltage regulator and improve the load sharing between the BECs while decreasing the efficiency of the supply.<br />
<br />
When using cheap ATMega or SiLabs-based PWM motor controllers consider replacing their firmware with either [https://github.com/sim-/tgy Simon Kirby] or [https://github.com/bitdump/BLHeli BLHeli] firmware respectively to get useful performance of your multicopter! You can find a firmware compatibility list [https://docs.google.com/spreadsheet/ccc?key=0AhR02IDNb7_MdEhfVjk3MkRHVzhKdjU1YzdBQkZZRlE here].<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===<br />
<br />
[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]<br />
<br />
This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.<br />
<br />
=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===<br />
<br />
[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]<br />
<br />
This configuration assumes the ESC has a BEC and provides 5 volts on its 5V pin. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
=== Fixedwing, Spektrum Satellite Receivers ===<br />
<br />
[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]<br />
<br />
This configuration assumes the ESC has a BEC and provides 5 volts on its 5V pin. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===<br />
<br />
[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]<br />
<br />
The ESCs have BECs and provide 5 volts on their 5V pins. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example<br />
<br />
== R/C Receivers ==<br />
<br />
One can use [[Subsystem/radio_control#Spektrum|Spektrum]] DSM2 or compatible receivers as well as traditional PPM receivers. It is even possible to [[Subsystem/radio_control#Spektrum|connect two Spectrum or compatible satellite receivers]] for better redundancy or to improve RC signal reception. Connecting a RC receiver for flying your aircraft in manual mode during setup and test phase is 99% of the cases a must. Therefore the Paparazzi team made it easy to connect one.<br />
<br />
=== Using a Spektrum DSM receiver ===<br />
<br />
==== Physically connecting ====<br />
<br />
Wiring up a Spektrum or compatible satellite receiver is not all to difficult to do. Note however that it is very important to make absolutely sure the connectors are properly made. Not being precise in this step can mean full RC loss and loss of airframe in the first tuning testflights. <br />
<br />
A spektrum satellite receiver should be connected to the UART1 connector on the autopilot board. Make sure the voltage on the AP board UART1 + pin is not to high, or to low for your receiver.<br />
<br />
Steps:<br />
# Connect the minus(-) of the receiver to GND of UART1<br />
# The receiver plus(+) to the UART1 Plus(+) <br />
# Data out signal of the receiver to the RX pin on the UART1<br />
<br />
==== Binding ====<br />
<br />
To get a receiver and transmitter to work together you must perform a binding process. <br />
<br />
It is important to '''bind''' your Spectrum DSM receiver to your transmitter '''via''' your '''Lisa board''', not in any other way!<br />
<br />
The way to bind is by temporary connecting via fiddly small molex pins. <br />
It is advised to make a small bind plug out of a molex connector for this purpose. <br />
Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable.<br />
<br />
The bind procedure:<br />
<br />
# On the connector '''ANALOG1''' have a wire between the GND and ADC1 pin, located in the middle of the board<br />
# Power up your autopilot board<br />
# Hold the bind button on your '''transmitter''', while '''keeping it pressed''' switch on your transmitter<br />
#:Wait...! All lights of the receiver blink and then go steady<br />
# Let go of your transmitter bind button<br />
# Power off your Lisa Board<br />
# Remove the wire connecting the GND and ADC1 pins on the ANALOG1 connector<br />
# Repower your board, if you have servos connected and wiggle the RC transmitter sticks some servos should move<br />
<br />
That is all, you are done. <br />
The bind procedure only needs to be done '''once''' for your receiver.<br />
<br />
=== Using a CPPM receiver ===<br />
<br />
Using a CPPM receiver, a so called '''PPM sum stream''' input is possible. [[RC_Receivers_and_Radios#PPM_Based_Systems | To make it work, you need a CPPM a.k.a. PPM sum, stream out capable receiver. Find out more following this link]] <br />
<br />
==== Connecting ====<br />
<br />
Connect the CPPM out signal to the RX pin of UART1.<br />
<br />
Make sure put this in your airframe file in your AP target section.<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="radio_control" type="ppm"><br />
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/><br />
</subsystem><br />
...<br />
</firmware><br />
</source><br />
<br />
===== Alternative =====<br />
<br />
However if in the case you want to use the UART1 port for something else, there is an option to connect the receiver to a servo pin. Yes, that's right, a servo connector is used for receiving a CPPM stream '''input'''. If you want to walk that path, the default pin number to capture the CPPM datastream is via servo connector SERVO6<br />
<br />
If you connect the CPPM out capable receiver that way make sure to put this in your airframe file in your AP target section:<br />
<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="radio_control" type="ppm"><br />
<configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/><br />
</subsystem><br />
...<br />
</firmware><br />
</source><br />
<br />
If you do not have or cannot modify a receiver to a ''CPPM out'' able receiver, a [[PPM_Encoder | PPM encoder board]] can be used to avoid opening your receiver for PPM out modification. However with the very low prices of Spectrum DSMX CPPM out, lat time we looked you could have one starting from EUR 10,-<br />
<br />
===Using a S-Bus receiver===<br />
<br />
There is a third option, connect a receiver with S-Bus signal output. For this with regular Futaba receiver an inverter my be needed.<br />
<br />
== Extras ==<br />
<br />
=== UART I/O ===<br />
<br />
UART pins can also be used as general purpose I/O, this might come in handy in case all other inputs or your AP board are in use.<br />
<br />
=== USB as UART1TX + hardware flow control===<br />
<br />
[[File:Lisam-usb-uart1.jpg]]<br />
<br />
The USB_VBUS on the Lisa/M 2.0 can be used as UART1 TX. To do this, a diode has to be removed. Make sure to include a series resistor of 100-3000 Ohm to protect the microcontroller from overcurrents. The 2nd and 3th pin of the USB pads are CTS and RTS respectively. It is recommended to include a series resistor in the RTS line, as this is an outgoing line. <br />
<br />
If you want to enable flow control in the software, but don't want to use flow control when no cable is connected to the CTS/RTS, a pulldown resistor of 10 kOhm has to be added between the CTS and the GND. If you do this, take care when connecting UART devices that have a large series resistor in their RTS line. The combination of the pulldown resistor and the series resistor might cause the high-level voltage to drop under the high-level threshold of the microcontroller, causing strange behaviour.<br />
<br />
For Example the RTS , mostly a purple wire, is the '''pin 10''' on the Xtend module when set in the module with Hardware flow control (use X-CTU)<br />
CTS, most blue, on pin 9 of the Xtend<br />
<br />
<gallery widths=380px heights=205px><br />
Image:Lisam-diode.JPG | Remove this diode. After removing this diode you can not power the board via USB anymore.<br />
Image:Lisam-gpio-usb.JPG | Take care of the small distance between the GPIO pins and the USB pads.<br />
</gallery><br />
<br />
== PCB ==<br />
<br />
=== Gerber & Drill Files ===<br />
<br />
'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
== Assembly ==<br />
<br />
To create and assemble a board oneself is possible. It takes some skills however. <br />
<br />
For the Lisa/m v2.0 without the Aspirin sensor board a good soldering iron is enough.(smallest components are 0402) For the Aspirin Sensor board you need a hot air soldering station.<br />
<br />
In case you wan to follow that path you need the design. You came to the right place here is the info to get the needed files;<br />
<br />
===Components Layout===<br />
<br />
''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
Need some top and bottom of board images and line drawings here.<br />
<br />
=== Bill Of Material ===<br />
<br />
'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
Open .sch File in Eagle, execute UPL --> bom.ulp , save as .txt<br />
<br />
== PCB and assembled boards suppliers ==<br />
<br />
To difficult to create your own AP board, understandable, thus pre made board available via [[Get_Hardware|Get Hardware]] page... hopefully :)<br />
<br />
== Mechanical Dimensions ==<br />
<br />
[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]<br />
<br />
The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).<br />
Beware that in version 2.1 of the Lisa/MX the mounting holes are for m3 screws.<br />
<br />
== Get the design ==<br />
<br />
'''Source files'''<br />
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''<br />
'''Gerber & Drill files'''<br />
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files<br />
'''Assembly files'''<br />
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)<br />
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material<br />
<br />
== Uploading new software ==<br />
New onboard software for the Lisa/M v2.0 can uploaded by connecting your PC via a micro-USB port to the autopilot board. For this the board need to contain the [[Luftboot]] bootloader. All Lisa/M 2.0 and Lisa/M 2.1 from [[1BitSquared]] come with luftboot already in the board.<br />
<br />
An alternative to get your firmware in the board is by using a Black Magic Probe JTAG/SWD debugger and programmer connected via the 10-pin JTAG/SWD Samtec connector that is on the board.<br />
<br />
See the [[FirmwareFlashing]] page for an overview of different methods to upload new software to your autopilot.<br />
<br />
=== Using luftboot ===<br />
'''This is the default FLASH_MODE for Lisa/M v2.0 and v2.1''', it could be explicitly selected by adding<br />
:<source lang="xml"><configure name="FLASH_MODE" value="DFU"/></source><br />
to the firmware section of your airframe file. Make sure to set Lisa/M 2.0 or 2.1 as it's target board.<br />
<br />
Once USB is plugged in, the board automatically goes to bootloader mode and the status LEDs cycle up and down:<br />
<br />
[[File:Luftboot.gif|320px]]<br />
<br />
If you have trouble entering the bootloader mode or want to upload/update the bootloader itself, see the [[Luftboot]] page.<br />
<br />
On Lisa/M V2.1 if you plug in the usb connector the board should go into bootloader mode automatically, older versions of the board come with a bootloader that has to be explicitly entered. If you have trouble with any part of the process, make a github account and click on the chat button in the lower right corner on this page.<br />
<br />
=== Using JTAG ===<br />
You still can use a [[JTAG|JTAG adapter]] for [[FirmwareFlashing#JTAG|flashing]] and [[DevGuide/JTAG-Debug|debugging]] your paparazzi firmware. To use [[FirmwareFlashing#JTAG|JTAG flashing]] configure the ''FLASH_MODE'' in your firmware section:<br />
:<source lang="xml"><configure name="FLASH_MODE" value="JTAG"/></source><br />
<br />
It is recommended to use the Black Magic Probe as your JTAG adapter. This avoids issues that result from using OpenOCD software. See more details [[JTAG#Black_Magic_Probe|here]]<br />
<br />
Using JTAG will not overwrite the bootloader by default. To overwrite the luftboot bootloader configure<br />
:<source lang="xml"><configure name="NO_LUFTBOOT" value="1"/></source><br />
<br />
Then press upload as normal...<br />
<br />
=== Serial Firmware Upload ===<br />
Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten [[Luftboot]] accidentally and don´t have access to [[JTAG]].<br/><br />
Either set the flash mode in the target section of the airframe configuration:<br />
:<source lang="xml"><configure name="FLASH_MODE" value="SERIAL"/></source><br />
or add it to the commandline invocation:<br />
make AIRCRAFT=<aircraftname> ap.upload FLASH_MODE=SERIAL<br />
<br />
Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:<br />
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.<br />
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads<br />
<br />
Now a boot sequence works as follows:<br />
#BOOT1 has to be set to 3.3V by use of a jumper cable<br />
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS<br />
#Power the board and activate the bootloader program<br />
<br />
<br />
=== Prevent board from going into bootloader mode ===<br />
<br />
Normally, if you power up the board with the USB cable connected to a PC it will automatically go into bootloader mode. If you want the board to power up normally with the cable connected you can ground the ADC2 in the ANALOG1 connector.<br />
<br />
== Detailed Hardware Revision History ==<br />
<br />
=== Changes Between LISA v1.1 and v2.0 ===<br />
<br />
* Lots of silkscreen improvements<br />
* Added attributes to all parts to make the usage of bom-ex ulp possible.<br />
* Improved routing to allow teardropping<br />
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)<br />
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.<br />
* Added pullups on all UART RX lines to prevent undesired floatation.<br />
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.<br />
* ...<br />
<br />
== Hardware Change Requests ==<br />
<br />
If you have a Lisa/M 2.0 and in the process of using it you come up with something you find annoying, dangerous, or restricting, add your hardware update requests here. Better still, modify the Lisa schematics yourself and show your new improvements if you are skilled enough to do this.<br />
<br />
* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain. <br />
** A: Using a MS5611 is possible through using a Aspirin v2.1 board<br />
<br />
* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.<br />
<br />
* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly insert I2CCAN Molex conector into SPI Molex on board connector. Thus a separate CAN and Power plug. Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense). Option to have thicker wire to be soldered to the board, for power hungry setups and other issues connectors for power are not a good idea.<br />
<br />
* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 and bring the MS5611 back onto the Lisa/M board to reduce footprint, mass, and manufacturing cost once the 9150 becomes readily available(if at al with SPI) and is tested to perform well.<br />
<br />
<br />
== Lisa/Lia F4 ==<br />
Lisa/Lia autopilot can be easily converted to a much more powerful controller, based on STM32F405RGT6 chip [http://www.st.com/web/catalog/mmc/FM141/SC1169/SS1577/LN1035/PF252144]. The chip has the same dimensions (LQFP64 10x10mm package) with the exact same pinout as the original STM32F105RCT6 chip. The main advantage of the f4 chip is:<br />
<br />
* 168MHz CPU speed, 1MB flash and 192kb RAM<br />
* FPU (fast floating point computations)<br />
* configurable DMA streams (more peripherals can use DMA)<br />
* multiplexed IO pins (peripherals can be mapped to various IO pins)<br />
* CPU usage only about 5% with standard rotorcraft flight configuration<br />
<br />
STM32F405RGT6 chip can be ordered for example [http://cz.mouser.com/ProductDetail/STMicroelectronics/STM32F405RGT6/?qs=Z8%252beY1k3TIKgj7QWsYGpQw== here]. To replace the chip a good soldering station with microscope and enough light is recommended. After replacing the chip, jumpers CMP1 and CMP2 have to be opened. <br />
<gallery widths=300px heights=200px><br />
[[File:F4_digikey.jpg]]<br />
Image:F4_digikey.jpg|DigiKey part number for F4 chip<br />
Image:F4_on_board.jpg|Lia F4 with the new chip<br />
</gallery><br />
<br />
=== Programming ===<br />
The STM32F4 can be flashed via SWD/JTAG (e.g. with the BlackMagicProbe) or via [[DFU#Native_DFU_bootloader_.28embedded_in_ROM.29|DFU-UTIL]].<br />
[[Luftboot|Luftboot]] currently supports only F1xx chips.<br />
<br />
'''To program via DFU-UTIL:'''<br />
<br />
[[File:LisaMX v2_0_DFU.jpg|500px]]<br />
<br />
[[DFU#Native_DFU_bootloader_.28embedded_in_ROM.29|First, install DFU-UTIL as shown here.]]<br><br />
The two pairs of pins circled in red should be shorted (VERY CAREFULLY), eg with tweezers, as shown, i.e.:<br><br />
1) The Boot0 and VDD pins on the STM32F4 should be shorted together.<br><br />
2) The ACC_DRDY (Boot1) and GND pins should be shorted together on the Aspirin mounting pads. (This can be done even if an aspirin IMU is mounted).<br><br />
The USB connector should then be plugged in. This action also powers the board. Do not connect any additional source of power.<br><br />
Remove the shorts. The board should now be in bootloader mode. Only one green LED should be lit.<br><br />
The board can then be flashed using DFU-UTIL.<br><br />
Tested functional on a [http://transition-robotics.com/products/lisa-m-f4-with-10dom-aspirin-imu TRI Lisa/MX v2.0] using Paparazzi Master branch on 18 Nov 2014.<br><br><br />
<br />
'''A guide how to flash the F4 chip from Eclipse can be found in [[RT_Paparazzi|RT_Paparazzi]].'''<br />
<br />
<br />
[[Category:Lisa]] [[Category:User_Documentation]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/M_v2.0&diff=21149Lisa/M v2.02016-04-08T22:32:03Z<p>Esden: /* Uploading new software */</p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on a STM32 processor for extensive peripheral connection and faster processing.<br />
<br />
A number of tutorials are being prepared for getting started with Lisa/M:<br />
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]<br />
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]<br />
<br />
Please join us in our quest to make the getting started information even more, eh... informative, by adjusting those pages with your own improvements.<br />
<br />
== Features ==<br />
<br />
Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.<br />
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].<br />
<br />
* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM<br />
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085] (optional as of 08/2012)<br />
* 7 x Analog input channels<br />
* 3 x Generic digital in-/out-puts<br />
* 2 x 3.3V TTL UART (5V tolerant)<br />
* 8 x Servo PPM outputs (only 6 if second I2C (I2C1) bus in use)<br />
* 1 x CAN bus<br />
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus<br />
* 1 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus (2 x when using only the first 6 Servo PPM outputs)<br />
* 1 x Micro USB<br />
* 4 x status LEDs with attached test point<br />
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)<br />
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)<br />
* ~34mm x ~60mm x ~10mm<br />
* 4 layers PCB design<br />
<br />
With mounted Aspirin IMU has the following additional sensors on board:<br />
<br />
* 3 Axis Gyroscope<br />
* 3 Axis Accelerometer<br />
* 3 Axis Magnetometer<br />
* Barometer MS5611 (as of Aspirin v2.1)<br />
<br />
NOTE:<br />
'''Lisa/M has pads for the BMP085 pressure sensor. Lias/M 2 boards made before August 2012 had the BMP085 sensor mounted. Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1 which has the new MS5611-01BA03 barometric pressure sensor.'''<br />
<br />
So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view<br />
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view<br />
</gallery><br />
<br />
== Pinout ==<br />
Pins Name and Type are specified with respect to the Autopilot Board.<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaM_V2_0_top_labeled.png|900px]]<br />
[[Image:LisaM_warning_label.png|200px]]<br />
</div><br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''SERVO1/2/3/4/5/6/7/8'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red<br />
|-<br />
|3||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''JTAG'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART3'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red<br />
|-<br />
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART1/5'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red<br />
|-<br />
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|-<br />
|4||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red<br />
|-<br />
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''GPIO'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan<br />
|-<br />
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''ANALOG2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta<br />
|-<br />
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink<br />
|-<br />
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''USB'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''I2C1 CAN'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| V_BATT||PWR||V_BATT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red<br />
|-<br />
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red<br />
|-<br />
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange<br />
|-<br />
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow<br />
|-<br />
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green<br />
|-<br />
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''SPI1'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange<br />
|-<br />
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow<br />
|-<br />
|5||SCK||Out||SCK||style="background:green; color:white"|Green<br />
|-<br />
|6||SS||Out||SS||style="background:blue; color:white"|Blue<br />
|-<br />
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''ANALOG1'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green<br />
|-<br />
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue<br />
|-<br />
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red<br />
|-<br />
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''I2C2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green<br />
|-<br />
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue<br />
|}<br />
<br />
<br />
'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. Therefore one has to choose, either use SERVO7 and SERVO8 '''OR''' have the I2C1 bus available, if that one needs to be used for whatever reason alongside the I2C2 bus. To use the servos 7 and 8 just set the <define name="USE_SERVOS_7AND8"/> in your airframe file and you are good to go. For this to work one must make sure to have the latest Paparazzi sourcecode.<br />
<br />
=== LEDs ===<br />
Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs (LED_6, LED_7, LED_8) that are not populated by default (in favor of using ADC1-3 on the ANALOG1 connector).<br />
By default the LEDs are use for:<br />
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz<br />
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initialized) and then stays on<br />
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix<br />
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok<br />
; LED_5, green : not set to anything by default<br />
<br />
=== Jumper Configuration ===<br />
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.<br />
<br />
The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BATT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BATT pin to measure the battery voltage, if so desired.<br />
<br />
<gallery widths=380px heights=205px><br />
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs<br />
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers<br />
</gallery><br />
<br style="clear:both"><br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''Power Jumper Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP1||SERVO_BUS to V_IN||OPEN||If closed then connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail<br />
|-<br />
|JP2||V_BATT to V_IN||OPEN||If closed then connects I2C1/CAN rail V_BATT to autopilot input voltage V_IN rail<br />
|-<br />
|JP3||V_IN to +5V||OPEN||If closed then connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART3 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail<br />
|-<br />
|JP7||UART3_VCC to +3V3||OPEN||If closed then connects UART3 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''<br />
<br />
'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART2 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP4||UART2_VCC to V_IN||OPEN||If closed then connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''<br />
|-<br />
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||If closed then connects UART2 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).<br />
<br />
'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART1 and UART5 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP8||UART1&5_VCC to V_IN||OPEN||If closed then connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail<br />
|-<br />
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||If closed then connects UART1 and UART5 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''<br />
<br />
There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.<br />
<br />
=== Powering the Board ===<br />
<br />
[[Image:LisaM_warning_label.png|right|200px]]<br />
<br />
The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice. <br />
<br />
The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.<br />
<br />
When measuring the supply voltage of a battery with the V_BATT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BATT is<br />
<br />
<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math><br />
<br />
If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).<br />
<br />
== Schematic ==<br />
<gallery widths=250px heights=168px><br />
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3<br />
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3<br />
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3<br />
</gallery><br />
<gallery widths=250px heights=168px><br />
Image:Lisa_m_v2_1_r3_sheet_1.png | Lisa/M V2.1 R3 Schematic Sheet 1/2<br />
Image:Lisa_m_v2_1_r3_sheet_2.png | Lisa/M V2.1 R3 Schematic Sheet 1/2<br />
</gallery><br />
<br style="clear:both"><br />
<br />
== Examples of Airborne Equipment Electrical Connections ==<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers, PWM Motor Controllers (ESC) and dedicated avionics Battery Elimination Circuit (BEC) ===<br />
<br />
[[File:LisaM_V2_0_wiring_quadrocopter_spektrum_bec_pwmesc.png|700px]]<br />
<br />
This is a recommended powering configuration. It eliminates the balancing issues of the built in BECs into the ESCs.<br />
<br />
The dotted lines from the BEC show the alternative wiring that does not require closing the VS jumper on the Lisa/M. The disadvantage is that you have to wire/crimp the BEC output wires into the picoblade molex connector providing the battery voltage reference. Usually it is easier to just use the existing "servo" connector on the BEC and closing the jumper instead.<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===<br />
<br />
[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]<br />
<br />
This configuration assumes the ESCs have a battery eliminator circuit (BEC) function and provide 5 volts on their 5V pins. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
<span style="color:red">Warning:</span> The built in BECs on the ESCs are usually linear voltage regulators, they are fairly inefficient compared to dedicated BECs that are usually implemented as switching DC/DC converters.<br />
<br />
<span style="color:red">Warning:</span> Due to manufacturing differences of BECs, connecting more then one BEC in parallel will likely cause one of the BECs to take majority of the load and dissipate most of the drop down voltage. ([https://en.wikipedia.org/wiki/Linear_regulator Read on how linear voltage regulators work.]) As in this example the BECs are part of the ESCs, one of the ESCs will get warmer than the others, which in turn may lead to reliability issues.<br />
<br />
[[File:LisaM_V2_0_wiring_quadrocopter_spektrum_pwmesc_shunts.png|700px]]<br />
<br />
<span style="color:green">Tip:</span> To improve balancing between the ESC built in BECs you can add a 1Ohm resistor in the +5V line coming from the motor controller. This will cause some pre-loading of the voltage regulator and improve the load sharing between the BECs while decreasing the efficiency of the supply.<br />
<br />
When using cheap ATMega or SiLabs-based PWM motor controllers consider replacing their firmware with either [https://github.com/sim-/tgy Simon Kirby] or [https://github.com/bitdump/BLHeli BLHeli] firmware respectively to get useful performance of your multicopter! You can find a firmware compatibility list [https://docs.google.com/spreadsheet/ccc?key=0AhR02IDNb7_MdEhfVjk3MkRHVzhKdjU1YzdBQkZZRlE here].<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===<br />
<br />
[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]<br />
<br />
This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.<br />
<br />
=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===<br />
<br />
[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]<br />
<br />
This configuration assumes the ESC has a BEC and provides 5 volts on its 5V pin. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
=== Fixedwing, Spektrum Satellite Receivers ===<br />
<br />
[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]<br />
<br />
This configuration assumes the ESC has a BEC and provides 5 volts on its 5V pin. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===<br />
<br />
[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]<br />
<br />
The ESCs have BECs and provide 5 volts on their 5V pins. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example<br />
<br />
== R/C Receivers ==<br />
<br />
One can use [[Subsystem/radio_control#Spektrum|Spektrum]] DSM2 or compatible receivers as well as traditional PPM receivers. It is even possible to [[Subsystem/radio_control#Spektrum|connect two Spectrum or compatible satellite receivers]] for better redundancy or to improve RC signal reception. Connecting a RC receiver for flying your aircraft in manual mode during setup and test phase is 99% of the cases a must. Therefore the Paparazzi team made it easy to connect one.<br />
<br />
=== Using a Spektrum DSM receiver ===<br />
<br />
==== Physically connecting ====<br />
<br />
Wiring up a Spektrum or compatible satellite receiver is not all to difficult to do. Note however that it is very important to make absolutely sure the connectors are properly made. Not being precise in this step can mean full RC loss and loss of airframe in the first tuning testflights. <br />
<br />
A spektrum satellite receiver should be connected to the UART1 connector on the autopilot board. Make sure the voltage on the AP board UART1 + pin is not to high, or to low for your receiver.<br />
<br />
Steps:<br />
# Connect the minus(-) of the receiver to GND of UART1<br />
# The receiver plus(+) to the UART1 Plus(+) <br />
# Data out signal of the receiver to the RX pin on the UART1<br />
<br />
==== Binding ====<br />
<br />
To get a receiver and transmitter to work together you must perform a binding process. <br />
<br />
It is important to '''bind''' your Spectrum DSM receiver to your transmitter '''via''' your '''Lisa board''', not in any other way!<br />
<br />
The way to bind is by temporary connecting via fiddly small molex pins. <br />
It is advised to make a small bind plug out of a molex connector for this purpose. <br />
Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable.<br />
<br />
The bind procedure:<br />
<br />
# On the connector '''ANALOG1''' have a wire between the GND and ADC1 pin, located in the middle of the board<br />
# Power up your autopilot board<br />
# Hold the bind button on your '''transmitter''', while '''keeping it pressed''' switch on your transmitter<br />
#:Wait...! All lights of the receiver blink and then go steady<br />
# Let go of your transmitter bind button<br />
# Power off your Lisa Board<br />
# Remove the wire connecting the GND and ADC1 pins on the ANALOG1 connector<br />
# Repower your board, if you have servos connected and wiggle the RC transmitter sticks some servos should move<br />
<br />
That is all, you are done. <br />
The bind procedure only needs to be done '''once''' for your receiver.<br />
<br />
=== Using a CPPM receiver ===<br />
<br />
Using a CPPM receiver, a so called '''PPM sum stream''' input is possible. [[RC_Receivers_and_Radios#PPM_Based_Systems | To make it work, you need a CPPM a.k.a. PPM sum, stream out capable receiver. Find out more following this link]] <br />
<br />
==== Connecting ====<br />
<br />
Connect the CPPM out signal to the RX pin of UART1.<br />
<br />
Make sure put this in your airframe file in your AP target section.<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="radio_control" type="ppm"><br />
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/><br />
</subsystem><br />
...<br />
</firmware><br />
</source><br />
<br />
===== Alternative =====<br />
<br />
However if in the case you want to use the UART1 port for something else, there is an option to connect the receiver to a servo pin. Yes, that's right, a servo connector is used for receiving a CPPM stream '''input'''. If you want to walk that path, the default pin number to capture the CPPM datastream is via servo connector SERVO6<br />
<br />
If you connect the CPPM out capable receiver that way make sure to put this in your airframe file in your AP target section:<br />
<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="radio_control" type="ppm"><br />
<configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/><br />
</subsystem><br />
...<br />
</firmware><br />
</source><br />
<br />
If you do not have or cannot modify a receiver to a ''CPPM out'' able receiver, a [[PPM_Encoder | PPM encoder board]] can be used to avoid opening your receiver for PPM out modification. However with the very low prices of Spectrum DSMX CPPM out, lat time we looked you could have one starting from EUR 10,-<br />
<br />
===Using a S-Bus receiver===<br />
<br />
There is a third option, connect a receiver with S-Bus signal output. For this with regular Futaba receiver an inverter my be needed.<br />
<br />
== Extras ==<br />
<br />
=== UART I/O ===<br />
<br />
UART pins can also be used as general purpose I/O, this might come in handy in case all other inputs or your AP board are in use.<br />
<br />
=== USB as UART1TX + hardware flow control===<br />
<br />
[[File:Lisam-usb-uart1.jpg]]<br />
<br />
The USB_VBUS on the Lisa/M 2.0 can be used as UART1 TX. To do this, a diode has to be removed. Make sure to include a series resistor of 100-3000 Ohm to protect the microcontroller from overcurrents. The 2nd and 3th pin of the USB pads are CTS and RTS respectively. It is recommended to include a series resistor in the RTS line, as this is an outgoing line. <br />
<br />
If you want to enable flow control in the software, but don't want to use flow control when no cable is connected to the CTS/RTS, a pulldown resistor of 10 kOhm has to be added between the CTS and the GND. If you do this, take care when connecting UART devices that have a large series resistor in their RTS line. The combination of the pulldown resistor and the series resistor might cause the high-level voltage to drop under the high-level threshold of the microcontroller, causing strange behaviour.<br />
<br />
For Example the RTS , mostly a purple wire, is the '''pin 10''' on the Xtend module when set in the module with Hardware flow control (use X-CTU)<br />
CTS, most blue, on pin 9 of the Xtend<br />
<br />
<gallery widths=380px heights=205px><br />
Image:Lisam-diode.JPG | Remove this diode. After removing this diode you can not power the board via USB anymore.<br />
Image:Lisam-gpio-usb.JPG | Take care of the small distance between the GPIO pins and the USB pads.<br />
</gallery><br />
<br />
== PCB ==<br />
<br />
=== Gerber & Drill Files ===<br />
<br />
'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
== Assembly ==<br />
<br />
To create and assemble a board oneself is possible. It takes some skills however. <br />
<br />
For the Lisa/m v2.0 without the Aspirin sensor board a good soldering iron is enough.(smallest components are 0402) For the Aspirin Sensor board you need a hot air soldering station.<br />
<br />
In case you wan to follow that path you need the design. You came to the right place here is the info to get the needed files;<br />
<br />
===Components Layout===<br />
<br />
''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
Need some top and bottom of board images and line drawings here.<br />
<br />
=== Bill Of Material ===<br />
<br />
'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
Open .sch File in Eagle, execute UPL --> bom.ulp , save as .txt<br />
<br />
== PCB and assembled boards suppliers ==<br />
<br />
To difficult to create your own AP board, understandable, thus pre made board available via [[Get_Hardware|Get Hardware]] page... hopefully :)<br />
<br />
== Mechanical Dimensions ==<br />
<br />
[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]<br />
<br />
The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).<br />
Beware that in version 2.1 of the Lisa/MX the mounting holes are for m3 screws.<br />
<br />
== Get the design ==<br />
<br />
'''Source files'''<br />
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''<br />
'''Gerber & Drill files'''<br />
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files<br />
'''Assembly files'''<br />
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)<br />
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material<br />
<br />
== Uploading new software ==<br />
New onboard software for the Lisa/M v2.0 can uploaded by connecting your PC via a micro-USB port to the autopilot board. For this the board need to contain the [[Luftboot]] bootloader. All Lisa/M 2.0 and Lisa/M 2.1 from [[1BitSquared]] come with luftboot already in the board.<br />
<br />
An alternative to get your firmware in the board is by using a Black Magic Probe JTAG/SWD debugger and programmer connected via the 10-pin JTAG/SWD Samtec connector that is on the board.<br />
<br />
See the [[FirmwareFlashing]] page for an overview of different methods to upload new software to your autopilot.<br />
<br />
=== Using luftboot ===<br />
'''This is the default FLASH_MODE for Lisa/M v2.0 and v2.1''', it could be explicitly selected by adding<br />
:<source lang="xml"><configure name="FLASH_MODE" value="DFU"/></source><br />
to the firmware section of your airframe file. Make sure to set Lisa/M 2.0 or 2.1 as it's target board.<br />
<br />
Once USB is plugged in, the board automatically goes to bootloader mode and the status LEDs cycle up and down:<br />
<br />
[[File:Luftboot.gif|320px]]<br />
<br />
If you have trouble entering the bootloader mode or want to upload/update the bootloader itself, see the [[Luftboot]] page.<br />
<br />
On Lisa/M V2.1 if you plug in the usb connector the board should go into bootloader mode automatically, older versions of the board come with a bootloader that has to be explicitly entered. If you have trouble with any part of the process, make a github account and click on the chat button in the lower right corner on this page.<br />
<br />
=== Using JTAG ===<br />
You still can use a [[JTAG|JTAG adapter]] for [[FirmwareFlashing#JTAG|flashing]] and [[DevGuide/JTAG-Debug|debugging]] your paparazzi firmware. To use [[FirmwareFlashing#JTAG|JTAG flashing]] configure the ''FLASH_MODE'' in your firmware section:<br />
:<source lang="xml"><configure name="FLASH_MODE" value="JTAG"/></source><br />
<br />
It is recommended to use the Black Magic Probe as your JTAG adapter. This avoids issues that result from using OpenOCD software. See more details [[here|JTAG#Black_Magic_Probe]]<br />
<br />
Using JTAG will not overwrite the bootloader by default. To overwrite the luftboot bootloader configure<br />
:<source lang="xml"><configure name="NO_LUFTBOOT" value="1"/></source><br />
<br />
Then press upload as normal...<br />
<br />
=== Serial Firmware Upload ===<br />
Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten [[Luftboot]] accidentally and don´t have access to [[JTAG]].<br/><br />
Either set the flash mode in the target section of the airframe configuration:<br />
:<source lang="xml"><configure name="FLASH_MODE" value="SERIAL"/></source><br />
or add it to the commandline invocation:<br />
make AIRCRAFT=<aircraftname> ap.upload FLASH_MODE=SERIAL<br />
<br />
Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:<br />
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.<br />
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads<br />
<br />
Now a boot sequence works as follows:<br />
#BOOT1 has to be set to 3.3V by use of a jumper cable<br />
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS<br />
#Power the board and activate the bootloader program<br />
<br />
<br />
=== Prevent board from going into bootloader mode ===<br />
<br />
Normally, if you power up the board with the USB cable connected to a PC it will automatically go into bootloader mode. If you want the board to power up normally with the cable connected you can ground the ADC2 in the ANALOG1 connector.<br />
<br />
== Detailed Hardware Revision History ==<br />
<br />
=== Changes Between LISA v1.1 and v2.0 ===<br />
<br />
* Lots of silkscreen improvements<br />
* Added attributes to all parts to make the usage of bom-ex ulp possible.<br />
* Improved routing to allow teardropping<br />
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)<br />
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.<br />
* Added pullups on all UART RX lines to prevent undesired floatation.<br />
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.<br />
* ...<br />
<br />
== Hardware Change Requests ==<br />
<br />
If you have a Lisa/M 2.0 and in the process of using it you come up with something you find annoying, dangerous, or restricting, add your hardware update requests here. Better still, modify the Lisa schematics yourself and show your new improvements if you are skilled enough to do this.<br />
<br />
* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain. <br />
** A: Using a MS5611 is possible through using a Aspirin v2.1 board<br />
<br />
* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.<br />
<br />
* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly insert I2CCAN Molex conector into SPI Molex on board connector. Thus a separate CAN and Power plug. Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense). Option to have thicker wire to be soldered to the board, for power hungry setups and other issues connectors for power are not a good idea.<br />
<br />
* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 and bring the MS5611 back onto the Lisa/M board to reduce footprint, mass, and manufacturing cost once the 9150 becomes readily available(if at al with SPI) and is tested to perform well.<br />
<br />
<br />
== Lisa/Lia F4 ==<br />
Lisa/Lia autopilot can be easily converted to a much more powerful controller, based on STM32F405RGT6 chip [http://www.st.com/web/catalog/mmc/FM141/SC1169/SS1577/LN1035/PF252144]. The chip has the same dimensions (LQFP64 10x10mm package) with the exact same pinout as the original STM32F105RCT6 chip. The main advantage of the f4 chip is:<br />
<br />
* 168MHz CPU speed, 1MB flash and 192kb RAM<br />
* FPU (fast floating point computations)<br />
* configurable DMA streams (more peripherals can use DMA)<br />
* multiplexed IO pins (peripherals can be mapped to various IO pins)<br />
* CPU usage only about 5% with standard rotorcraft flight configuration<br />
<br />
STM32F405RGT6 chip can be ordered for example [http://cz.mouser.com/ProductDetail/STMicroelectronics/STM32F405RGT6/?qs=Z8%252beY1k3TIKgj7QWsYGpQw== here]. To replace the chip a good soldering station with microscope and enough light is recommended. After replacing the chip, jumpers CMP1 and CMP2 have to be opened. <br />
<gallery widths=300px heights=200px><br />
[[File:F4_digikey.jpg]]<br />
Image:F4_digikey.jpg|DigiKey part number for F4 chip<br />
Image:F4_on_board.jpg|Lia F4 with the new chip<br />
</gallery><br />
<br />
=== Programming ===<br />
The STM32F4 can be flashed via SWD/JTAG (e.g. with the BlackMagicProbe) or via [[DFU#Native_DFU_bootloader_.28embedded_in_ROM.29|DFU-UTIL]].<br />
[[Luftboot|Luftboot]] currently supports only F1xx chips.<br />
<br />
'''To program via DFU-UTIL:'''<br />
<br />
[[File:LisaMX v2_0_DFU.jpg|500px]]<br />
<br />
[[DFU#Native_DFU_bootloader_.28embedded_in_ROM.29|First, install DFU-UTIL as shown here.]]<br><br />
The two pairs of pins circled in red should be shorted (VERY CAREFULLY), eg with tweezers, as shown, i.e.:<br><br />
1) The Boot0 and VDD pins on the STM32F4 should be shorted together.<br><br />
2) The ACC_DRDY (Boot1) and GND pins should be shorted together on the Aspirin mounting pads. (This can be done even if an aspirin IMU is mounted).<br><br />
The USB connector should then be plugged in. This action also powers the board. Do not connect any additional source of power.<br><br />
Remove the shorts. The board should now be in bootloader mode. Only one green LED should be lit.<br><br />
The board can then be flashed using DFU-UTIL.<br><br />
Tested functional on a [http://transition-robotics.com/products/lisa-m-f4-with-10dom-aspirin-imu TRI Lisa/MX v2.0] using Paparazzi Master branch on 18 Nov 2014.<br><br><br />
<br />
'''A guide how to flash the F4 chip from Eclipse can be found in [[RT_Paparazzi|RT_Paparazzi]].'''<br />
<br />
<br />
[[Category:Lisa]] [[Category:User_Documentation]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=G0&diff=21133G02016-03-21T07:52:35Z<p>Esden: /* Videos */</p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg |right|500px|G0 GPS V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
G0 is a low cost GPS receiver designed for the use with Autonomous aircraft. G0 GPS was designed as a companion GPS for the [[Elle0]] autopilot, and mounts directly on top of it. But you can also use it with any other autopilot that accepts 3.3V TTL level UART GPS and can provide 5V to the GPS. G0 features a very accurate UBlox MAX-7Q GPS module, large ground plane for good EMI and multi path signal rejection, as well as a high quality 25mm Taoglas ceramic patch antenna. G0 performs very well as a GPS for fully autonomous aircraft that usually suffer from GPS loss and accuracy fluctuations due to attitude changes.<br />
<br />
= Features =<br />
<br />
* Based on the Ublox MAX-7Q GPS module<br />
* Uses high quality Taoglass ceramic Patch antenna<br />
* Whole circuit is protected from EMI by an EMI shielding can<br />
* Power and data lines are equipped with ferrite beads to decrease the amount of external noise entering the GPS circuitry.<br />
* Large antenna ground-plane (50 x 50 mm)<br />
* Optional trapezoidal ground plane skirt<br />
<br />
The large ground plane around the antenna increases the overall gain of the antenna. The ground plane also prevents more of the reflected GPS signal from being received by the GPS antenna. Less multi-path GPS signal results in more accurate position measurement. Together with the EMI shielding can, the ground-plane also prevents more of the aircraft EMI noise from entering the GPS receiver antenna. This also improves the SNR (Signal to Noise ratio).<br />
<br />
<gallery widths=200px heights=200px><br />
Image:G0_GPS_V1_1_Top_with_skirt.jpeg|G0 V1.1 top view with skirt<br />
Image:G0_GPS_V1_1_top_with_skirt.jpg|G0 V1.1 bottom view with skirt<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
= Videos =<br />
<br />
{{#ev:youtube|TG-2z-KdJEI|200|left}} Introduction to the [[G0]] GPS Receiver Module - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br style="clear:both"><br />
<br />
= Schematic =<br />
<br />
= Set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* [[Elle0]] Autopilot: [[Elle0]]<br />
* [[R0]] Sub GHz telemetry radio modem: [[R0]]<br />
* [[UU0]] USB to UART adapter: [[UU0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/g0-gps G0] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Tutorials&diff=21132Tutorials2016-03-21T07:52:19Z<p>Esden: /* Elle Avionics System */</p>
<hr />
<div>__TOC__<br />
<br />
Various video tutorials of all kinds.<br />
<br />
=[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Nano Quadcopter]]=<br />
<br />
{{#ev:youtube|7lLxFDNiywM|200|left}} Building the [[Lisa/S]] Nano Quadcopter - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Quadcopter Detailed Assembly Tutorial]]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|EkCLD8CUc2w|200|left}} [[Lisa/S]] Nano Quadcopter Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
= [[Elle | Elle Avionics System ]] =<br />
<br />
{{#ev:youtube|yPNSzWRVHuA|200|left}} Introduction to the [[Elle0]] Autopilot - Video by [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|TG-2z-KdJEI|200|left}} Introduction to the [[G0]] GPS Receiver Module - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br />
<br style="clear:both"><br />
<br />
= Building a Drone with [http://1bitsquared.com/ Piotr Esden-Tempski] and Hak5 =<br />
<br />
Piotr gave a series of interviews at Hack5 in which he walks through most steps for setting up a Quadrotor with the [[Lisa/M_v2.0 | Lisa/M V2]].<br/><br />
The [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/bumblebee_quad.xml bumblebee_quad.xml] airframe file is included in the default installation of paparazzi, and can be easily found in the default airframe paparazzi center dropdown as "Bumblebee_Quad".<br/><br />
This may be very helpful for beginners since a lot of important paparazzi related stuff is explained (but not all is required for a beginner). <br/><br />
The videos also contain some additional stuff which has nothing to do with paparazzi.<br />
<br />
<br />
{{#ev:youtube|wBW7XXn_Bok|200|left}}<br />
[https://www.youtube.com/watch?v=wBW7XXn_Bok Open Source Drones and Android SDR, Hak5 1611]<br />
* Introduction to the terms Drones, UAV and UAS.<br />
* Mechanical difference between quadcopter and helicopter, why the quadcopter is more common on hobbyists.<br />
* Possible uses of UAV/UAS (non military).<br />
* Safety guidelines (use your brain!, airports, other people...).<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|YZTPIS6mUjM|200|left}}<br />
[https://www.youtube.com/watch?v=YZTPIS6mUjM Drone Basics and Open Source Ship Tracking, Hak5 1612]<br />
* Quad, hexa and optocopters, which are the different benefits?<br />
* Which parameters influence the propellers thrust(pitch, kV, V)?<br />
* Short talks about brushed/brushless motors, frames, in this build used radio system and LiPo battery.<br />
* Why a quadcopter can't be controled directly ba a human.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|4wTGoogBvp8|200|left}}<br />
[https://www.youtube.com/watch?v=4wTGoogBvp8 Drones 101: Flight Controllers + Tracking Aircraft 5000 miles away! Hak5 1615]<br />
* How does an autopilot work in principle and which are the minimum requirements for stabilisation e.g.. <br />
* MEMS; Gyroscope, Accelerometer & Magnetometer, Barometer, what they can measure and what the autopilot can do with these measurements .<br />
* Different Flight controller; Paparazzi, DJI Naza, Ardupilot, Multiwii.<br />
* Paparazzi over the time, which controller has been used in the past (AVR -> LPC -> STM32).<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|f9AFSDn2AZU|200|left}}<br />
[https://www.youtube.com/watch?v=f9AFSDn2AZU Drones 101: Open Source Autopilot, Hak5 1616]<br />
* LisaMv2 with Aspirinv2.2 small overview.<br />
* Paparazzi center walkthough, from (left to right) the code parts, to compiling and uploading.<br />
* How paparazzi is released on github (stable and cutting edge).<br />
* What do the Airframe, Flight Plan, Settings, Radio and Telemetry xml files do?<br />
* Build the firmware with gcc and upload it to LisaMv2.<br />
* LisaMv2's Bootloader mode.<br />
* GCS walkthough with the basic components.<br />
* Connect LisaMv2 via [[Programming_adapter#FLOSS_JTAG|Floss JTAG's]] uart port to the GCS.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|fZbZTGCS4t8|200|left}}<br />
[https://www.youtube.com/watch?v=fZbZTGCS4t8 Drone Assembly and Trunked Radio Systems, Hak5 1617]<br />
* Assembling the Bumblebee carbon fiber airframe.<br />
* Zip tie down the ESC cables and mounting the LisaMv2.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|CQ6kD48WMxc|200|left}}<br />
[https://www.youtube.com/watch?v=CQ6kD48WMxc Drone Wiring And Moving On From TrueCrypt With LUKS, Hak5 1618]<br />
* Connecting peripherals on the quadrocopter (BEC, redundant Spektrum, telemetry modem, gps receiver).<br />
* Connect to a power source (limited power supply / LiPo).<br />
* Binding the Spektrum satelites with a bind plug over the LisaMv2.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|ZwvRYLuXi0w|200|left}}<br />
[https://www.youtube.com/watch?v=ZwvRYLuXi0w Finalizing The Drone and Text Obfuscation With FauxCrypt, Hak5 1619]<br />
* Connect quadcopter with GCS<br />
* Intro to Messages, Real-time Plotter.<br />
* Calibrating the accelerometer and magnetometer.<br />
* Maiden flight.<br />
<br />
<br style="clear:both"><br />
<br />
=Parrot Bebop=<br />
{{#ev:youtube|QSfbz-rlOGM|200|left}} Paparazzi on the Parrot Bebop Drone - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=Parrot AR Drone=<br />
{{#ev:youtube|eojAPZvT1Ck|200|left}} AR Drone Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|XZim32_bfpw|200|left}} AR Drone Autonomous Flight - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=How to become a Paparazzi Developer=<br />
<br />
{{#ev:youtube|dpvFIdioJGs|200|left}} How to become a Paparazzi Developer - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=Paparazzi Software Installation=<br />
<br />
{{#ev:youtube|eW0PCSjrP78|200|left}} Paparazzi Installation Linux - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
= Other =<br />
<br />
[[Lisa/M/Tutorial/FixedWing]]<br />
<br />
[[Lisa/M/Tutorial/RotorCraft]]<br />
<br />
[[User/LisaL/Tutorial/Quadrocopter]]<br />
<br />
[[Lisa_Asctec_Bringup]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Tutorials&diff=21131Tutorials2016-03-21T07:51:49Z<p>Esden: /* Elle Avionics */</p>
<hr />
<div>__TOC__<br />
<br />
Various video tutorials of all kinds.<br />
<br />
=[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Nano Quadcopter]]=<br />
<br />
{{#ev:youtube|7lLxFDNiywM|200|left}} Building the [[Lisa/S]] Nano Quadcopter - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Quadcopter Detailed Assembly Tutorial]]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|EkCLD8CUc2w|200|left}} [[Lisa/S]] Nano Quadcopter Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
= [[Elle | Elle Avionics System ]] =<br />
<br />
{{#ev:youtube|yPNSzWRVHuA|200|left}} Introduction to the [[Elle0]] Autopilot - Video by [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|TG-2z-KdJEI|200|left}} Introduction to the [[G0]] Autopilot - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br />
<br style="clear:both"><br />
<br />
= Building a Drone with [http://1bitsquared.com/ Piotr Esden-Tempski] and Hak5 =<br />
<br />
Piotr gave a series of interviews at Hack5 in which he walks through most steps for setting up a Quadrotor with the [[Lisa/M_v2.0 | Lisa/M V2]].<br/><br />
The [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/bumblebee_quad.xml bumblebee_quad.xml] airframe file is included in the default installation of paparazzi, and can be easily found in the default airframe paparazzi center dropdown as "Bumblebee_Quad".<br/><br />
This may be very helpful for beginners since a lot of important paparazzi related stuff is explained (but not all is required for a beginner). <br/><br />
The videos also contain some additional stuff which has nothing to do with paparazzi.<br />
<br />
<br />
{{#ev:youtube|wBW7XXn_Bok|200|left}}<br />
[https://www.youtube.com/watch?v=wBW7XXn_Bok Open Source Drones and Android SDR, Hak5 1611]<br />
* Introduction to the terms Drones, UAV and UAS.<br />
* Mechanical difference between quadcopter and helicopter, why the quadcopter is more common on hobbyists.<br />
* Possible uses of UAV/UAS (non military).<br />
* Safety guidelines (use your brain!, airports, other people...).<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|YZTPIS6mUjM|200|left}}<br />
[https://www.youtube.com/watch?v=YZTPIS6mUjM Drone Basics and Open Source Ship Tracking, Hak5 1612]<br />
* Quad, hexa and optocopters, which are the different benefits?<br />
* Which parameters influence the propellers thrust(pitch, kV, V)?<br />
* Short talks about brushed/brushless motors, frames, in this build used radio system and LiPo battery.<br />
* Why a quadcopter can't be controled directly ba a human.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|4wTGoogBvp8|200|left}}<br />
[https://www.youtube.com/watch?v=4wTGoogBvp8 Drones 101: Flight Controllers + Tracking Aircraft 5000 miles away! Hak5 1615]<br />
* How does an autopilot work in principle and which are the minimum requirements for stabilisation e.g.. <br />
* MEMS; Gyroscope, Accelerometer & Magnetometer, Barometer, what they can measure and what the autopilot can do with these measurements .<br />
* Different Flight controller; Paparazzi, DJI Naza, Ardupilot, Multiwii.<br />
* Paparazzi over the time, which controller has been used in the past (AVR -> LPC -> STM32).<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|f9AFSDn2AZU|200|left}}<br />
[https://www.youtube.com/watch?v=f9AFSDn2AZU Drones 101: Open Source Autopilot, Hak5 1616]<br />
* LisaMv2 with Aspirinv2.2 small overview.<br />
* Paparazzi center walkthough, from (left to right) the code parts, to compiling and uploading.<br />
* How paparazzi is released on github (stable and cutting edge).<br />
* What do the Airframe, Flight Plan, Settings, Radio and Telemetry xml files do?<br />
* Build the firmware with gcc and upload it to LisaMv2.<br />
* LisaMv2's Bootloader mode.<br />
* GCS walkthough with the basic components.<br />
* Connect LisaMv2 via [[Programming_adapter#FLOSS_JTAG|Floss JTAG's]] uart port to the GCS.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|fZbZTGCS4t8|200|left}}<br />
[https://www.youtube.com/watch?v=fZbZTGCS4t8 Drone Assembly and Trunked Radio Systems, Hak5 1617]<br />
* Assembling the Bumblebee carbon fiber airframe.<br />
* Zip tie down the ESC cables and mounting the LisaMv2.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|CQ6kD48WMxc|200|left}}<br />
[https://www.youtube.com/watch?v=CQ6kD48WMxc Drone Wiring And Moving On From TrueCrypt With LUKS, Hak5 1618]<br />
* Connecting peripherals on the quadrocopter (BEC, redundant Spektrum, telemetry modem, gps receiver).<br />
* Connect to a power source (limited power supply / LiPo).<br />
* Binding the Spektrum satelites with a bind plug over the LisaMv2.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|ZwvRYLuXi0w|200|left}}<br />
[https://www.youtube.com/watch?v=ZwvRYLuXi0w Finalizing The Drone and Text Obfuscation With FauxCrypt, Hak5 1619]<br />
* Connect quadcopter with GCS<br />
* Intro to Messages, Real-time Plotter.<br />
* Calibrating the accelerometer and magnetometer.<br />
* Maiden flight.<br />
<br />
<br style="clear:both"><br />
<br />
=Parrot Bebop=<br />
{{#ev:youtube|QSfbz-rlOGM|200|left}} Paparazzi on the Parrot Bebop Drone - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=Parrot AR Drone=<br />
{{#ev:youtube|eojAPZvT1Ck|200|left}} AR Drone Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|XZim32_bfpw|200|left}} AR Drone Autonomous Flight - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=How to become a Paparazzi Developer=<br />
<br />
{{#ev:youtube|dpvFIdioJGs|200|left}} How to become a Paparazzi Developer - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=Paparazzi Software Installation=<br />
<br />
{{#ev:youtube|eW0PCSjrP78|200|left}} Paparazzi Installation Linux - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
= Other =<br />
<br />
[[Lisa/M/Tutorial/FixedWing]]<br />
<br />
[[Lisa/M/Tutorial/RotorCraft]]<br />
<br />
[[User/LisaL/Tutorial/Quadrocopter]]<br />
<br />
[[Lisa_Asctec_Bringup]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Tutorials&diff=21130Tutorials2016-03-21T07:51:34Z<p>Esden: /* Elle Avionics */</p>
<hr />
<div>__TOC__<br />
<br />
Various video tutorials of all kinds.<br />
<br />
=[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Nano Quadcopter]]=<br />
<br />
{{#ev:youtube|7lLxFDNiywM|200|left}} Building the [[Lisa/S]] Nano Quadcopter - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Quadcopter Detailed Assembly Tutorial]]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|EkCLD8CUc2w|200|left}} [[Lisa/S]] Nano Quadcopter Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
= [[Elle | Elle Avionics ]] =<br />
<br />
{{#ev:youtube|yPNSzWRVHuA|200|left}} Introduction to the [[Elle0]] Autopilot - Video by [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|TG-2z-KdJEI|200|left}} Introduction to the [[G0]] Autopilot - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br />
<br style="clear:both"><br />
<br />
= Building a Drone with [http://1bitsquared.com/ Piotr Esden-Tempski] and Hak5 =<br />
<br />
Piotr gave a series of interviews at Hack5 in which he walks through most steps for setting up a Quadrotor with the [[Lisa/M_v2.0 | Lisa/M V2]].<br/><br />
The [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/bumblebee_quad.xml bumblebee_quad.xml] airframe file is included in the default installation of paparazzi, and can be easily found in the default airframe paparazzi center dropdown as "Bumblebee_Quad".<br/><br />
This may be very helpful for beginners since a lot of important paparazzi related stuff is explained (but not all is required for a beginner). <br/><br />
The videos also contain some additional stuff which has nothing to do with paparazzi.<br />
<br />
<br />
{{#ev:youtube|wBW7XXn_Bok|200|left}}<br />
[https://www.youtube.com/watch?v=wBW7XXn_Bok Open Source Drones and Android SDR, Hak5 1611]<br />
* Introduction to the terms Drones, UAV and UAS.<br />
* Mechanical difference between quadcopter and helicopter, why the quadcopter is more common on hobbyists.<br />
* Possible uses of UAV/UAS (non military).<br />
* Safety guidelines (use your brain!, airports, other people...).<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|YZTPIS6mUjM|200|left}}<br />
[https://www.youtube.com/watch?v=YZTPIS6mUjM Drone Basics and Open Source Ship Tracking, Hak5 1612]<br />
* Quad, hexa and optocopters, which are the different benefits?<br />
* Which parameters influence the propellers thrust(pitch, kV, V)?<br />
* Short talks about brushed/brushless motors, frames, in this build used radio system and LiPo battery.<br />
* Why a quadcopter can't be controled directly ba a human.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|4wTGoogBvp8|200|left}}<br />
[https://www.youtube.com/watch?v=4wTGoogBvp8 Drones 101: Flight Controllers + Tracking Aircraft 5000 miles away! Hak5 1615]<br />
* How does an autopilot work in principle and which are the minimum requirements for stabilisation e.g.. <br />
* MEMS; Gyroscope, Accelerometer & Magnetometer, Barometer, what they can measure and what the autopilot can do with these measurements .<br />
* Different Flight controller; Paparazzi, DJI Naza, Ardupilot, Multiwii.<br />
* Paparazzi over the time, which controller has been used in the past (AVR -> LPC -> STM32).<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|f9AFSDn2AZU|200|left}}<br />
[https://www.youtube.com/watch?v=f9AFSDn2AZU Drones 101: Open Source Autopilot, Hak5 1616]<br />
* LisaMv2 with Aspirinv2.2 small overview.<br />
* Paparazzi center walkthough, from (left to right) the code parts, to compiling and uploading.<br />
* How paparazzi is released on github (stable and cutting edge).<br />
* What do the Airframe, Flight Plan, Settings, Radio and Telemetry xml files do?<br />
* Build the firmware with gcc and upload it to LisaMv2.<br />
* LisaMv2's Bootloader mode.<br />
* GCS walkthough with the basic components.<br />
* Connect LisaMv2 via [[Programming_adapter#FLOSS_JTAG|Floss JTAG's]] uart port to the GCS.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|fZbZTGCS4t8|200|left}}<br />
[https://www.youtube.com/watch?v=fZbZTGCS4t8 Drone Assembly and Trunked Radio Systems, Hak5 1617]<br />
* Assembling the Bumblebee carbon fiber airframe.<br />
* Zip tie down the ESC cables and mounting the LisaMv2.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|CQ6kD48WMxc|200|left}}<br />
[https://www.youtube.com/watch?v=CQ6kD48WMxc Drone Wiring And Moving On From TrueCrypt With LUKS, Hak5 1618]<br />
* Connecting peripherals on the quadrocopter (BEC, redundant Spektrum, telemetry modem, gps receiver).<br />
* Connect to a power source (limited power supply / LiPo).<br />
* Binding the Spektrum satelites with a bind plug over the LisaMv2.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|ZwvRYLuXi0w|200|left}}<br />
[https://www.youtube.com/watch?v=ZwvRYLuXi0w Finalizing The Drone and Text Obfuscation With FauxCrypt, Hak5 1619]<br />
* Connect quadcopter with GCS<br />
* Intro to Messages, Real-time Plotter.<br />
* Calibrating the accelerometer and magnetometer.<br />
* Maiden flight.<br />
<br />
<br style="clear:both"><br />
<br />
=Parrot Bebop=<br />
{{#ev:youtube|QSfbz-rlOGM|200|left}} Paparazzi on the Parrot Bebop Drone - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=Parrot AR Drone=<br />
{{#ev:youtube|eojAPZvT1Ck|200|left}} AR Drone Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|XZim32_bfpw|200|left}} AR Drone Autonomous Flight - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=How to become a Paparazzi Developer=<br />
<br />
{{#ev:youtube|dpvFIdioJGs|200|left}} How to become a Paparazzi Developer - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=Paparazzi Software Installation=<br />
<br />
{{#ev:youtube|eW0PCSjrP78|200|left}} Paparazzi Installation Linux - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
= Other =<br />
<br />
[[Lisa/M/Tutorial/FixedWing]]<br />
<br />
[[Lisa/M/Tutorial/RotorCraft]]<br />
<br />
[[User/LisaL/Tutorial/Quadrocopter]]<br />
<br />
[[Lisa_Asctec_Bringup]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Tutorials&diff=21129Tutorials2016-03-21T07:51:05Z<p>Esden: </p>
<hr />
<div>__TOC__<br />
<br />
Various video tutorials of all kinds.<br />
<br />
=[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Nano Quadcopter]]=<br />
<br />
{{#ev:youtube|7lLxFDNiywM|200|left}} Building the [[Lisa/S]] Nano Quadcopter - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
[[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Quadcopter Detailed Assembly Tutorial]]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|EkCLD8CUc2w|200|left}} [[Lisa/S]] Nano Quadcopter Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
= [[Elle | Elle Avionics ]] =<br />
<br />
{{#ev:youtube|yPNSzWRVHuA|200|left}} Introduction to the [[Elle0]] Autopilot - Video by [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br />
{{#ev:youtube|TG-2z-KdJEI|200|left}} Introduction to the [[G0]] Autopilot - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br />
<br style="clear:both"><br />
<br />
= Building a Drone with [http://1bitsquared.com/ Piotr Esden-Tempski] and Hak5 =<br />
<br />
Piotr gave a series of interviews at Hack5 in which he walks through most steps for setting up a Quadrotor with the [[Lisa/M_v2.0 | Lisa/M V2]].<br/><br />
The [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/bumblebee_quad.xml bumblebee_quad.xml] airframe file is included in the default installation of paparazzi, and can be easily found in the default airframe paparazzi center dropdown as "Bumblebee_Quad".<br/><br />
This may be very helpful for beginners since a lot of important paparazzi related stuff is explained (but not all is required for a beginner). <br/><br />
The videos also contain some additional stuff which has nothing to do with paparazzi.<br />
<br />
<br />
{{#ev:youtube|wBW7XXn_Bok|200|left}}<br />
[https://www.youtube.com/watch?v=wBW7XXn_Bok Open Source Drones and Android SDR, Hak5 1611]<br />
* Introduction to the terms Drones, UAV and UAS.<br />
* Mechanical difference between quadcopter and helicopter, why the quadcopter is more common on hobbyists.<br />
* Possible uses of UAV/UAS (non military).<br />
* Safety guidelines (use your brain!, airports, other people...).<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|YZTPIS6mUjM|200|left}}<br />
[https://www.youtube.com/watch?v=YZTPIS6mUjM Drone Basics and Open Source Ship Tracking, Hak5 1612]<br />
* Quad, hexa and optocopters, which are the different benefits?<br />
* Which parameters influence the propellers thrust(pitch, kV, V)?<br />
* Short talks about brushed/brushless motors, frames, in this build used radio system and LiPo battery.<br />
* Why a quadcopter can't be controled directly ba a human.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|4wTGoogBvp8|200|left}}<br />
[https://www.youtube.com/watch?v=4wTGoogBvp8 Drones 101: Flight Controllers + Tracking Aircraft 5000 miles away! Hak5 1615]<br />
* How does an autopilot work in principle and which are the minimum requirements for stabilisation e.g.. <br />
* MEMS; Gyroscope, Accelerometer & Magnetometer, Barometer, what they can measure and what the autopilot can do with these measurements .<br />
* Different Flight controller; Paparazzi, DJI Naza, Ardupilot, Multiwii.<br />
* Paparazzi over the time, which controller has been used in the past (AVR -> LPC -> STM32).<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|f9AFSDn2AZU|200|left}}<br />
[https://www.youtube.com/watch?v=f9AFSDn2AZU Drones 101: Open Source Autopilot, Hak5 1616]<br />
* LisaMv2 with Aspirinv2.2 small overview.<br />
* Paparazzi center walkthough, from (left to right) the code parts, to compiling and uploading.<br />
* How paparazzi is released on github (stable and cutting edge).<br />
* What do the Airframe, Flight Plan, Settings, Radio and Telemetry xml files do?<br />
* Build the firmware with gcc and upload it to LisaMv2.<br />
* LisaMv2's Bootloader mode.<br />
* GCS walkthough with the basic components.<br />
* Connect LisaMv2 via [[Programming_adapter#FLOSS_JTAG|Floss JTAG's]] uart port to the GCS.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|fZbZTGCS4t8|200|left}}<br />
[https://www.youtube.com/watch?v=fZbZTGCS4t8 Drone Assembly and Trunked Radio Systems, Hak5 1617]<br />
* Assembling the Bumblebee carbon fiber airframe.<br />
* Zip tie down the ESC cables and mounting the LisaMv2.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|CQ6kD48WMxc|200|left}}<br />
[https://www.youtube.com/watch?v=CQ6kD48WMxc Drone Wiring And Moving On From TrueCrypt With LUKS, Hak5 1618]<br />
* Connecting peripherals on the quadrocopter (BEC, redundant Spektrum, telemetry modem, gps receiver).<br />
* Connect to a power source (limited power supply / LiPo).<br />
* Binding the Spektrum satelites with a bind plug over the LisaMv2.<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|ZwvRYLuXi0w|200|left}}<br />
[https://www.youtube.com/watch?v=ZwvRYLuXi0w Finalizing The Drone and Text Obfuscation With FauxCrypt, Hak5 1619]<br />
* Connect quadcopter with GCS<br />
* Intro to Messages, Real-time Plotter.<br />
* Calibrating the accelerometer and magnetometer.<br />
* Maiden flight.<br />
<br />
<br style="clear:both"><br />
<br />
=Parrot Bebop=<br />
{{#ev:youtube|QSfbz-rlOGM|200|left}} Paparazzi on the Parrot Bebop Drone - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=Parrot AR Drone=<br />
{{#ev:youtube|eojAPZvT1Ck|200|left}} AR Drone Getting Started - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
{{#ev:youtube|XZim32_bfpw|200|left}} AR Drone Autonomous Flight - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=How to become a Paparazzi Developer=<br />
<br />
{{#ev:youtube|dpvFIdioJGs|200|left}} How to become a Paparazzi Developer - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
=Paparazzi Software Installation=<br />
<br />
{{#ev:youtube|eW0PCSjrP78|200|left}} Paparazzi Installation Linux - Video by the [http://mavlab.lr.tudelft.nl/ TU Delft MAVLab]<br />
<br />
<br style="clear:both"><br />
<br />
= Other =<br />
<br />
[[Lisa/M/Tutorial/FixedWing]]<br />
<br />
[[Lisa/M/Tutorial/RotorCraft]]<br />
<br />
[[User/LisaL/Tutorial/Quadrocopter]]<br />
<br />
[[Lisa_Asctec_Bringup]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=G0&diff=21128G02016-03-21T07:50:24Z<p>Esden: </p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg |right|500px|G0 GPS V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
G0 is a low cost GPS receiver designed for the use with Autonomous aircraft. G0 GPS was designed as a companion GPS for the [[Elle0]] autopilot, and mounts directly on top of it. But you can also use it with any other autopilot that accepts 3.3V TTL level UART GPS and can provide 5V to the GPS. G0 features a very accurate UBlox MAX-7Q GPS module, large ground plane for good EMI and multi path signal rejection, as well as a high quality 25mm Taoglas ceramic patch antenna. G0 performs very well as a GPS for fully autonomous aircraft that usually suffer from GPS loss and accuracy fluctuations due to attitude changes.<br />
<br />
= Features =<br />
<br />
* Based on the Ublox MAX-7Q GPS module<br />
* Uses high quality Taoglass ceramic Patch antenna<br />
* Whole circuit is protected from EMI by an EMI shielding can<br />
* Power and data lines are equipped with ferrite beads to decrease the amount of external noise entering the GPS circuitry.<br />
* Large antenna ground-plane (50 x 50 mm)<br />
* Optional trapezoidal ground plane skirt<br />
<br />
The large ground plane around the antenna increases the overall gain of the antenna. The ground plane also prevents more of the reflected GPS signal from being received by the GPS antenna. Less multi-path GPS signal results in more accurate position measurement. Together with the EMI shielding can, the ground-plane also prevents more of the aircraft EMI noise from entering the GPS receiver antenna. This also improves the SNR (Signal to Noise ratio).<br />
<br />
<gallery widths=200px heights=200px><br />
Image:G0_GPS_V1_1_Top_with_skirt.jpeg|G0 V1.1 top view with skirt<br />
Image:G0_GPS_V1_1_top_with_skirt.jpg|G0 V1.1 bottom view with skirt<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
= Videos =<br />
<br />
{{#ev:youtube|TG-2z-KdJEI|200|left}} Introduction to the [[G0]] Autopilot - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]<br />
<br style="clear:both"><br />
<br />
= Schematic =<br />
<br />
= Set up examples =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* [[Elle0]] Autopilot: [[Elle0]]<br />
* [[R0]] Sub GHz telemetry radio modem: [[R0]]<br />
* [[UU0]] USB to UART adapter: [[UU0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/g0-gps G0] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Luftboot&diff=21127Luftboot2016-03-19T22:44:22Z<p>Esden: /* Troubleshooting */</p>
<hr />
<div>{| align=right<br />
|-<br />
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware Flashing</categorytree><br />
|}<br />
<br />
__TOC__<br />
<br />
Luftboot is the name for a small piece of software called a '''bootloader''' and is used for [[Lisa/M v2.0]] to be able to simply upload new airframe an flightplans to the autopilotboard.<br />
<br />
==Sourcecode==<br />
The sourcecode is available in the [https://github.com/paparazzi/luftboot paparazzi/luftboot] repository on github. It is also integrated into the master branch of paparazzi as a submodule.<br />
<br />
== Uploading the Luftboot USB Bootloader ==<br />
<br />
If you bought your Lisa/M v2.0 (e.g. from Transition Robotics Inc.) it should already come with the bootloader installed.<br/><br />
<br />
'''Only''' if you have a strong reason to (re)upload or update the bootloader, read on... <br />
<br />
otherwise better visit this page [[Lisa/M v2.0#Uploading new software]]<br />
<br />
=== Required components ===<br />
<br />
So now you decided; ''Yes, because I have good reasons I want to re-upload the luftboot bootloader'' you need some equipment.<br />
<br />
*Floss-JTAG debugger or Blacksphere mini JTAG<br />
*Lisa/M board<br />
*PC<br />
<br />
=== Procedure ===<br />
The easiest way is to checkout the master branch and use the integrated luftboot git submodule:<br />
<ol><br />
<li><br />
Check out the paparazzi master branch<br />
<source lang=bash>git checkout master</source><br />
</li><br />
<li><br />
If you were already using the master branch luftboot should already be built, otherwise:<br />
<source lang=bash>make ext</source><br />
</li><br />
<li><br />
Change directory into the ''luftboot/src'' folder, in paparazzi:<br />
<source lang=bash>cd sw/ext/luftboot/src</source><br />
</li><br />
<li><br />
Flash the Lisa/M v2.0<br />
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.<br />
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).<br />
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source><br />
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020"</source><br />
To use the BlackMagicProbe instead of [[DevGuide/OpenOCD|OpenOCD]] and FlossJTAG on linux:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/ttyACM0</source><br />
or on OSX:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/cu.usbmodem<serial></source><br />
</li><br />
</ol><br />
<br />
<br />
As an alternative, you can also clone the [https://github.com/paparazzi/luftboot Luftboot repository] directly:<br />
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source><br />
But then you manually have to install a recent version of libopencm3 (for example into /opt/libopencm3) in order to build luftboot. The libopencm3 from the paparazzi-arm-multilib package is not new enough to build luftboot.<br />
<br />
== Entering Bootloader Mode ==<br />
Currently Luftboot cannot switch into bootloader mode using software only by USB.<br/><br />
However if you have a recent Luftboot version (since December 2012)<br />
<br />
If you are in bootloader mode, the leds will cycle up and down:<br />
<br />
[[File:Luftboot.gif|320px]]<br />
<br />
The boot sequence is:<br />
* Luftboot<br />
** Check if ADC2 is configured as output pull down indicating software bootloader request<br />
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode<br />
** Setting the ADC2 pin to input pull up<br />
** Checking if the ADC2 pin is low<br />
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode<br />
*** '''If ADC2 high:''' check if there is a payload at 0x8002000<br />
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload<br />
**** '''If payload not detected:''' initialize USB and stay in bootloader mode<br />
<br />
=== Force bootloader on old versions ===<br />
To enter the bootloader mode of old luftboot versions (before December 2012), you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2 on your [[Lisa/M v2.0#Pinout|Lisa/M v2.0]]. Make sure you do not shortcircuit your board. Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. You should disconnect the "Boot mode connector" after enforcing the bootloader.<br />
<br />
== Luftboot USB permissions ==<br />
<br />
[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.<br />
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.<br />
<br />
= Troubleshooting =<br />
<br />
* If you have a stock Lisa/MX it will not have a DFU boot loader, USB flashing is not supported by default<br />
* If you flashed luftboot bootloader on the board, everything from here on applies to Lisa/M as well as Lisa/MX<br />
* Connect the USB cable to the computer. Does the power LED light up?<br />
* After plugging in the USB cable do the LEDs blink in the "bootloader pattern"?<br />
* Connect the USB cable, what does "dmesg" indicate before and after plugging in the cable? Do you see an indication that the linux kernel finds a USB device?<br />
* Check what "lsusb" is printing out. Do you see the device in there?<br />
* Test with a different USB cable. It is a known issue that some USB cables work and others don't. Find a better quality shorter USB cable and try again.<br />
* If the USB device is being detected by the operating system, ("lsusb" lists the device correctly and "dmesg" also) but you are still unable to flash the Lisa with a new firmware using the USB interface. Did you install the Paparazzi udev rules?<br />
* Did you try flashing as root and it worked? Then your permissions are wrong, go back and install the udev rules again.<br />
* If the flashing get's stuck in the middle of the process try a different USB cable.<br />
* Are you using a virtual machine to run Linux? Try with a native linux installation instead, virtual machines are often problematic in the way they handle USB interfaces. It is very easy to install Ubuntu next to your Windows installation.<br />
* If all fails use a [[Debug_Probes#Black_Magic_Probe | Black Magic Probe]]. It is the recommended way of programming the Lisa autopilots. If you have one '''do not''' use the USB boot loader.<br />
<br />
[[Category:Firmware Flashing]] [[Category:Developer_Documentation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Luftboot&diff=21126Luftboot2016-03-19T22:43:32Z<p>Esden: /* Troubleshooting */</p>
<hr />
<div>{| align=right<br />
|-<br />
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware Flashing</categorytree><br />
|}<br />
<br />
__TOC__<br />
<br />
Luftboot is the name for a small piece of software called a '''bootloader''' and is used for [[Lisa/M v2.0]] to be able to simply upload new airframe an flightplans to the autopilotboard.<br />
<br />
==Sourcecode==<br />
The sourcecode is available in the [https://github.com/paparazzi/luftboot paparazzi/luftboot] repository on github. It is also integrated into the master branch of paparazzi as a submodule.<br />
<br />
== Uploading the Luftboot USB Bootloader ==<br />
<br />
If you bought your Lisa/M v2.0 (e.g. from Transition Robotics Inc.) it should already come with the bootloader installed.<br/><br />
<br />
'''Only''' if you have a strong reason to (re)upload or update the bootloader, read on... <br />
<br />
otherwise better visit this page [[Lisa/M v2.0#Uploading new software]]<br />
<br />
=== Required components ===<br />
<br />
So now you decided; ''Yes, because I have good reasons I want to re-upload the luftboot bootloader'' you need some equipment.<br />
<br />
*Floss-JTAG debugger or Blacksphere mini JTAG<br />
*Lisa/M board<br />
*PC<br />
<br />
=== Procedure ===<br />
The easiest way is to checkout the master branch and use the integrated luftboot git submodule:<br />
<ol><br />
<li><br />
Check out the paparazzi master branch<br />
<source lang=bash>git checkout master</source><br />
</li><br />
<li><br />
If you were already using the master branch luftboot should already be built, otherwise:<br />
<source lang=bash>make ext</source><br />
</li><br />
<li><br />
Change directory into the ''luftboot/src'' folder, in paparazzi:<br />
<source lang=bash>cd sw/ext/luftboot/src</source><br />
</li><br />
<li><br />
Flash the Lisa/M v2.0<br />
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.<br />
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).<br />
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source><br />
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020"</source><br />
To use the BlackMagicProbe instead of [[DevGuide/OpenOCD|OpenOCD]] and FlossJTAG on linux:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/ttyACM0</source><br />
or on OSX:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/cu.usbmodem<serial></source><br />
</li><br />
</ol><br />
<br />
<br />
As an alternative, you can also clone the [https://github.com/paparazzi/luftboot Luftboot repository] directly:<br />
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source><br />
But then you manually have to install a recent version of libopencm3 (for example into /opt/libopencm3) in order to build luftboot. The libopencm3 from the paparazzi-arm-multilib package is not new enough to build luftboot.<br />
<br />
== Entering Bootloader Mode ==<br />
Currently Luftboot cannot switch into bootloader mode using software only by USB.<br/><br />
However if you have a recent Luftboot version (since December 2012)<br />
<br />
If you are in bootloader mode, the leds will cycle up and down:<br />
<br />
[[File:Luftboot.gif|320px]]<br />
<br />
The boot sequence is:<br />
* Luftboot<br />
** Check if ADC2 is configured as output pull down indicating software bootloader request<br />
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode<br />
** Setting the ADC2 pin to input pull up<br />
** Checking if the ADC2 pin is low<br />
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode<br />
*** '''If ADC2 high:''' check if there is a payload at 0x8002000<br />
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload<br />
**** '''If payload not detected:''' initialize USB and stay in bootloader mode<br />
<br />
=== Force bootloader on old versions ===<br />
To enter the bootloader mode of old luftboot versions (before December 2012), you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2 on your [[Lisa/M v2.0#Pinout|Lisa/M v2.0]]. Make sure you do not shortcircuit your board. Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. You should disconnect the "Boot mode connector" after enforcing the bootloader.<br />
<br />
== Luftboot USB permissions ==<br />
<br />
[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.<br />
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.<br />
<br />
= Troubleshooting =<br />
<br />
* If you have a stock Lisa/MX it will not have a DFU boot loader, USB flashing is not supported by default<br />
* If you flashed luftboot bootloader on the board, everything from here on applies to Lisa/M as well as Lisa/MX<br />
* Connect the USB cable to the computer. Does the power LED light up?<br />
* After plugging in the USB cable do the LEDs blink in the "bootloader pattern"?<br />
* Connect the USB cable, what does "dmesg" indicate before and after plugging in the cable? Do you see an indication that the linux kernel finds a USB device?<br />
* Check what "lsusb" is printing out. Do you see the device in there?<br />
* Test with a different USB cable. It is a known issue that some USB cables work and others don't. Find a better quality shorter USB cable and try again.<br />
* If the USB device is being detected by the operating system, ("lsusb" lists the device correctly and "dmesg" also) but you are still unable to flash the Lisa with a new firmware using the USB interface. Did you install the Paparazzi udev rules?<br />
* Did you try flashing as root and it worked? Then your permissions are wrong, go back and install the udev rules again.<br />
* If the flashing get's stuck in the middle of the process try a different USB cable.<br />
* Are you using a virtual machine to run Linux? Try with a native linux installation instead, virtual machines are often problematic in the way they handle USB interfaces. It is very easy to install Ubuntu next to your Windows installation.<br />
* If all fails use a Black Magic Probe. It is the recommended way of programming the Lisa autopilots. If you have one '''do not''' use the USB boot loader.<br />
<br />
[[Category:Firmware Flashing]] [[Category:Developer_Documentation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Luftboot&diff=21125Luftboot2016-03-19T22:39:45Z<p>Esden: /* Troubleshooting */</p>
<hr />
<div>{| align=right<br />
|-<br />
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware Flashing</categorytree><br />
|}<br />
<br />
__TOC__<br />
<br />
Luftboot is the name for a small piece of software called a '''bootloader''' and is used for [[Lisa/M v2.0]] to be able to simply upload new airframe an flightplans to the autopilotboard.<br />
<br />
==Sourcecode==<br />
The sourcecode is available in the [https://github.com/paparazzi/luftboot paparazzi/luftboot] repository on github. It is also integrated into the master branch of paparazzi as a submodule.<br />
<br />
== Uploading the Luftboot USB Bootloader ==<br />
<br />
If you bought your Lisa/M v2.0 (e.g. from Transition Robotics Inc.) it should already come with the bootloader installed.<br/><br />
<br />
'''Only''' if you have a strong reason to (re)upload or update the bootloader, read on... <br />
<br />
otherwise better visit this page [[Lisa/M v2.0#Uploading new software]]<br />
<br />
=== Required components ===<br />
<br />
So now you decided; ''Yes, because I have good reasons I want to re-upload the luftboot bootloader'' you need some equipment.<br />
<br />
*Floss-JTAG debugger or Blacksphere mini JTAG<br />
*Lisa/M board<br />
*PC<br />
<br />
=== Procedure ===<br />
The easiest way is to checkout the master branch and use the integrated luftboot git submodule:<br />
<ol><br />
<li><br />
Check out the paparazzi master branch<br />
<source lang=bash>git checkout master</source><br />
</li><br />
<li><br />
If you were already using the master branch luftboot should already be built, otherwise:<br />
<source lang=bash>make ext</source><br />
</li><br />
<li><br />
Change directory into the ''luftboot/src'' folder, in paparazzi:<br />
<source lang=bash>cd sw/ext/luftboot/src</source><br />
</li><br />
<li><br />
Flash the Lisa/M v2.0<br />
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.<br />
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).<br />
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source><br />
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020"</source><br />
To use the BlackMagicProbe instead of [[DevGuide/OpenOCD|OpenOCD]] and FlossJTAG on linux:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/ttyACM0</source><br />
or on OSX:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/cu.usbmodem<serial></source><br />
</li><br />
</ol><br />
<br />
<br />
As an alternative, you can also clone the [https://github.com/paparazzi/luftboot Luftboot repository] directly:<br />
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source><br />
But then you manually have to install a recent version of libopencm3 (for example into /opt/libopencm3) in order to build luftboot. The libopencm3 from the paparazzi-arm-multilib package is not new enough to build luftboot.<br />
<br />
== Entering Bootloader Mode ==<br />
Currently Luftboot cannot switch into bootloader mode using software only by USB.<br/><br />
However if you have a recent Luftboot version (since December 2012)<br />
<br />
If you are in bootloader mode, the leds will cycle up and down:<br />
<br />
[[File:Luftboot.gif|320px]]<br />
<br />
The boot sequence is:<br />
* Luftboot<br />
** Check if ADC2 is configured as output pull down indicating software bootloader request<br />
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode<br />
** Setting the ADC2 pin to input pull up<br />
** Checking if the ADC2 pin is low<br />
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode<br />
*** '''If ADC2 high:''' check if there is a payload at 0x8002000<br />
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload<br />
**** '''If payload not detected:''' initialize USB and stay in bootloader mode<br />
<br />
=== Force bootloader on old versions ===<br />
To enter the bootloader mode of old luftboot versions (before December 2012), you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2 on your [[Lisa/M v2.0#Pinout|Lisa/M v2.0]]. Make sure you do not shortcircuit your board. Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. You should disconnect the "Boot mode connector" after enforcing the bootloader.<br />
<br />
== Luftboot USB permissions ==<br />
<br />
[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.<br />
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.<br />
<br />
= Troubleshooting =<br />
<br />
* If you have a stock Lisa/MX it will not have a DFU boot loader, USB flashing is not supported by default<br />
* If you flashed luftboot bootloader on the board, everything from here on applies to Lisa/M as well as Lisa/MX<br />
* Connect the USB cable to the computer. Does the power LED light up?<br />
* After plugging in the USB cable do the LEDs blink in the "bootloader pattern"?<br />
* Connect the USB cable, what does "dmesg" indicate before and after plugging in the cable? Do you see an indication that the linux kernel finds a USB device?<br />
* Check what "lsusb" is printing out. Do you see the device in there?<br />
* Test with a different USB cable. It is a known issue that some USB cables work and others don't. Find a better quality shorter USB cable and try again.<br />
* If it is there and it still is not flashing. Did you install the paparazzi udev rules?<br />
* Did you try flashing as root and it worked? Then your permissions are wrong, go back and install the udev rules again.<br />
* If the flashing get's stuck in the middle of the process try different USB cable.<br />
* Are you using a virtual machine to run Linux? Try with a native linux installation instead, virtual machines are often problematic in the way they handle USB interfaces. It is very easy to install Ubuntu next to your Windows installation.<br />
* All fails use Black Magic Probe. It is the recommended way of programming the Lisa autopilots. If you have one do not use the USB boot loader.<br />
<br />
[[Category:Firmware Flashing]] [[Category:Developer_Documentation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Luftboot&diff=21124Luftboot2016-03-19T22:37:35Z<p>Esden: /* Troubleshooting */</p>
<hr />
<div>{| align=right<br />
|-<br />
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware Flashing</categorytree><br />
|}<br />
<br />
__TOC__<br />
<br />
Luftboot is the name for a small piece of software called a '''bootloader''' and is used for [[Lisa/M v2.0]] to be able to simply upload new airframe an flightplans to the autopilotboard.<br />
<br />
==Sourcecode==<br />
The sourcecode is available in the [https://github.com/paparazzi/luftboot paparazzi/luftboot] repository on github. It is also integrated into the master branch of paparazzi as a submodule.<br />
<br />
== Uploading the Luftboot USB Bootloader ==<br />
<br />
If you bought your Lisa/M v2.0 (e.g. from Transition Robotics Inc.) it should already come with the bootloader installed.<br/><br />
<br />
'''Only''' if you have a strong reason to (re)upload or update the bootloader, read on... <br />
<br />
otherwise better visit this page [[Lisa/M v2.0#Uploading new software]]<br />
<br />
=== Required components ===<br />
<br />
So now you decided; ''Yes, because I have good reasons I want to re-upload the luftboot bootloader'' you need some equipment.<br />
<br />
*Floss-JTAG debugger or Blacksphere mini JTAG<br />
*Lisa/M board<br />
*PC<br />
<br />
=== Procedure ===<br />
The easiest way is to checkout the master branch and use the integrated luftboot git submodule:<br />
<ol><br />
<li><br />
Check out the paparazzi master branch<br />
<source lang=bash>git checkout master</source><br />
</li><br />
<li><br />
If you were already using the master branch luftboot should already be built, otherwise:<br />
<source lang=bash>make ext</source><br />
</li><br />
<li><br />
Change directory into the ''luftboot/src'' folder, in paparazzi:<br />
<source lang=bash>cd sw/ext/luftboot/src</source><br />
</li><br />
<li><br />
Flash the Lisa/M v2.0<br />
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.<br />
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).<br />
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source><br />
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020"</source><br />
To use the BlackMagicProbe instead of [[DevGuide/OpenOCD|OpenOCD]] and FlossJTAG on linux:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/ttyACM0</source><br />
or on OSX:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/cu.usbmodem<serial></source><br />
</li><br />
</ol><br />
<br />
<br />
As an alternative, you can also clone the [https://github.com/paparazzi/luftboot Luftboot repository] directly:<br />
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source><br />
But then you manually have to install a recent version of libopencm3 (for example into /opt/libopencm3) in order to build luftboot. The libopencm3 from the paparazzi-arm-multilib package is not new enough to build luftboot.<br />
<br />
== Entering Bootloader Mode ==<br />
Currently Luftboot cannot switch into bootloader mode using software only by USB.<br/><br />
However if you have a recent Luftboot version (since December 2012)<br />
<br />
If you are in bootloader mode, the leds will cycle up and down:<br />
<br />
[[File:Luftboot.gif|320px]]<br />
<br />
The boot sequence is:<br />
* Luftboot<br />
** Check if ADC2 is configured as output pull down indicating software bootloader request<br />
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode<br />
** Setting the ADC2 pin to input pull up<br />
** Checking if the ADC2 pin is low<br />
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode<br />
*** '''If ADC2 high:''' check if there is a payload at 0x8002000<br />
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload<br />
**** '''If payload not detected:''' initialize USB and stay in bootloader mode<br />
<br />
=== Force bootloader on old versions ===<br />
To enter the bootloader mode of old luftboot versions (before December 2012), you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2 on your [[Lisa/M v2.0#Pinout|Lisa/M v2.0]]. Make sure you do not shortcircuit your board. Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. You should disconnect the "Boot mode connector" after enforcing the bootloader.<br />
<br />
== Luftboot USB permissions ==<br />
<br />
[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.<br />
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.<br />
<br />
= Troubleshooting =<br />
<br />
* If you have a stock Lisa/MX it will not have a DFU boot loader, USB flashing is not supported by default<br />
* If you flashed luftboot bootloader on the board all following apply to Lisa/M as well as Lisa/MX<br />
* Connect the USB cable to the computer. Does the power LED light up?<br />
* After plugging in the USB cable do the LEDs blink in the "bootloader pattern"?<br />
* Connect the USB cable, what does "dmesg" indicate before and after plugging in the cable? Do you see an indication that the linux kernel finds a USB device?<br />
* Check what "lsusb" is printing out. Do you see the device in there?<br />
* Test with a different USB cable. It is a known issue that some USB cables work and others don't. Find a better quality shorter USB cable and try again.<br />
* If it is there and it still is not flashing. Did you install the paparazzi udev rules?<br />
* Did you try flashing as root and it worked? Then your permissions are wrong, go back and install the udev rules again.<br />
* If the flashing get's stuck in the middle of the process try different USB cable.<br />
* Are you using a virtual machine to run Linux? Try with a native linux installation instead, virtual machines are often problematic in the way they handle USB interfaces. It is very easy to install Ubuntu next to your Windows installation.<br />
* All fails use Black Magic Probe. It is the recommended way of programming the Lisa autopilots. If you have one do not use the USB boot loader.<br />
<br />
[[Category:Firmware Flashing]] [[Category:Developer_Documentation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Luftboot&diff=21123Luftboot2016-03-19T22:27:20Z<p>Esden: </p>
<hr />
<div>{| align=right<br />
|-<br />
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware Flashing</categorytree><br />
|}<br />
<br />
__TOC__<br />
<br />
Luftboot is the name for a small piece of software called a '''bootloader''' and is used for [[Lisa/M v2.0]] to be able to simply upload new airframe an flightplans to the autopilotboard.<br />
<br />
==Sourcecode==<br />
The sourcecode is available in the [https://github.com/paparazzi/luftboot paparazzi/luftboot] repository on github. It is also integrated into the master branch of paparazzi as a submodule.<br />
<br />
== Uploading the Luftboot USB Bootloader ==<br />
<br />
If you bought your Lisa/M v2.0 (e.g. from Transition Robotics Inc.) it should already come with the bootloader installed.<br/><br />
<br />
'''Only''' if you have a strong reason to (re)upload or update the bootloader, read on... <br />
<br />
otherwise better visit this page [[Lisa/M v2.0#Uploading new software]]<br />
<br />
=== Required components ===<br />
<br />
So now you decided; ''Yes, because I have good reasons I want to re-upload the luftboot bootloader'' you need some equipment.<br />
<br />
*Floss-JTAG debugger or Blacksphere mini JTAG<br />
*Lisa/M board<br />
*PC<br />
<br />
=== Procedure ===<br />
The easiest way is to checkout the master branch and use the integrated luftboot git submodule:<br />
<ol><br />
<li><br />
Check out the paparazzi master branch<br />
<source lang=bash>git checkout master</source><br />
</li><br />
<li><br />
If you were already using the master branch luftboot should already be built, otherwise:<br />
<source lang=bash>make ext</source><br />
</li><br />
<li><br />
Change directory into the ''luftboot/src'' folder, in paparazzi:<br />
<source lang=bash>cd sw/ext/luftboot/src</source><br />
</li><br />
<li><br />
Flash the Lisa/M v2.0<br />
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.<br />
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).<br />
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source><br />
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020"</source><br />
To use the BlackMagicProbe instead of [[DevGuide/OpenOCD|OpenOCD]] and FlossJTAG on linux:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/ttyACM0</source><br />
or on OSX:<br />
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/cu.usbmodem<serial></source><br />
</li><br />
</ol><br />
<br />
<br />
As an alternative, you can also clone the [https://github.com/paparazzi/luftboot Luftboot repository] directly:<br />
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source><br />
But then you manually have to install a recent version of libopencm3 (for example into /opt/libopencm3) in order to build luftboot. The libopencm3 from the paparazzi-arm-multilib package is not new enough to build luftboot.<br />
<br />
== Entering Bootloader Mode ==<br />
Currently Luftboot cannot switch into bootloader mode using software only by USB.<br/><br />
However if you have a recent Luftboot version (since December 2012)<br />
<br />
If you are in bootloader mode, the leds will cycle up and down:<br />
<br />
[[File:Luftboot.gif|320px]]<br />
<br />
The boot sequence is:<br />
* Luftboot<br />
** Check if ADC2 is configured as output pull down indicating software bootloader request<br />
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode<br />
** Setting the ADC2 pin to input pull up<br />
** Checking if the ADC2 pin is low<br />
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode<br />
*** '''If ADC2 high:''' check if there is a payload at 0x8002000<br />
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload<br />
**** '''If payload not detected:''' initialize USB and stay in bootloader mode<br />
<br />
=== Force bootloader on old versions ===<br />
To enter the bootloader mode of old luftboot versions (before December 2012), you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2 on your [[Lisa/M v2.0#Pinout|Lisa/M v2.0]]. Make sure you do not shortcircuit your board. Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. You should disconnect the "Boot mode connector" after enforcing the bootloader.<br />
<br />
== Luftboot USB permissions ==<br />
<br />
[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.<br />
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.<br />
<br />
= Troubleshooting =<br />
<br />
* If you have a stock Lisa/MX it will not have a DFU boot loader, USB flashing is not supported by default<br />
* If you flashed luftboot bootloader on the board all following apply to Lisa/M as well as Lisa/MX<br />
* Connect the USB cable to the computer. Does the power LED light up?<br />
* Connect the USB cable, what does "dmesg" indicate before and after plugging in the cable? Do you see an indication that the linux kernel finds a USB device?<br />
* Check what "lsusb" is printing out. Do you see the device in there?<br />
* Test with a different USB cable. It is a known issue that some USB cables work and others don't. Find a better quality shorter USB cable and try again.<br />
* If it is there and it still is not flashing. Did you install the paparazzi udev rules?<br />
* Did you try flashing as root and it worked? Then your permissions are wrong, go back and install the udev rules again.<br />
* If the flashing get's stuck in the middle of the process try different USB cable.<br />
* Are you using a virtual machine to run Linux? Try with a native linux installation instead, virtual machines are often problematic in the way they handle USB interfaces. It is very easy to install Ubuntu next to your Windows installation.<br />
* All fails use Black Magic Probe. It is the recommended way of programming the Lisa autopilots. If you have one do not use the USB boot loader.<br />
<br />
[[Category:Firmware Flashing]] [[Category:Developer_Documentation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=21122Lisa/MX2016-03-19T22:20:57Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the [[Lisa/M_v2.0|Lisa/M]] you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the [[Debug_Probes|Black Magic Probe]] or compatible [[JTAG|JTAG/SWD programmer]] to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaMX_V2_1_top_labeled.jpg|900px]]<br />
[[Image:LisaM_V2_1_top_labeled_verbose.jpg|900px]]<br />
</div><br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase in the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
= Troubleshooting Checklist =<br />
<br />
== Problem, it does not flash over USB ==<br />
<br />
* If you have a stock Lisa/MX it will not have a DFU boot loader, USB flashing is not supported by default<br />
* If you flashed luftboot bootloader on the board all following apply to Lisa/M as well as Lisa/MX<br />
* Connect the USB cable to the computer. Does the power LED light up?<br />
* Connect the USB cable, what does "dmesg" indicate before and after plugging in the cable? Do you see an indication that the linux kernel finds a USB device?<br />
* Check what "lsusb" is printing out. Do you see the device in there?<br />
* Test with a different USB cable. It is a known issue that some USB cables work and others don't. Find a better quality shorter USB cable and try again.<br />
* If it is there and it still is not flashing. Did you install the paparazzi udev rules?<br />
* Did you try flashing as root and it worked? Then your permissions are wrong, go back and install the udev rules again.<br />
* All fails use Black Magic Probe. It is the recommended way of programming the Lisa autopilots. If you have one do not use the USB boot loader.<br />
<br />
== Problem, it does not flash over Black Magic Probe ==<br />
<br />
* What does "dmesg" say?<br />
* Is the black magic probe enumerating correctly as ttyACM0 and ttyACM1?<br />
* Check your USB cable. Some USB cables are "bad".<br />
* Check what "lsusb" says.<br />
* Make sure you have permissions to access the tty devices. On many linux distributions the device is owned by "dialout" group. You can check what group you are in by typing "id" in the console. If you are not part of that group you should add yourself. Read some tutorials about Linux permission system if you don't know how it works.<br />
* Make sure you have the paparazzi udev rules installed. They create a node that makes the enumaration easier. See appropriate paparazzi documentation. [[Installation]]<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=User:Esden/Notes&diff=21071User:Esden/Notes2016-03-13T05:48:35Z<p>Esden: Created page with "Some random notes. = Coiled Antennas = User:Earthpatrol had a broken 915MHz antenna. I features a coil inside the rigid whip antenna casing. The coil consists of 28 wind..."</p>
<hr />
<div>Some random notes.<br />
<br />
= Coiled Antennas =<br />
<br />
[[User:Earthpatrol]] had a broken 915MHz antenna. I features a coil inside the rigid whip antenna casing. The coil consists of 28 windings, with 3mm inner diameter and .6mm thick copper wire.<br />
<br />
The calculation results in: 316.67mm wire length. This is pretty close to the 915MHz wavelength of 330mm. The remaining 16mm might be in the inacurracy of my measurement or an aditional peace of wire hanging out of the coil where the wire is connected to the inner conductor of the antenna coax cable leading to the SMA connector. Still it is interesting to remember. :)<br />
<br />
The calculation was 3.6mm winding diameter times Pi, times 28 windings. Easy right? :D</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=21013Lisa/MX2016-03-04T09:16:43Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaMX_V2_1_top_labeled.jpg|900px]]<br />
[[Image:LisaM_V2_1_top_labeled_verbose.jpg|900px]]<br />
</div><br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=File:BMPM_1_bottom.jpg&diff=21001File:BMPM 1 bottom.jpg2016-03-04T08:52:23Z<p>Esden: Esden uploaded a new version of &quot;File:BMPM 1 bottom.jpg&quot;</p>
<hr />
<div>Black Sphere Technology's Black Magic Probe Mini bottom.</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=File:BMPM_1_top.jpg&diff=21000File:BMPM 1 top.jpg2016-03-04T08:49:42Z<p>Esden: Esden uploaded a new version of &quot;File:BMPM 1 top.jpg&quot;</p>
<hr />
<div>Black Sphere Technology's Black Magic Probe Mini v1 top side</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=20998Lisa/MX2016-03-04T08:42:27Z<p>Esden: /* Pinout */</p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaMX_V2_1_top_labeled.jpg|900px]]<br />
[[Image:LisaM_V2_1_top_labeled_verbose.jpg|900px]]<br />
</div><br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=File:LisaM_V2_1_top_labeled_verbose.jpg&diff=20997File:LisaM V2 1 top labeled verbose.jpg2016-03-04T08:41:44Z<p>Esden: Lisa/MX V2.1 with a verbose function legend.
Copyright 2016 by 1BitSquared LLC
Uploaded by Piotr Esden-Tempski</p>
<hr />
<div>[[Lisa/MX]] V2.1 with a verbose function legend.<br />
<br />
Copyright 2016 by [[1BitSquared]] LLC<br />
<br />
Uploaded by [[User:Esden|Piotr Esden-Tempski]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=20996Lisa/MX2016-03-04T08:40:14Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
[[Image:LisaMX_V2_1_top_labeled.jpg|900px]]<br />
<br />
[[Image:LisaM_V2_1_top_labeled_verbose.jpg|900px]]<br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=File:LisaMX_V2_1_top_labeled.jpg&diff=20994File:LisaMX V2 1 top labeled.jpg2016-03-04T08:39:49Z<p>Esden: Lisa/MX V2.1 with default function legend.
Copyright 2016 by 1BitSquared LLC
Uploaded by Piotr Esden-Tempski</p>
<hr />
<div>[[Lisa/MX]] V2.1 with default function legend.<br />
<br />
Copyright 2016 by [[1BitSquared]] LLC<br />
<br />
Uploaded by [[User:Esden|Piotr Esden-Tempski]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=20991Lisa/MX2016-03-04T08:36:15Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
[[Image:LisaMX_V2_1_top_labeled.png|900px]]<br />
<br />
[[Image:LisaM_V2_1_top_labeled_verbose.png|900px]]<br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=20987Lisa/MX2016-03-04T08:32:08Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
= Schematic =<br />
<br />
= Example Setup =<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=20986Lisa/MX2016-03-04T08:31:11Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaMX V2 1 top.jpg|Lisa/MX V2.1 top view<br />
Image:LisaMX V2 1 bottom.jpg|Lisa/MX V2.1 bottom view<br />
</gallery><br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=File:LisaMX_V2_1_bottom.jpg&diff=20983File:LisaMX V2 1 bottom.jpg2016-03-04T08:28:30Z<p>Esden: Lisa/MX V2.1 autopilot board.
Picture is Copyright 1BitSquared LLC.
Picture was uploaded by Piotr Esden-Tempski</p>
<hr />
<div>[[Lisa/MX]] V2.1 autopilot board. <br />
<br />
Picture is Copyright [[1BitSquared]] LLC.<br />
<br />
Picture was uploaded by [[User:Esden|Piotr Esden-Tempski]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=File:LisaMX_V2_1_top.jpg&diff=20982File:LisaMX V2 1 top.jpg2016-03-04T08:27:45Z<p>Esden: Lisa/MX V2.1 autopilot board.
Picture is Copyright 1BitSquared LLC.
Picture was uploaded by Piotr Esden-Tempski</p>
<hr />
<div>[[Lisa/MX]] V2.1 autopilot board. <br />
<br />
Picture is Copyright [[1BitSquared]] LLC.<br />
<br />
Picture was uploaded by [[User:Esden|Piotr Esden-Tempski]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=20979Lisa/MX2016-03-04T08:25:28Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaMX_V2_1_top.jpg |right|500px|Lisa/MX V2.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MX&diff=20975Lisa/MX2016-03-04T08:18:33Z<p>Esden: Created page with "Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and..."</p>
<hr />
<div>Lisa/MX features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the Lisa/M you know and love. With the improved processing power and hardware accelerated Floating Point arithmetic the possibilities of what you can do with the platform are even greater than before.<br />
<br />
The hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested.<br />
<br />
This version of the board does not support programming over the built in USB port (DFU bootloader). You will need the Black Magic Probe or compatible JTAG/SWD programmer to be able to use this board.<br />
<br />
= Features =<br />
<br />
This board provides the following features:<br />
<br />
* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU<br />
** 1 Mbyte of Flash memory<br />
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM<br />
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC<br />
** True random number generator<br />
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)<br />
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)<br />
* 3 axis magnetometer<br />
* barometer<br />
* I2C 5V level shifter for compatibility with 5V I2C ESCs<br />
* CAN (Control Area Network) transceiver<br />
* 2 TTL level serial ports for telemetry radio and GPS<br />
* 1 high speed SPI interface for high speed hardware expansion<br />
* 2 I2C interfaces for actuators and sensors<br />
* 2 serial input interfaces for remote control receivers<br />
* 1 CAN interface for actuators and sensors<br />
* 1 USB port<br />
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers<br />
* 3 Analog inputs for thermopiles, sensors or other<br />
<br />
= Revision Changes =<br />
<br />
The newest Version 2.1 Revision 3 of the Lisa/MX autopilot. It has been improved from the predecessor V2.0 version of the board.<br />
<br />
Removed BMP pressure sensor that has not been used for quite some time.<br />
Removed Analog 2 connector that was connected in parallel with the LEDs.<br />
Integrated Aspirin IMU into the board to save weight and production cost as well as increase reliability.<br />
Added "Bind button". No need for custom jumper wires any more when you want to bind your transmitter.<br />
Fixed USB power bus. The STM32 will not detect phantom USB devices in high ambient temperatures.<br />
Increased mounting hole size to the more common M3 screws.<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/lisa-mx-autopilot Lisa/MX V2.1] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.<br />
<br />
[[Category:Hardware]] [[Category:Autopilots]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=1BitSquared&diff=209731BitSquared2016-03-04T08:07:48Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 45%; overflow: hidden">[[Image:1bitsquared_logo.png|right|300px|1BitSquared LLC Logo]]</div><br />
<br />
[http://1bitsquared.com 1BitSquared] is a Design, Production and Consulting company, focusing on Open-Source Software and Electronics. [http://1bitsquared.com 1BitSquared] was founded in 2012 by [[User:Esden | Piotr Esden-Tempski]], longtime UAV and Embedded Systems Engineer with an extensive history developing Open-Source and Open-Hardware Systems. [[User:Esden | Piotr Esden-Tempski]] is one of the core developers of the Paparazzi UAV framework. <br />
[http://1bitsuared.com 1BitSquared] executes hardware and software design, development and manufacturing for a wide range of micro to nano UAV systems available on the market: from quadcopters to multicopters as well as airplanes, helicopters and transitioning vehicles.<br />
<br />
Our mission is to provide cutting edge, affordable, Open-Source Hardware and Software for the emerging personal nano UAV market for advanced hobbyists, as well as University and civilian research programs. Our hardware has applications in autonomous robotics research, FPV (First Person View), precision agriculture, drone journalism, environmental, meteorological and maritime monitoring & research, search and rescue, UAV competitions and innovative airborne platforms. Our aim is to make our hardware smaller and lighter than the rest of the hardware on the market. In the flying world everything is about weight and efficiency. If the autopilot is smaller and more efficient you can fly longer and carry more payload. <br />
<br />
Please feel free to [http://1bitsquared.com/pages/contact-us contact us]. We are looking forward to hearing from you!<br />
<br />
= Documentation =<br />
<br />
Here is a list of wiki articles documenting some of the products sold by [http://1bitsquared.com 1BitSquared]<br />
<br />
* [[Lisa/S]]<br />
* [[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Nano Quadcopter]]<br />
* [[Elle0|Elle0 Autopilot]]<br />
* [[G0|G0 GPS]]<br />
* [[R0|R0 Sub GHz Telemetry Modem]]<br />
* [[UU0|USB to UART Adapter Dongle]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=1BitSquared&diff=209721BitSquared2016-03-04T08:06:44Z<p>Esden: </p>
<hr />
<div><div style="float: right; width: 45%; overflow: hidden">[[Image:1bitsquared_logo.png|right|300px|1BitSquared LLC Logo]]</div><br />
<br />
[http://1bitsquared.com 1BitSquared] is a Design, Production and Consulting company, focusing on Open-Source Software and Electronics. [http://1bitsquared.com 1BitSquared] was founded in 2012 by [[User:Esden | Piotr Esden-Tempski]], longtime UAV and Embedded Systems Engineer with an extensive history developing Open-Source and Open-Hardware Systems. [[User:Esden | Piotr Esden-Tempski]] is one of the core developers of the Paparazzi UAV framework. <br />
[http://1bitsuared.com 1BitSquared] executes hardware and software design, development and manufacturing for a wide range of micro to nano UAV systems available on the market: from quadcopters to multicopters as well as airplanes, helicopters and transitioning vehicles.<br />
<br />
Our mission is to provide cutting edge, affordable, Open-Source Hardware and Software for the emerging personal nano UAV market for advanced hobbyists, as well as University and civilian research programs. Our hardware has applications in autonomous robotics research, FPV (First Person View), precision agriculture, drone journalism, environmental, meteorological and maritime monitoring & research, search and rescue, UAV competitions and innovative airborne platforms. Our aim is to make our hardware smaller and lighter than the rest of the hardware on the market. In the flying world everything is about weight and efficiency. If the autopilot is smaller and more efficient you can fly longer and carry more payload. <br />
<br />
Please feel free to [http://1bitsquared.com/pages/contact-us contact us]. We are looking forward to hearing from you!<br />
<br />
= Documentation =<br />
<br />
Here is a list of wiki articles documenting some of the products sold by [http://1bitsquared.com 1BitSquared]<br />
<br />
* [[Lisa/S]]<br />
* [[Lisa/S/Tutorial/Nano_Quadcopter | Lisa/S Nano Quadcopter]]<br />
* [[Elle0|Elle0 Autopilot]]<br />
* [[Gps#1BitSquared_G0_GPS|G0 GPS]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=File:1bitsquared_logo.png&diff=20971File:1bitsquared logo.png2016-03-04T08:04:44Z<p>Esden: </p>
<hr />
<div>Registred trademark [[1BitSquared]] LLC<br />
Copyright [[1BitSquared]] LLC 2013</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=20970Sensors/GPS2016-03-04T08:02:59Z<p>Esden: /* uBlox GPS configuration */</p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|100px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|100px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|100px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Modems&diff=20969Modems2016-03-04T07:57:40Z<p>Esden: /* SiLabs Si1000 SoC based modems */</p>
<hr />
<div>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 through 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.<br />
<br />
==General comparison==<br />
'''This is ONLY a comparison between modules on this page'''<br />
<br />
All modules listed here work without issue and are generally available.<br />
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" <br />
| align="center" style="background:#f0f0f0;"|'''Feature'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€<br />
|-<br />
| 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<br />
|}<br />
<br />
== Frequencies ==<br />
<br />
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)).<br />
<br />
You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. <br/><br />
Sending on a wrong frequency or with too much power may end in a serious lawsuit !<br />
<br />
Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]<br />
<br />
== HAM / CEPT Licence ==<br />
<br />
If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)<br />
<br />
You will learn about the radio technology, operational technology and legislation.<br/><br />
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!)<br/><br />
<br />
'''Licence Pros'''<br />
* You will be informed well about the (local and international) legislations.<br />
* You can transmit on a higher power (depends on frequency).<br />
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.<br />
* It will be easier to find faults in your radio systems.<br />
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else. <br />
* Well educated people respecting the legislation just looks much better in looks to UAV's :)<br />
<br />
'''Licence Cons'''<br />
* You will need to learn for the test (can be compared with a diverce licence).<br />
* The certificate and books will cost about 70€ (total, can vary !).<br />
* Maybe some costs (per year) for your call sign.<br />
<br />
=== CEPT Licence in Austria ===<br />
<br />
A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.<br />
<br />
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.<br />
<br />
The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.<br />
<br />
To be continued...<br />
<br />
=== Links ===<br />
<br />
[http://www.oevsv.at/ Austrian ÖVSV]<br/><br />
[http://www.darc.de/ German DARC]<br />
<br />
== Digi XBee modules ==<br />
<br />
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. <br />
<br />
Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna<br />
<br />
* XBee (PRO) ZB (the current series)<br />
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)<br />
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.<br />
<br />
These two also share the same hardware and can be converted from one to another by flashing a different firmware:<br />
* XBee-PRO 802.15.4 (formerly Series 1)<br />
* XBee-PRO DigiMesh 2.4<br />
<br />
'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''<br />
<br />
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.<br/><br />
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)<br />
<br />
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.<br />
<br />
=== Module Comparison ===<br />
{|border="1"<br />
|-valign="top"<br />
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''<br />
|-<br />
|'''XBee ZB'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet PRO 3.1 (ZigBee 2007)<br />
|2.4 GHz<br />
|2mW/50mW<br />
|coordinator needed<br />
|-<br />
|'''XBee ZNet 2.5'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet 2.5 ZigBee<br />
|2.4 GHz<br />
|2mW/50mW<br />
|(only legacy -> use XBee-PRO ZB) coordinator needed<br />
|-<br />
|'''XBee DigiMesh 2.4'''<br />
|<br />
|yes<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|all nodes equal (no special coordinators/routers/end-devices)<br />
|-<br />
|'''XBee 802.15.4'''<br />
|yes<br />
|<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|<br />
|-<br />
|'''XBee-PRO 868'''<br />
|yes<br />
|<br />
|?<br />
|<br />
|868 MHz<br />
|500mW<br />
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW<br />
|}<br />
<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]<br />
<br style="clear:both"><br />
<br />
{|border="1"<br />
|-valign="top"<br />
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||<br />
|-<br />
|1<br />
| +3.3v<br />
| Power<br />
|Red<br />
|-<br />
|2<br />
|DOUT<br />
|Tx output - connect to Autopilot Rx<br />
|Green<br />
|-<br />
|3<br />
|DIN<br />
|Rx input - connect to Autopilot Tx<br />
|Blue<br />
|-<br />
|10<br />
|GND<br />
| Ground<br />
|Black<br />
|}<br />
<br />
The image view is from above, top, thus NOT at the side where the connector pins come out<br />
<br />
Note : DTR and RTS need to be wired for upgrading firmware<br />
<br />
=== GCS Adaptation ===<br />
<br />
There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.<br/><br />
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.<br />
<br />
====Adafruit====<br />
<br />
[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]<br />
[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.<br />
<br />
<br style="clear:both"><br />
<br />
====Droids====<br />
<br />
[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]<br />
<br />
[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]<br />
<br />
[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]<br />
<br />
Simple breakout board with voltage regulator.<br />
<br />
[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]<br />
<br />
Adapter with FTDI chip for direct USB connection.<br />
<br />
<br style="clear:both"><br />
<br />
====PPZUAV====<br />
<br />
[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0]]<br />
<br />
[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link]<br/><br />
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.<br />
<br />
FTDI Utility Board 1.0 with FTDI232RL<br/><br />
On board XBEE connector and Molex Picoblade connectors. <br />
<br />
<br style="clear:both"><br />
<br />
====Sparkfun====<br />
<br />
[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]<br />
<br />
[http://www.sparkfun.com/products/8687 sparkfun.com]<br />
<br />
XBee Explorer USB with FTDI232RL<br />
<br />
<br style="clear:both"><br />
<br />
=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===<br />
*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.<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]<br />
|<br />
* Frequency Band 2.4GHz<br />
* Output Power 100mW (Xbee Pro)<br />
* Sensitivity -100 dBm <br />
* RF Data Rate Up to 250 Kbps<br />
* Interface data rate Up to 115.2 Kbps<br />
* Power Draw (typical) 214 mA TX / 55 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight <br />
* Dimensions 24 x 33mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector <br />
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)<br />
* Price: 16€, Pro 26€<br />
|<br />
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]<br />
|}<br />
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA]<br><br />
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.<br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]<br />
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]<br />
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]<br />
* 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)<br />
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].<br />
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]<br />
<br />
=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===<br />
<br />
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]<br />
|<br />
* Low-cost, low-power mesh networking<br />
* Interoperability with ZigBee PRO Feature Set devices from other vendors*<br />
* Support for larger, more dense mesh networks<br />
* 128-bit AES encryption<br />
* Frequency agility<br />
* Over-the-air firmware updates (change firmware remotely)<br />
* ISM 2.4 GHz operating frequency<br />
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)<br />
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)<br />
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna<br />
* price : 14€, Pro 28€<br />
|<br />
|}<br />
These are available from Mouser:<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA<br />
<br />
See [[XBee_configuration|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]<br />
<br />
=== Digi XBee Pro 868 ===<br />
<br />
'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''<br />
<br />
868MHz is a limited band. Please read the [[868MHz Issues]]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]<br />
|<br />
* 868 MHz short range device (SRD) G3 band for Europe<br />
* Software selectable Transmit Power<br />
* 40 km RF LOS w/ dipole antennas<br />
* 80 km RF LOS w/ high gain antennas (TX Power reduced)<br />
* Simple to use peer-to-peer/point-to-mulitpoint topology<br />
* 128-bit AES encryption<br />
* 500 mW EIRP<br />
* 24 kbps RF data rate<br />
* price : ~70 USD<br />
|<br />
|}<br />
<br />
See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]<br />
<br />
=== Digi XBee 868LP ===<br />
<br />
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<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]<br />
|<br />
* 868 MHz short range device (SRD) G4 band for Europe<br />
* 4 km RF LOS w/ u.fl antennas<br />
* 5 mW EIRP<br />
* 10 or 80 kbps RF data rate<br />
* price : 18€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [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]<br />
<br />
==== Trial ====<br />
<br />
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.<br />
<br />
=== Digi XBee Pro 900HP ===<br />
* Frequency band 900Mhz<br />
* RF rate 10 or 200 kbps<br />
* up to 250mW output power<br />
* 5 to 8 grams<br />
* price: 32€<br />
<br />
==== Documentation ====<br />
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]<br />
<br />
=== Digi XBee Pro XSC 900MHz ===<br />
<br />
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!<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]<br />
|<br />
* Frequency Band 900 MHz<br />
* Output Power 100 mW (+20 dBm)<br />
* Sensitivity -100 dBm <br />
* RF Rate: 10 or 20 kbps<br />
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight <br />
* Interface 20-pin mini connector (Xbee compatible pinout)<br />
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)<br />
* price : 32€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]<br />
<br />
==== Trials ====<br />
Tested one today and it worked great. Going to try a multiUAV test with it soon<br />
--Danstah<br />
<br><br />
<br><br />
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.<br />
--Danstah<br />
<br><br />
<br><br />
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<br />
<br />
=== Digi 9XTend ===<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]<br />
|<br />
* Frequency Band 900Mhz and 2.4Ghz (2 versions)<br />
* Output Power 1mW to 1W software selectable<br />
* Sensitivity -110 dBm (@ 9600 bps)<br />
* RF Data Rate 9.6 or 115.2 Kbps<br />
* Interface data rate up to 230.4 Kbps<br />
* Power Draw (typical) 730 mA TX / 80 mA RX <br />
* Supply Voltage 2.8 to 5.5v<br />
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight <br />
* Dimensions 36 x 60 x 5mm<br />
* Weight 18 grams<br />
* Interface 20-pin mini connector or USB<br />
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)<br />
* price : 150€<br />
|<br />
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]<br />
|}<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''<br />
|-<br />
||1||GND||1 (GND)||Ground <br />
|-<br />
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)<br />
|-<br />
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX<br />
|-<br />
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX<br />
|-<br />
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation<br />
|}<br />
Notes:<br><br />
* 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.<br />
<br style="clear:both"><br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]<br />
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]<br />
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]<br />
<br />
==== Configuration ====<br />
<br />
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.<br />
<br />
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.<br />
<br />
* Acknowledged Polling Mode ('''Recommended'''):<br />
** 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).<br />
* Acknowledged Point-to-(Multi)Point Mode:<br />
** 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.<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''<br />
|-<br />
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||<br />
|-<br />
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)<br />
|-<br />
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||MD||default||default||3 (0x03)||4 (0x04)||<br />
|-<br />
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)<br />
|-<br />
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)<br />
|-<br />
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''<br />
|-<br />
||RN||0 (0x00)||8 (0x08)||default||default||<br />
|-<br />
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||<br />
|}<br />
<br />
'''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.<br />
<br />
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]<br />
<br />
== SiLabs Si1000 SoC based modems ==<br />
<br />
[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]<br />
<br />
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/RFDesign/SiK open source firmware] for these radios which makes them suitable for use in MAVs. <br />
<br />
The latest SiK firmware supports also mesh topologies.<br />
<br />
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. The new RFD868 also works in the European spectrum licenses (868 MHz) <br />
<br />
Note: When using a SiK firmware radio with Paparazzi, you should set "ATS6=0" (MavLink packing off) and configure Paparazzi for transparent serial mode. Better still create a special module to make full use of the RFDxxx modem.<br />
<br />
[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).<br />
<br />
Alternatively, for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system.<br />
<br />
The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example you use a small short range airframe with a ground station that is also used for long range operations.<br />
<br />
<br style="clear:both"/><br />
<br />
== Laird (ex Aerocom) ==<br />
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.<br />
<br />
How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|<br />
=== AC4790-200 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-200mW<br />
* Sensitivity (@ full RF data rate) -110dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 68 mA<br />
* Supply Voltage 3.3v & 5.5V<br />
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight <br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector or internal<br />
* price : 52€<br />
|<br />
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]<br />
|<br />
|-<br />
|<br />
=== AC4790-1000 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-1000mW<br />
* Sensitivity (@ full RF data rate) -99dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 650 mA<br />
* Supply Voltage 3.3V only<br />
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna<br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector<br />
* price : 64€<br />
|}<br />
<br />
=== Pinout ===<br />
<br />
[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]<br />
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]<br />
<br style="clear:both"><br />
<br />
{| border="1"<br />
|+ Wiring the Laird AC4868 to the Tiny<br />
|-valign="top"<br />
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''<br />
|-<br />
||2||Tx||green||7||7||''(Note 1)''<br />
|-<br />
||3||Rx||blue||8||8||''(Note 1)''<br />
|-<br />
||5||GND||black||1||1|| -<br />
|-<br />
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''<br />
|-<br />
||17||C/D||white||3||?||Low = Command High = Data<br />
|}<br />
''Note 1 : names are specified with respect to the AEROCOMM module''<br />
<br />
''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''<br />
<br />
<br />
<br />
=== Laird RM024 ===<br />
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]<br />
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]<br />
The RM024 replaces the discontinued LT2510 (they are backwards compatible).<br />
<br />
General features:<br />
* Frequency Band 2.4GHz<br />
* Output Power 2,5mW - 125mW<br />
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps<br />
* RF Data Rate 280/500 kbps<br />
* UART up to 460800 baud<br />
* Power Draw 90mA - 180mA TX / 10mA RX<br />
* Supply Voltage 3.3v<br />
* Range up to 4000m<br />
* Dimensions 26 x 33 x 4mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)<br />
* Chip antenna, U.FL antenna connector or both<br />
* Price: 29-31€ @ mouser (SMD / XBEE header)<br />
<br />
Two different mounting/pinuts are available:<br/><br />
* smd version: can be soldered on a pcb<br/><br />
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)<br />
<br />
Available in two different output power versions:<br />
{|border="1"<br />
|-valign="top"<br />
||''value''||''50mW version''||''125mW version''<br />
|-<br />
|output power<br />
| 2,5 mW - 50 mW<br />
| 2,5 mW - 125 mW<br />
|-<br />
|output power dbm<br />
|4 dbm - 17 dbm<br />
|4 dbm - 21 dbm<br />
|-<br />
|TX drain<br />
|90mA<br />
|<180mA<br />
|-<br />
|max range (280kbps with 2 dbi antenna)<br />
|2400m<br />
|4000m<br />
|-<br />
|approval<br />
|CE for EU, FCC/IC for USA,<br />
Canada PRM122/123 also for Japan<br />
|FCC/IC for USA, Canada <br />
|}<br />
<br />
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.<br />
<br />
====Documentation====<br />
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual]<br/><br />
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual]<br/><br />
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]<br />
<br />
'''Setup'''<br />
<br />
Look at the [[Laird_RM024_setup page]]<br />
<br />
== Bluetooth ==<br />
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.<br />
{|<br />
|<br />
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===<br />
* Frequency Band 2.4GHz<br />
* Output Power 32 mW <br />
* RF Data Rate up to ~300 kbps in SPP<br />
* Interface Data Rate up to 921 kbps <br />
* Power Draw (typical) 50 mA TX / 40 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) 100 meters line-of-sight <br />
* Dimensions 26 x 13 x 2mm <br />
* Weight ~1.5 grams<br />
* Interface solder connector <br />
* price : 20€<br />
|<br />
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]<br />
|-<br />
|<br />
<br />
To connect to it, get the MAC address of the bluetooth modem<br />
<br />
me@mybox:~$ hcitool scan<br />
Scanning ...<br />
00:06:66:00:53:AD FireFly-53AD<br />
<br />
either make a virtual connection to a Bluetooth serial port each time you connect<br />
<br />
sudo rfcomm bind 0 00:06:66:00:53:AD<br />
<br />
or configure it once in /etc/bluetooth/rfcomm.conf<br />
<br />
rfcomm0 {<br />
bind yes;<br />
device 00:06:66:00:53:AD;<br />
}<br />
<br />
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.<br />
|}<br />
<br />
== WiFi ==<br />
<br />
== ESP8266 Chip Module ==<br />
<br />
[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]<br />
<br />
To have a simple connection from your GCS to your autopilot, one can use your GCS computer built-in WiFi to establish a dataconnection. THe only thing you need is a WiFimodule connected to your Autopilot dataport and a laptop or other GCS device with Wifi.<br />
<br />
Flash the Wifimodule with [https://github.com/beckdac/ESP8266-transparent-bridge transparent bridge firwmware] using [https://github.com/themadinventor/esptool esptool]. When connected through WiFi, you can use telnet to set the baud rate.<br />
<br />
<br />
telnet 192.168.4.1<br />
+++AT BAUD 57000<br />
<br />
To use with paparazzi GCS, the TCP signals need to be tunnelled to a virtual serial device. This was accomplished with the "socat" command<br />
<br />
$ socat -d -d PTY,link=/dev/mywifi TCP:192.168.4.1:23<br />
<br />
Satar up Paparazzi Center and make line like:<br />
<br />
<br style="clear:both"><br />
<br />
== Telemetry via Video Transmitter==<br />
<br />
[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]<br />
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. <br />
<br />
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.<br />
<br style="clear:both"><br />
<br />
<br />
== Antennas ==<br />
<br />
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.<br />
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]] <br />
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]] <br />
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]] <br />
<br style="clear:both"><br />
<br />
This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna<br />
<br />
[[Category:Hardware]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Modems&diff=20968Modems2016-03-04T07:57:28Z<p>Esden: /* SiLabs Si1000 SoC based modems */</p>
<hr />
<div>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 through 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.<br />
<br />
==General comparison==<br />
'''This is ONLY a comparison between modules on this page'''<br />
<br />
All modules listed here work without issue and are generally available.<br />
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" <br />
| align="center" style="background:#f0f0f0;"|'''Feature'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€<br />
|-<br />
| 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<br />
|}<br />
<br />
== Frequencies ==<br />
<br />
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)).<br />
<br />
You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. <br/><br />
Sending on a wrong frequency or with too much power may end in a serious lawsuit !<br />
<br />
Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]<br />
<br />
== HAM / CEPT Licence ==<br />
<br />
If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)<br />
<br />
You will learn about the radio technology, operational technology and legislation.<br/><br />
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!)<br/><br />
<br />
'''Licence Pros'''<br />
* You will be informed well about the (local and international) legislations.<br />
* You can transmit on a higher power (depends on frequency).<br />
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.<br />
* It will be easier to find faults in your radio systems.<br />
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else. <br />
* Well educated people respecting the legislation just looks much better in looks to UAV's :)<br />
<br />
'''Licence Cons'''<br />
* You will need to learn for the test (can be compared with a diverce licence).<br />
* The certificate and books will cost about 70€ (total, can vary !).<br />
* Maybe some costs (per year) for your call sign.<br />
<br />
=== CEPT Licence in Austria ===<br />
<br />
A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.<br />
<br />
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.<br />
<br />
The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.<br />
<br />
To be continued...<br />
<br />
=== Links ===<br />
<br />
[http://www.oevsv.at/ Austrian ÖVSV]<br/><br />
[http://www.darc.de/ German DARC]<br />
<br />
== Digi XBee modules ==<br />
<br />
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. <br />
<br />
Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna<br />
<br />
* XBee (PRO) ZB (the current series)<br />
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)<br />
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.<br />
<br />
These two also share the same hardware and can be converted from one to another by flashing a different firmware:<br />
* XBee-PRO 802.15.4 (formerly Series 1)<br />
* XBee-PRO DigiMesh 2.4<br />
<br />
'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''<br />
<br />
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.<br/><br />
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)<br />
<br />
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.<br />
<br />
=== Module Comparison ===<br />
{|border="1"<br />
|-valign="top"<br />
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''<br />
|-<br />
|'''XBee ZB'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet PRO 3.1 (ZigBee 2007)<br />
|2.4 GHz<br />
|2mW/50mW<br />
|coordinator needed<br />
|-<br />
|'''XBee ZNet 2.5'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet 2.5 ZigBee<br />
|2.4 GHz<br />
|2mW/50mW<br />
|(only legacy -> use XBee-PRO ZB) coordinator needed<br />
|-<br />
|'''XBee DigiMesh 2.4'''<br />
|<br />
|yes<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|all nodes equal (no special coordinators/routers/end-devices)<br />
|-<br />
|'''XBee 802.15.4'''<br />
|yes<br />
|<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|<br />
|-<br />
|'''XBee-PRO 868'''<br />
|yes<br />
|<br />
|?<br />
|<br />
|868 MHz<br />
|500mW<br />
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW<br />
|}<br />
<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]<br />
<br style="clear:both"><br />
<br />
{|border="1"<br />
|-valign="top"<br />
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||<br />
|-<br />
|1<br />
| +3.3v<br />
| Power<br />
|Red<br />
|-<br />
|2<br />
|DOUT<br />
|Tx output - connect to Autopilot Rx<br />
|Green<br />
|-<br />
|3<br />
|DIN<br />
|Rx input - connect to Autopilot Tx<br />
|Blue<br />
|-<br />
|10<br />
|GND<br />
| Ground<br />
|Black<br />
|}<br />
<br />
The image view is from above, top, thus NOT at the side where the connector pins come out<br />
<br />
Note : DTR and RTS need to be wired for upgrading firmware<br />
<br />
=== GCS Adaptation ===<br />
<br />
There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.<br/><br />
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.<br />
<br />
====Adafruit====<br />
<br />
[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]<br />
[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.<br />
<br />
<br style="clear:both"><br />
<br />
====Droids====<br />
<br />
[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]<br />
<br />
[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]<br />
<br />
[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]<br />
<br />
Simple breakout board with voltage regulator.<br />
<br />
[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]<br />
<br />
Adapter with FTDI chip for direct USB connection.<br />
<br />
<br style="clear:both"><br />
<br />
====PPZUAV====<br />
<br />
[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0]]<br />
<br />
[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link]<br/><br />
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.<br />
<br />
FTDI Utility Board 1.0 with FTDI232RL<br/><br />
On board XBEE connector and Molex Picoblade connectors. <br />
<br />
<br style="clear:both"><br />
<br />
====Sparkfun====<br />
<br />
[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]<br />
<br />
[http://www.sparkfun.com/products/8687 sparkfun.com]<br />
<br />
XBee Explorer USB with FTDI232RL<br />
<br />
<br style="clear:both"><br />
<br />
=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===<br />
*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.<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]<br />
|<br />
* Frequency Band 2.4GHz<br />
* Output Power 100mW (Xbee Pro)<br />
* Sensitivity -100 dBm <br />
* RF Data Rate Up to 250 Kbps<br />
* Interface data rate Up to 115.2 Kbps<br />
* Power Draw (typical) 214 mA TX / 55 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight <br />
* Dimensions 24 x 33mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector <br />
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)<br />
* Price: 16€, Pro 26€<br />
|<br />
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]<br />
|}<br />
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA]<br><br />
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.<br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]<br />
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]<br />
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]<br />
* 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)<br />
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].<br />
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]<br />
<br />
=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===<br />
<br />
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]<br />
|<br />
* Low-cost, low-power mesh networking<br />
* Interoperability with ZigBee PRO Feature Set devices from other vendors*<br />
* Support for larger, more dense mesh networks<br />
* 128-bit AES encryption<br />
* Frequency agility<br />
* Over-the-air firmware updates (change firmware remotely)<br />
* ISM 2.4 GHz operating frequency<br />
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)<br />
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)<br />
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna<br />
* price : 14€, Pro 28€<br />
|<br />
|}<br />
These are available from Mouser:<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA<br />
<br />
See [[XBee_configuration|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]<br />
<br />
=== Digi XBee Pro 868 ===<br />
<br />
'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''<br />
<br />
868MHz is a limited band. Please read the [[868MHz Issues]]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]<br />
|<br />
* 868 MHz short range device (SRD) G3 band for Europe<br />
* Software selectable Transmit Power<br />
* 40 km RF LOS w/ dipole antennas<br />
* 80 km RF LOS w/ high gain antennas (TX Power reduced)<br />
* Simple to use peer-to-peer/point-to-mulitpoint topology<br />
* 128-bit AES encryption<br />
* 500 mW EIRP<br />
* 24 kbps RF data rate<br />
* price : ~70 USD<br />
|<br />
|}<br />
<br />
See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]<br />
<br />
=== Digi XBee 868LP ===<br />
<br />
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<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]<br />
|<br />
* 868 MHz short range device (SRD) G4 band for Europe<br />
* 4 km RF LOS w/ u.fl antennas<br />
* 5 mW EIRP<br />
* 10 or 80 kbps RF data rate<br />
* price : 18€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [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]<br />
<br />
==== Trial ====<br />
<br />
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.<br />
<br />
=== Digi XBee Pro 900HP ===<br />
* Frequency band 900Mhz<br />
* RF rate 10 or 200 kbps<br />
* up to 250mW output power<br />
* 5 to 8 grams<br />
* price: 32€<br />
<br />
==== Documentation ====<br />
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]<br />
<br />
=== Digi XBee Pro XSC 900MHz ===<br />
<br />
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!<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]<br />
|<br />
* Frequency Band 900 MHz<br />
* Output Power 100 mW (+20 dBm)<br />
* Sensitivity -100 dBm <br />
* RF Rate: 10 or 20 kbps<br />
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight <br />
* Interface 20-pin mini connector (Xbee compatible pinout)<br />
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)<br />
* price : 32€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]<br />
<br />
==== Trials ====<br />
Tested one today and it worked great. Going to try a multiUAV test with it soon<br />
--Danstah<br />
<br><br />
<br><br />
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.<br />
--Danstah<br />
<br><br />
<br><br />
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<br />
<br />
=== Digi 9XTend ===<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]<br />
|<br />
* Frequency Band 900Mhz and 2.4Ghz (2 versions)<br />
* Output Power 1mW to 1W software selectable<br />
* Sensitivity -110 dBm (@ 9600 bps)<br />
* RF Data Rate 9.6 or 115.2 Kbps<br />
* Interface data rate up to 230.4 Kbps<br />
* Power Draw (typical) 730 mA TX / 80 mA RX <br />
* Supply Voltage 2.8 to 5.5v<br />
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight <br />
* Dimensions 36 x 60 x 5mm<br />
* Weight 18 grams<br />
* Interface 20-pin mini connector or USB<br />
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)<br />
* price : 150€<br />
|<br />
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]<br />
|}<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''<br />
|-<br />
||1||GND||1 (GND)||Ground <br />
|-<br />
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)<br />
|-<br />
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX<br />
|-<br />
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX<br />
|-<br />
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation<br />
|}<br />
Notes:<br><br />
* 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.<br />
<br style="clear:both"><br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]<br />
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]<br />
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]<br />
<br />
==== Configuration ====<br />
<br />
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.<br />
<br />
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.<br />
<br />
* Acknowledged Polling Mode ('''Recommended'''):<br />
** 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).<br />
* Acknowledged Point-to-(Multi)Point Mode:<br />
** 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.<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''<br />
|-<br />
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||<br />
|-<br />
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)<br />
|-<br />
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||MD||default||default||3 (0x03)||4 (0x04)||<br />
|-<br />
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)<br />
|-<br />
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)<br />
|-<br />
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''<br />
|-<br />
||RN||0 (0x00)||8 (0x08)||default||default||<br />
|-<br />
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||<br />
|}<br />
<br />
'''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.<br />
<br />
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]<br />
<br />
== SiLabs Si1000 SoC based modems ==<br />
<br />
[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]<br />
<br />
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/RFDesign/SiK open source firmware] for these radios which makes them suitable for use in MAVs. <br />
<br />
The latest SiK firmware supports also mesh topologies.<br />
<br />
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. The new RFD868 also works in the European spectrum licenses (868 MHz) <br />
<br />
Note: When using a SiK firmware radio with Paparazzi, you should set "ATS6=0" (MavLink packing off) and configure Paparazzi for transparent serial mode. Better still create a special module to make full use of the RFDxxx modem.<br />
<br />
[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).<br />
<br />
Alternatively, for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system.<br />
<br />
The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example you use a small short range airframe with a ground station that is also used for long range operations.<br />
<br />
<br style="clear:both"><br />
<br />
== Laird (ex Aerocom) ==<br />
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.<br />
<br />
How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|<br />
=== AC4790-200 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-200mW<br />
* Sensitivity (@ full RF data rate) -110dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 68 mA<br />
* Supply Voltage 3.3v & 5.5V<br />
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight <br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector or internal<br />
* price : 52€<br />
|<br />
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]<br />
|<br />
|-<br />
|<br />
=== AC4790-1000 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-1000mW<br />
* Sensitivity (@ full RF data rate) -99dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 650 mA<br />
* Supply Voltage 3.3V only<br />
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna<br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector<br />
* price : 64€<br />
|}<br />
<br />
=== Pinout ===<br />
<br />
[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]<br />
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]<br />
<br style="clear:both"><br />
<br />
{| border="1"<br />
|+ Wiring the Laird AC4868 to the Tiny<br />
|-valign="top"<br />
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''<br />
|-<br />
||2||Tx||green||7||7||''(Note 1)''<br />
|-<br />
||3||Rx||blue||8||8||''(Note 1)''<br />
|-<br />
||5||GND||black||1||1|| -<br />
|-<br />
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''<br />
|-<br />
||17||C/D||white||3||?||Low = Command High = Data<br />
|}<br />
''Note 1 : names are specified with respect to the AEROCOMM module''<br />
<br />
''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''<br />
<br />
<br />
<br />
=== Laird RM024 ===<br />
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]<br />
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]<br />
The RM024 replaces the discontinued LT2510 (they are backwards compatible).<br />
<br />
General features:<br />
* Frequency Band 2.4GHz<br />
* Output Power 2,5mW - 125mW<br />
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps<br />
* RF Data Rate 280/500 kbps<br />
* UART up to 460800 baud<br />
* Power Draw 90mA - 180mA TX / 10mA RX<br />
* Supply Voltage 3.3v<br />
* Range up to 4000m<br />
* Dimensions 26 x 33 x 4mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)<br />
* Chip antenna, U.FL antenna connector or both<br />
* Price: 29-31€ @ mouser (SMD / XBEE header)<br />
<br />
Two different mounting/pinuts are available:<br/><br />
* smd version: can be soldered on a pcb<br/><br />
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)<br />
<br />
Available in two different output power versions:<br />
{|border="1"<br />
|-valign="top"<br />
||''value''||''50mW version''||''125mW version''<br />
|-<br />
|output power<br />
| 2,5 mW - 50 mW<br />
| 2,5 mW - 125 mW<br />
|-<br />
|output power dbm<br />
|4 dbm - 17 dbm<br />
|4 dbm - 21 dbm<br />
|-<br />
|TX drain<br />
|90mA<br />
|<180mA<br />
|-<br />
|max range (280kbps with 2 dbi antenna)<br />
|2400m<br />
|4000m<br />
|-<br />
|approval<br />
|CE for EU, FCC/IC for USA,<br />
Canada PRM122/123 also for Japan<br />
|FCC/IC for USA, Canada <br />
|}<br />
<br />
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.<br />
<br />
====Documentation====<br />
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual]<br/><br />
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual]<br/><br />
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]<br />
<br />
'''Setup'''<br />
<br />
Look at the [[Laird_RM024_setup page]]<br />
<br />
== Bluetooth ==<br />
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.<br />
{|<br />
|<br />
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===<br />
* Frequency Band 2.4GHz<br />
* Output Power 32 mW <br />
* RF Data Rate up to ~300 kbps in SPP<br />
* Interface Data Rate up to 921 kbps <br />
* Power Draw (typical) 50 mA TX / 40 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) 100 meters line-of-sight <br />
* Dimensions 26 x 13 x 2mm <br />
* Weight ~1.5 grams<br />
* Interface solder connector <br />
* price : 20€<br />
|<br />
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]<br />
|-<br />
|<br />
<br />
To connect to it, get the MAC address of the bluetooth modem<br />
<br />
me@mybox:~$ hcitool scan<br />
Scanning ...<br />
00:06:66:00:53:AD FireFly-53AD<br />
<br />
either make a virtual connection to a Bluetooth serial port each time you connect<br />
<br />
sudo rfcomm bind 0 00:06:66:00:53:AD<br />
<br />
or configure it once in /etc/bluetooth/rfcomm.conf<br />
<br />
rfcomm0 {<br />
bind yes;<br />
device 00:06:66:00:53:AD;<br />
}<br />
<br />
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.<br />
|}<br />
<br />
== WiFi ==<br />
<br />
== ESP8266 Chip Module ==<br />
<br />
[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]<br />
<br />
To have a simple connection from your GCS to your autopilot, one can use your GCS computer built-in WiFi to establish a dataconnection. THe only thing you need is a WiFimodule connected to your Autopilot dataport and a laptop or other GCS device with Wifi.<br />
<br />
Flash the Wifimodule with [https://github.com/beckdac/ESP8266-transparent-bridge transparent bridge firwmware] using [https://github.com/themadinventor/esptool esptool]. When connected through WiFi, you can use telnet to set the baud rate.<br />
<br />
<br />
telnet 192.168.4.1<br />
+++AT BAUD 57000<br />
<br />
To use with paparazzi GCS, the TCP signals need to be tunnelled to a virtual serial device. This was accomplished with the "socat" command<br />
<br />
$ socat -d -d PTY,link=/dev/mywifi TCP:192.168.4.1:23<br />
<br />
Satar up Paparazzi Center and make line like:<br />
<br />
<br style="clear:both"><br />
<br />
== Telemetry via Video Transmitter==<br />
<br />
[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]<br />
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. <br />
<br />
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.<br />
<br style="clear:both"><br />
<br />
<br />
== Antennas ==<br />
<br />
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.<br />
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]] <br />
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]] <br />
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]] <br />
<br style="clear:both"><br />
<br />
This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna<br />
<br />
[[Category:Hardware]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Modems&diff=20967Modems2016-03-04T07:56:49Z<p>Esden: /* SiLabs Si1000 SoC based modems */</p>
<hr />
<div>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 through 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.<br />
<br />
==General comparison==<br />
'''This is ONLY a comparison between modules on this page'''<br />
<br />
All modules listed here work without issue and are generally available.<br />
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" <br />
| align="center" style="background:#f0f0f0;"|'''Feature'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€<br />
|-<br />
| 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<br />
|}<br />
<br />
== Frequencies ==<br />
<br />
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)).<br />
<br />
You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. <br/><br />
Sending on a wrong frequency or with too much power may end in a serious lawsuit !<br />
<br />
Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]<br />
<br />
== HAM / CEPT Licence ==<br />
<br />
If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)<br />
<br />
You will learn about the radio technology, operational technology and legislation.<br/><br />
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!)<br/><br />
<br />
'''Licence Pros'''<br />
* You will be informed well about the (local and international) legislations.<br />
* You can transmit on a higher power (depends on frequency).<br />
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.<br />
* It will be easier to find faults in your radio systems.<br />
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else. <br />
* Well educated people respecting the legislation just looks much better in looks to UAV's :)<br />
<br />
'''Licence Cons'''<br />
* You will need to learn for the test (can be compared with a diverce licence).<br />
* The certificate and books will cost about 70€ (total, can vary !).<br />
* Maybe some costs (per year) for your call sign.<br />
<br />
=== CEPT Licence in Austria ===<br />
<br />
A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.<br />
<br />
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.<br />
<br />
The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.<br />
<br />
To be continued...<br />
<br />
=== Links ===<br />
<br />
[http://www.oevsv.at/ Austrian ÖVSV]<br/><br />
[http://www.darc.de/ German DARC]<br />
<br />
== Digi XBee modules ==<br />
<br />
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. <br />
<br />
Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna<br />
<br />
* XBee (PRO) ZB (the current series)<br />
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)<br />
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.<br />
<br />
These two also share the same hardware and can be converted from one to another by flashing a different firmware:<br />
* XBee-PRO 802.15.4 (formerly Series 1)<br />
* XBee-PRO DigiMesh 2.4<br />
<br />
'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''<br />
<br />
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.<br/><br />
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)<br />
<br />
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.<br />
<br />
=== Module Comparison ===<br />
{|border="1"<br />
|-valign="top"<br />
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''<br />
|-<br />
|'''XBee ZB'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet PRO 3.1 (ZigBee 2007)<br />
|2.4 GHz<br />
|2mW/50mW<br />
|coordinator needed<br />
|-<br />
|'''XBee ZNet 2.5'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet 2.5 ZigBee<br />
|2.4 GHz<br />
|2mW/50mW<br />
|(only legacy -> use XBee-PRO ZB) coordinator needed<br />
|-<br />
|'''XBee DigiMesh 2.4'''<br />
|<br />
|yes<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|all nodes equal (no special coordinators/routers/end-devices)<br />
|-<br />
|'''XBee 802.15.4'''<br />
|yes<br />
|<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|<br />
|-<br />
|'''XBee-PRO 868'''<br />
|yes<br />
|<br />
|?<br />
|<br />
|868 MHz<br />
|500mW<br />
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW<br />
|}<br />
<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]<br />
<br style="clear:both"><br />
<br />
{|border="1"<br />
|-valign="top"<br />
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||<br />
|-<br />
|1<br />
| +3.3v<br />
| Power<br />
|Red<br />
|-<br />
|2<br />
|DOUT<br />
|Tx output - connect to Autopilot Rx<br />
|Green<br />
|-<br />
|3<br />
|DIN<br />
|Rx input - connect to Autopilot Tx<br />
|Blue<br />
|-<br />
|10<br />
|GND<br />
| Ground<br />
|Black<br />
|}<br />
<br />
The image view is from above, top, thus NOT at the side where the connector pins come out<br />
<br />
Note : DTR and RTS need to be wired for upgrading firmware<br />
<br />
=== GCS Adaptation ===<br />
<br />
There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.<br/><br />
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.<br />
<br />
====Adafruit====<br />
<br />
[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]<br />
[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.<br />
<br />
<br style="clear:both"><br />
<br />
====Droids====<br />
<br />
[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]<br />
<br />
[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]<br />
<br />
[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]<br />
<br />
Simple breakout board with voltage regulator.<br />
<br />
[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]<br />
<br />
Adapter with FTDI chip for direct USB connection.<br />
<br />
<br style="clear:both"><br />
<br />
====PPZUAV====<br />
<br />
[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0]]<br />
<br />
[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link]<br/><br />
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.<br />
<br />
FTDI Utility Board 1.0 with FTDI232RL<br/><br />
On board XBEE connector and Molex Picoblade connectors. <br />
<br />
<br style="clear:both"><br />
<br />
====Sparkfun====<br />
<br />
[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]<br />
<br />
[http://www.sparkfun.com/products/8687 sparkfun.com]<br />
<br />
XBee Explorer USB with FTDI232RL<br />
<br />
<br style="clear:both"><br />
<br />
=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===<br />
*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.<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]<br />
|<br />
* Frequency Band 2.4GHz<br />
* Output Power 100mW (Xbee Pro)<br />
* Sensitivity -100 dBm <br />
* RF Data Rate Up to 250 Kbps<br />
* Interface data rate Up to 115.2 Kbps<br />
* Power Draw (typical) 214 mA TX / 55 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight <br />
* Dimensions 24 x 33mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector <br />
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)<br />
* Price: 16€, Pro 26€<br />
|<br />
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]<br />
|}<br />
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA]<br><br />
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.<br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]<br />
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]<br />
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]<br />
* 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)<br />
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].<br />
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]<br />
<br />
=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===<br />
<br />
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]<br />
|<br />
* Low-cost, low-power mesh networking<br />
* Interoperability with ZigBee PRO Feature Set devices from other vendors*<br />
* Support for larger, more dense mesh networks<br />
* 128-bit AES encryption<br />
* Frequency agility<br />
* Over-the-air firmware updates (change firmware remotely)<br />
* ISM 2.4 GHz operating frequency<br />
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)<br />
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)<br />
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna<br />
* price : 14€, Pro 28€<br />
|<br />
|}<br />
These are available from Mouser:<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA<br />
<br />
See [[XBee_configuration|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]<br />
<br />
=== Digi XBee Pro 868 ===<br />
<br />
'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''<br />
<br />
868MHz is a limited band. Please read the [[868MHz Issues]]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]<br />
|<br />
* 868 MHz short range device (SRD) G3 band for Europe<br />
* Software selectable Transmit Power<br />
* 40 km RF LOS w/ dipole antennas<br />
* 80 km RF LOS w/ high gain antennas (TX Power reduced)<br />
* Simple to use peer-to-peer/point-to-mulitpoint topology<br />
* 128-bit AES encryption<br />
* 500 mW EIRP<br />
* 24 kbps RF data rate<br />
* price : ~70 USD<br />
|<br />
|}<br />
<br />
See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]<br />
<br />
=== Digi XBee 868LP ===<br />
<br />
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<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]<br />
|<br />
* 868 MHz short range device (SRD) G4 band for Europe<br />
* 4 km RF LOS w/ u.fl antennas<br />
* 5 mW EIRP<br />
* 10 or 80 kbps RF data rate<br />
* price : 18€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [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]<br />
<br />
==== Trial ====<br />
<br />
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.<br />
<br />
=== Digi XBee Pro 900HP ===<br />
* Frequency band 900Mhz<br />
* RF rate 10 or 200 kbps<br />
* up to 250mW output power<br />
* 5 to 8 grams<br />
* price: 32€<br />
<br />
==== Documentation ====<br />
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]<br />
<br />
=== Digi XBee Pro XSC 900MHz ===<br />
<br />
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!<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]<br />
|<br />
* Frequency Band 900 MHz<br />
* Output Power 100 mW (+20 dBm)<br />
* Sensitivity -100 dBm <br />
* RF Rate: 10 or 20 kbps<br />
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight <br />
* Interface 20-pin mini connector (Xbee compatible pinout)<br />
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)<br />
* price : 32€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]<br />
<br />
==== Trials ====<br />
Tested one today and it worked great. Going to try a multiUAV test with it soon<br />
--Danstah<br />
<br><br />
<br><br />
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.<br />
--Danstah<br />
<br><br />
<br><br />
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<br />
<br />
=== Digi 9XTend ===<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]<br />
|<br />
* Frequency Band 900Mhz and 2.4Ghz (2 versions)<br />
* Output Power 1mW to 1W software selectable<br />
* Sensitivity -110 dBm (@ 9600 bps)<br />
* RF Data Rate 9.6 or 115.2 Kbps<br />
* Interface data rate up to 230.4 Kbps<br />
* Power Draw (typical) 730 mA TX / 80 mA RX <br />
* Supply Voltage 2.8 to 5.5v<br />
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight <br />
* Dimensions 36 x 60 x 5mm<br />
* Weight 18 grams<br />
* Interface 20-pin mini connector or USB<br />
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)<br />
* price : 150€<br />
|<br />
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]<br />
|}<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''<br />
|-<br />
||1||GND||1 (GND)||Ground <br />
|-<br />
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)<br />
|-<br />
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX<br />
|-<br />
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX<br />
|-<br />
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation<br />
|}<br />
Notes:<br><br />
* 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.<br />
<br style="clear:both"><br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]<br />
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]<br />
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]<br />
<br />
==== Configuration ====<br />
<br />
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.<br />
<br />
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.<br />
<br />
* Acknowledged Polling Mode ('''Recommended'''):<br />
** 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).<br />
* Acknowledged Point-to-(Multi)Point Mode:<br />
** 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.<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''<br />
|-<br />
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||<br />
|-<br />
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)<br />
|-<br />
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||MD||default||default||3 (0x03)||4 (0x04)||<br />
|-<br />
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)<br />
|-<br />
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)<br />
|-<br />
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''<br />
|-<br />
||RN||0 (0x00)||8 (0x08)||default||default||<br />
|-<br />
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||<br />
|}<br />
<br />
'''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.<br />
<br />
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]<br />
<br />
== SiLabs Si1000 SoC based modems ==<br />
<br />
[[Image:R0_V1_1_Top_Prototype.jpeg|thumb|left|R0 Sub GHz Telemetry Radio Modem]]<br />
<br />
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/RFDesign/SiK open source firmware] for these radios which makes them suitable for use in MAVs. <br />
<br />
The latest SiK firmware supports also mesh topologies.<br />
<br />
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. The new RFD868 also works in the European spectrum licenses (868 MHz) <br />
<br />
Note: When using a SiK firmware radio with Paparazzi, you should set "ATS6=0" (MavLink packing off) and configure Paparazzi for transparent serial mode. Better still create a special module to make full use of the RFDxxx modem.<br />
<br />
[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).<br />
<br />
Alternatively, for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system.<br />
<br />
The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example you use a small short range airframe with a ground station that is also used for long range operations.<br />
<br />
== Laird (ex Aerocom) ==<br />
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.<br />
<br />
How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|<br />
=== AC4790-200 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-200mW<br />
* Sensitivity (@ full RF data rate) -110dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 68 mA<br />
* Supply Voltage 3.3v & 5.5V<br />
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight <br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector or internal<br />
* price : 52€<br />
|<br />
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]<br />
|<br />
|-<br />
|<br />
=== AC4790-1000 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-1000mW<br />
* Sensitivity (@ full RF data rate) -99dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 650 mA<br />
* Supply Voltage 3.3V only<br />
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna<br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector<br />
* price : 64€<br />
|}<br />
<br />
=== Pinout ===<br />
<br />
[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]<br />
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]<br />
<br style="clear:both"><br />
<br />
{| border="1"<br />
|+ Wiring the Laird AC4868 to the Tiny<br />
|-valign="top"<br />
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''<br />
|-<br />
||2||Tx||green||7||7||''(Note 1)''<br />
|-<br />
||3||Rx||blue||8||8||''(Note 1)''<br />
|-<br />
||5||GND||black||1||1|| -<br />
|-<br />
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''<br />
|-<br />
||17||C/D||white||3||?||Low = Command High = Data<br />
|}<br />
''Note 1 : names are specified with respect to the AEROCOMM module''<br />
<br />
''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''<br />
<br />
<br />
<br />
=== Laird RM024 ===<br />
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]<br />
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]<br />
The RM024 replaces the discontinued LT2510 (they are backwards compatible).<br />
<br />
General features:<br />
* Frequency Band 2.4GHz<br />
* Output Power 2,5mW - 125mW<br />
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps<br />
* RF Data Rate 280/500 kbps<br />
* UART up to 460800 baud<br />
* Power Draw 90mA - 180mA TX / 10mA RX<br />
* Supply Voltage 3.3v<br />
* Range up to 4000m<br />
* Dimensions 26 x 33 x 4mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)<br />
* Chip antenna, U.FL antenna connector or both<br />
* Price: 29-31€ @ mouser (SMD / XBEE header)<br />
<br />
Two different mounting/pinuts are available:<br/><br />
* smd version: can be soldered on a pcb<br/><br />
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)<br />
<br />
Available in two different output power versions:<br />
{|border="1"<br />
|-valign="top"<br />
||''value''||''50mW version''||''125mW version''<br />
|-<br />
|output power<br />
| 2,5 mW - 50 mW<br />
| 2,5 mW - 125 mW<br />
|-<br />
|output power dbm<br />
|4 dbm - 17 dbm<br />
|4 dbm - 21 dbm<br />
|-<br />
|TX drain<br />
|90mA<br />
|<180mA<br />
|-<br />
|max range (280kbps with 2 dbi antenna)<br />
|2400m<br />
|4000m<br />
|-<br />
|approval<br />
|CE for EU, FCC/IC for USA,<br />
Canada PRM122/123 also for Japan<br />
|FCC/IC for USA, Canada <br />
|}<br />
<br />
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.<br />
<br />
====Documentation====<br />
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual]<br/><br />
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual]<br/><br />
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]<br />
<br />
'''Setup'''<br />
<br />
Look at the [[Laird_RM024_setup page]]<br />
<br />
== Bluetooth ==<br />
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.<br />
{|<br />
|<br />
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===<br />
* Frequency Band 2.4GHz<br />
* Output Power 32 mW <br />
* RF Data Rate up to ~300 kbps in SPP<br />
* Interface Data Rate up to 921 kbps <br />
* Power Draw (typical) 50 mA TX / 40 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) 100 meters line-of-sight <br />
* Dimensions 26 x 13 x 2mm <br />
* Weight ~1.5 grams<br />
* Interface solder connector <br />
* price : 20€<br />
|<br />
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]<br />
|-<br />
|<br />
<br />
To connect to it, get the MAC address of the bluetooth modem<br />
<br />
me@mybox:~$ hcitool scan<br />
Scanning ...<br />
00:06:66:00:53:AD FireFly-53AD<br />
<br />
either make a virtual connection to a Bluetooth serial port each time you connect<br />
<br />
sudo rfcomm bind 0 00:06:66:00:53:AD<br />
<br />
or configure it once in /etc/bluetooth/rfcomm.conf<br />
<br />
rfcomm0 {<br />
bind yes;<br />
device 00:06:66:00:53:AD;<br />
}<br />
<br />
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.<br />
|}<br />
<br />
== WiFi ==<br />
<br />
== ESP8266 Chip Module ==<br />
<br />
[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]<br />
<br />
To have a simple connection from your GCS to your autopilot, one can use your GCS computer built-in WiFi to establish a dataconnection. THe only thing you need is a WiFimodule connected to your Autopilot dataport and a laptop or other GCS device with Wifi.<br />
<br />
Flash the Wifimodule with [https://github.com/beckdac/ESP8266-transparent-bridge transparent bridge firwmware] using [https://github.com/themadinventor/esptool esptool]. When connected through WiFi, you can use telnet to set the baud rate.<br />
<br />
<br />
telnet 192.168.4.1<br />
+++AT BAUD 57000<br />
<br />
To use with paparazzi GCS, the TCP signals need to be tunnelled to a virtual serial device. This was accomplished with the "socat" command<br />
<br />
$ socat -d -d PTY,link=/dev/mywifi TCP:192.168.4.1:23<br />
<br />
Satar up Paparazzi Center and make line like:<br />
<br />
<br style="clear:both"><br />
<br />
== Telemetry via Video Transmitter==<br />
<br />
[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]<br />
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. <br />
<br />
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.<br />
<br style="clear:both"><br />
<br />
<br />
== Antennas ==<br />
<br />
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.<br />
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]] <br />
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]] <br />
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]] <br />
<br style="clear:both"><br />
<br />
This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna<br />
<br />
[[Category:Hardware]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Sensors/GPS&diff=20966Sensors/GPS2016-03-04T07:55:20Z<p>Esden: </p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree><br />
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div><br />
<br />
<br style="clear:both;" /><br />
<br />
=GPS Receivers=<br />
<br />
An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.<br />
<br style="clear:both;" /><br />
<br />
=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=<br />
<br />
[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|100px|thumb|left|G0 GPS]]<br />
<br />
[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.<br />
<br />
The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.<br />
<br />
The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.<br />
<br />
[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.<br />
<br />
For more information go to the [[G0|G0 GPS wiki page]].<br />
<br />
<br style="clear:both;" /><br />
<br />
=[http://swiftnav.com/ Swiftnav] Piksi=<br />
<br />
A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page<br />
[[Image:Piksi_GPS_back.jpg|100px|thumb|left|Swiftnav Piksi]]<br />
<br style="clear:both;" /><br />
<br />
=LS20031 GPS Receiver=<br />
<br />
[[Image:ls20031.jpg|100px|thumb|left|LS20031]]<br />
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).<br />
<br />
More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]<br />
<br style="clear:both;" /><br />
<br />
=Globalsat BU 353=<br />
<br />
[[Image:BU-353_gps_receiver.jpg|thumb|left|100px|BU-353 GPS receiver]]<br />
<br />
USB US Globalsat GPS-Mouse<br />
<br />
Typical Uses:<br />
<br />
* Parrot AR Drone 2.0<br />
* Ground Station GPS (direct support with Linux / gpsd)<br />
<br />
''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''<br />
<br />
Basic compatibility with Windows, Mac and Linux.<br/><br />
More information at the [[GPS/BU_353]] site.<br />
<br style="clear:both;" /><br />
<br />
=uBlox=<br />
<br />
[[Image:U-blox_color_warm_60.gif|100px]]<br />
[http://www.u-blox.com uBlox is a Swiss technology company] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.<br />
<br />
Why uBlox:<br />
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])<br />
*Small size<br />
*Excellent performance<br />
*Up to 10Hz update rate<br />
*Large amount of different modules<br />
*5V tolerant UART<br />
<br />
The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. <br />
<br />
{|align = center<br />
|-<br />
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]<br />
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]<br />
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]<br />
|}<br />
<br />
'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.<br />
<br />
==u-Blox LEA Series Receivers==<br />
<br />
<!-- [[Image:Lea big.jpg|200px|thumb|right|u-blox LEA]] --><br />
[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]<br />
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].<br />
<br />
<source lang="xml"><br />
<!-- autobaud - runtime configuration of - ROM-only modules: use ucenter-module to configure your UBlox with no cable nor windows u-center --><br />
<load name="gps_ubx_ucenter.xml" /><br />
</source><br />
<br />
*4Hz Position update rate<br />
*Supports active or passive antennas<br />
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]<br />
*Low position noise figure<br />
<br />
<br style="clear:both"><br />
<br />
==Paparazzi Stand-alone uBlox GPS Receivers==<br />
<br />
<gallery><br />
Image:Ppzgps13med01.jpg|Top<br />
Image:Ppzgps13_lrg_02.jpg|Bottom<br />
</gallery><br />
<p>Paparazzi source provides a design for an external GPS board. An external GPS board is required for Lisa, TWOG and Classix Autopilot board.<br />
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.</p><br />
<p><br />
The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module. <br />
</p><br />
<p><br />
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br><br />
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br><br />
See [[Get_Hardware|Get Hardware]] page for suppliers.<br />
</p><br />
<br />
===Wiring Diagram===<br />
<br />
{|align = none<br />
|-<br />
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]<br />
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]<br />
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]<br />
|}<br />
<br />
===uBlox to ARdrone 2===<br />
<br />
[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]<br />
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2<br />
<br style="clear:both;" /><br />
<br />
==3rd Party u-blox Reference Design Boards==<br />
<br />
<p><br />
[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]<br />
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well. <br />
</p><br />
<p><br />
The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART. <br />
</p><br />
<p><br />
The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.<br />
</p> <br />
<br />
<br style="clear:both;" /><br />
<br />
==NAVILOCK NL-507ETTL==<br />
<br />
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]<br />
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.<br />
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]<br />
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]<br />
<br style="clear:both;" /><br />
<br />
==SPK GS407==<br />
<br />
[[Image:GS407.jpg|thumb|left|SPK GS407]]<br />
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.<br />
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.<br />
<br style="clear:both;"/><br />
<br />
==u-blox NEO-6M==<br />
<br />
[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]<br />
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].<br />
<br />
They come with different (sized) patch antenna, mounted on a seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated by hand.<br />
<br style="clear:both;"/><br />
<br />
==Navilock NL-652ETTL==<br />
<br />
Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.<br />
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]<br />
<br />
==u-Blox C04-6H Reference Design==<br />
<br />
[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]<br />
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.<br />
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.<br />
<br style="clear:both;" /><br />
<br />
==uBlox GPS configuration==<br />
<br />
===using U-Center===<br />
<br />
''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.'' <br />
<br />
[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]<br />
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers. <br />
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]<br />
<br />
* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].<br />
<br />
* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].<br />
<br />
* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this:<br />
mkdir -p ~/.wine/dosdevices<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1<br />
<br />
or what worked in Ubuntu 9.10<br />
<br />
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1<br />
<br />
This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.<br />
<br />
''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''<br />
<br />
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with the $20 [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.<br />
<br />
* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.<br />
<br />
Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]). <br />
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]<br />
<br style="clear:both"><br />
<br />
===Uploading the Configuration File===<br />
<br />
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.<br />
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]<br />
* [[Media:Tim-LL-V5.zip|TIM-LL]]<br />
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]<br />
* [[Media:Hk_NEO-6M.zip| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]<br />
<br />
===Automatic Configuration at Startup===<br />
<br />
You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.<br />
<br />
===Manual Configuration===<br />
<br />
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.<br />
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:<br />
<br />
====LEA-4P====<br />
<br />
# Right Click on the '''NMEA''' Icon and choose '''disable child'''<br />
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)<br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver <br />
<br />
====LEA-5H====<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better</p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver<br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.<br />
<br />
#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).<br />
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.<br />
<br />
====LEA-6H====<br />
<br />
We use the same configuration as for version 5<br />
<br />
# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''<br />
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. <p> Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better </p><br />
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])<br />
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point<br />
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.<br />
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)<br />
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black<br />
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver.<p> Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])</p><br />
<br />
* Cycle the power and verify that the new configuration was saved<br />
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.<br />
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.<br />
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)<br />
<br />
==uBlox Tips==<br />
<br />
===Reset to Default Settings===<br />
<br />
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.<br />
<br />
===Invalid argument===<br />
<br />
Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")<br />
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].<br />
<br />
===WAAS issues===<br />
<br />
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.<br />
<br />
The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled. <br />
<br />
===Antenna options for the Tiny and Paparazzi GPS units===<br />
See [[GPS/Antenna]].<br />
<br />
=Tips=<br />
<br />
There is a huge amount of good information on the internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.<br />
<br />
==EGNOS==<br />
<br />
EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].<br />
<br />
For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"<br />
<br />
==DGPS (Differential GPS)==<br />
<br />
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].<br />
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.<br />
<br />
[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Modems&diff=20965Modems2016-03-04T07:52:27Z<p>Esden: /* SiLabs Si1000 SoC based modems */</p>
<hr />
<div>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 through 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.<br />
<br />
==General comparison==<br />
'''This is ONLY a comparison between modules on this page'''<br />
<br />
All modules listed here work without issue and are generally available.<br />
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" <br />
| align="center" style="background:#f0f0f0;"|'''Feature'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€<br />
|-<br />
| 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<br />
|}<br />
<br />
== Frequencies ==<br />
<br />
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)).<br />
<br />
You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. <br/><br />
Sending on a wrong frequency or with too much power may end in a serious lawsuit !<br />
<br />
Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]<br />
<br />
== HAM / CEPT Licence ==<br />
<br />
If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)<br />
<br />
You will learn about the radio technology, operational technology and legislation.<br/><br />
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!)<br/><br />
<br />
'''Licence Pros'''<br />
* You will be informed well about the (local and international) legislations.<br />
* You can transmit on a higher power (depends on frequency).<br />
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.<br />
* It will be easier to find faults in your radio systems.<br />
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else. <br />
* Well educated people respecting the legislation just looks much better in looks to UAV's :)<br />
<br />
'''Licence Cons'''<br />
* You will need to learn for the test (can be compared with a diverce licence).<br />
* The certificate and books will cost about 70€ (total, can vary !).<br />
* Maybe some costs (per year) for your call sign.<br />
<br />
=== CEPT Licence in Austria ===<br />
<br />
A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.<br />
<br />
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.<br />
<br />
The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.<br />
<br />
To be continued...<br />
<br />
=== Links ===<br />
<br />
[http://www.oevsv.at/ Austrian ÖVSV]<br/><br />
[http://www.darc.de/ German DARC]<br />
<br />
== Digi XBee modules ==<br />
<br />
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. <br />
<br />
Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna<br />
<br />
* XBee (PRO) ZB (the current series)<br />
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)<br />
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.<br />
<br />
These two also share the same hardware and can be converted from one to another by flashing a different firmware:<br />
* XBee-PRO 802.15.4 (formerly Series 1)<br />
* XBee-PRO DigiMesh 2.4<br />
<br />
'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''<br />
<br />
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.<br/><br />
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)<br />
<br />
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.<br />
<br />
=== Module Comparison ===<br />
{|border="1"<br />
|-valign="top"<br />
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''<br />
|-<br />
|'''XBee ZB'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet PRO 3.1 (ZigBee 2007)<br />
|2.4 GHz<br />
|2mW/50mW<br />
|coordinator needed<br />
|-<br />
|'''XBee ZNet 2.5'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet 2.5 ZigBee<br />
|2.4 GHz<br />
|2mW/50mW<br />
|(only legacy -> use XBee-PRO ZB) coordinator needed<br />
|-<br />
|'''XBee DigiMesh 2.4'''<br />
|<br />
|yes<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|all nodes equal (no special coordinators/routers/end-devices)<br />
|-<br />
|'''XBee 802.15.4'''<br />
|yes<br />
|<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|<br />
|-<br />
|'''XBee-PRO 868'''<br />
|yes<br />
|<br />
|?<br />
|<br />
|868 MHz<br />
|500mW<br />
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW<br />
|}<br />
<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]<br />
<br style="clear:both"><br />
<br />
{|border="1"<br />
|-valign="top"<br />
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||<br />
|-<br />
|1<br />
| +3.3v<br />
| Power<br />
|Red<br />
|-<br />
|2<br />
|DOUT<br />
|Tx output - connect to Autopilot Rx<br />
|Green<br />
|-<br />
|3<br />
|DIN<br />
|Rx input - connect to Autopilot Tx<br />
|Blue<br />
|-<br />
|10<br />
|GND<br />
| Ground<br />
|Black<br />
|}<br />
<br />
The image view is from above, top, thus NOT at the side where the connector pins come out<br />
<br />
Note : DTR and RTS need to be wired for upgrading firmware<br />
<br />
=== GCS Adaptation ===<br />
<br />
There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.<br/><br />
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.<br />
<br />
====Adafruit====<br />
<br />
[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]<br />
[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.<br />
<br />
<br style="clear:both"><br />
<br />
====Droids====<br />
<br />
[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]<br />
<br />
[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]<br />
<br />
[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]<br />
<br />
Simple breakout board with voltage regulator.<br />
<br />
[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]<br />
<br />
Adapter with FTDI chip for direct USB connection.<br />
<br />
<br style="clear:both"><br />
<br />
====PPZUAV====<br />
<br />
[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0]]<br />
<br />
[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link]<br/><br />
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.<br />
<br />
FTDI Utility Board 1.0 with FTDI232RL<br/><br />
On board XBEE connector and Molex Picoblade connectors. <br />
<br />
<br style="clear:both"><br />
<br />
====Sparkfun====<br />
<br />
[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]<br />
<br />
[http://www.sparkfun.com/products/8687 sparkfun.com]<br />
<br />
XBee Explorer USB with FTDI232RL<br />
<br />
<br style="clear:both"><br />
<br />
=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===<br />
*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.<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]<br />
|<br />
* Frequency Band 2.4GHz<br />
* Output Power 100mW (Xbee Pro)<br />
* Sensitivity -100 dBm <br />
* RF Data Rate Up to 250 Kbps<br />
* Interface data rate Up to 115.2 Kbps<br />
* Power Draw (typical) 214 mA TX / 55 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight <br />
* Dimensions 24 x 33mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector <br />
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)<br />
* Price: 16€, Pro 26€<br />
|<br />
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]<br />
|}<br />
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA]<br><br />
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.<br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]<br />
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]<br />
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]<br />
* 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)<br />
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].<br />
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]<br />
<br />
=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===<br />
<br />
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]<br />
|<br />
* Low-cost, low-power mesh networking<br />
* Interoperability with ZigBee PRO Feature Set devices from other vendors*<br />
* Support for larger, more dense mesh networks<br />
* 128-bit AES encryption<br />
* Frequency agility<br />
* Over-the-air firmware updates (change firmware remotely)<br />
* ISM 2.4 GHz operating frequency<br />
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)<br />
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)<br />
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna<br />
* price : 14€, Pro 28€<br />
|<br />
|}<br />
These are available from Mouser:<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA<br />
<br />
See [[XBee_configuration|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]<br />
<br />
=== Digi XBee Pro 868 ===<br />
<br />
'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''<br />
<br />
868MHz is a limited band. Please read the [[868MHz Issues]]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]<br />
|<br />
* 868 MHz short range device (SRD) G3 band for Europe<br />
* Software selectable Transmit Power<br />
* 40 km RF LOS w/ dipole antennas<br />
* 80 km RF LOS w/ high gain antennas (TX Power reduced)<br />
* Simple to use peer-to-peer/point-to-mulitpoint topology<br />
* 128-bit AES encryption<br />
* 500 mW EIRP<br />
* 24 kbps RF data rate<br />
* price : ~70 USD<br />
|<br />
|}<br />
<br />
See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]<br />
<br />
=== Digi XBee 868LP ===<br />
<br />
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<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]<br />
|<br />
* 868 MHz short range device (SRD) G4 band for Europe<br />
* 4 km RF LOS w/ u.fl antennas<br />
* 5 mW EIRP<br />
* 10 or 80 kbps RF data rate<br />
* price : 18€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [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]<br />
<br />
==== Trial ====<br />
<br />
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.<br />
<br />
=== Digi XBee Pro 900HP ===<br />
* Frequency band 900Mhz<br />
* RF rate 10 or 200 kbps<br />
* up to 250mW output power<br />
* 5 to 8 grams<br />
* price: 32€<br />
<br />
==== Documentation ====<br />
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]<br />
<br />
=== Digi XBee Pro XSC 900MHz ===<br />
<br />
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!<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]<br />
|<br />
* Frequency Band 900 MHz<br />
* Output Power 100 mW (+20 dBm)<br />
* Sensitivity -100 dBm <br />
* RF Rate: 10 or 20 kbps<br />
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight <br />
* Interface 20-pin mini connector (Xbee compatible pinout)<br />
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)<br />
* price : 32€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]<br />
<br />
==== Trials ====<br />
Tested one today and it worked great. Going to try a multiUAV test with it soon<br />
--Danstah<br />
<br><br />
<br><br />
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.<br />
--Danstah<br />
<br><br />
<br><br />
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<br />
<br />
=== Digi 9XTend ===<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]<br />
|<br />
* Frequency Band 900Mhz and 2.4Ghz (2 versions)<br />
* Output Power 1mW to 1W software selectable<br />
* Sensitivity -110 dBm (@ 9600 bps)<br />
* RF Data Rate 9.6 or 115.2 Kbps<br />
* Interface data rate up to 230.4 Kbps<br />
* Power Draw (typical) 730 mA TX / 80 mA RX <br />
* Supply Voltage 2.8 to 5.5v<br />
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight <br />
* Dimensions 36 x 60 x 5mm<br />
* Weight 18 grams<br />
* Interface 20-pin mini connector or USB<br />
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)<br />
* price : 150€<br />
|<br />
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]<br />
|}<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''<br />
|-<br />
||1||GND||1 (GND)||Ground <br />
|-<br />
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)<br />
|-<br />
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX<br />
|-<br />
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX<br />
|-<br />
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation<br />
|}<br />
Notes:<br><br />
* 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.<br />
<br style="clear:both"><br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]<br />
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]<br />
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]<br />
<br />
==== Configuration ====<br />
<br />
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.<br />
<br />
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.<br />
<br />
* Acknowledged Polling Mode ('''Recommended'''):<br />
** 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).<br />
* Acknowledged Point-to-(Multi)Point Mode:<br />
** 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.<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''<br />
|-<br />
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||<br />
|-<br />
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)<br />
|-<br />
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||MD||default||default||3 (0x03)||4 (0x04)||<br />
|-<br />
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)<br />
|-<br />
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)<br />
|-<br />
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''<br />
|-<br />
||RN||0 (0x00)||8 (0x08)||default||default||<br />
|-<br />
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||<br />
|}<br />
<br />
'''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.<br />
<br />
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]<br />
<br />
== SiLabs Si1000 SoC based modems ==<br />
<br />
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/RFDesign/SiK open source firmware] for these radios which makes them suitable for use in MAVs. <br />
<br />
The latest SiK firmware supports also mesh topologies.<br />
<br />
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. The new RFD868 also works in the European spectrum licenses (868 MHz) <br />
<br />
Note: When using a SiK firmware radio with Paparazzi, you should set "ATS6=0" (MavLink packing off) and configure Paparazzi for transparent serial mode. Better still create a special module to make full use of the RFDxxx modem.<br />
<br />
[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).<br />
<br />
Alternatively, for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system.<br />
<br />
The RFD900 can be paired with the [[R0]] radio that has only a single front-end. You can for example you use a small short range airframe with a ground station that is also used for long range operations.<br />
<br />
== Laird (ex Aerocom) ==<br />
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.<br />
<br />
How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|<br />
=== AC4790-200 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-200mW<br />
* Sensitivity (@ full RF data rate) -110dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 68 mA<br />
* Supply Voltage 3.3v & 5.5V<br />
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight <br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector or internal<br />
* price : 52€<br />
|<br />
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]<br />
|<br />
|-<br />
|<br />
=== AC4790-1000 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-1000mW<br />
* Sensitivity (@ full RF data rate) -99dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 650 mA<br />
* Supply Voltage 3.3V only<br />
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna<br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector<br />
* price : 64€<br />
|}<br />
<br />
=== Pinout ===<br />
<br />
[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]<br />
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]<br />
<br style="clear:both"><br />
<br />
{| border="1"<br />
|+ Wiring the Laird AC4868 to the Tiny<br />
|-valign="top"<br />
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''<br />
|-<br />
||2||Tx||green||7||7||''(Note 1)''<br />
|-<br />
||3||Rx||blue||8||8||''(Note 1)''<br />
|-<br />
||5||GND||black||1||1|| -<br />
|-<br />
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''<br />
|-<br />
||17||C/D||white||3||?||Low = Command High = Data<br />
|}<br />
''Note 1 : names are specified with respect to the AEROCOMM module''<br />
<br />
''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''<br />
<br />
<br />
<br />
=== Laird RM024 ===<br />
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]<br />
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]<br />
The RM024 replaces the discontinued LT2510 (they are backwards compatible).<br />
<br />
General features:<br />
* Frequency Band 2.4GHz<br />
* Output Power 2,5mW - 125mW<br />
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps<br />
* RF Data Rate 280/500 kbps<br />
* UART up to 460800 baud<br />
* Power Draw 90mA - 180mA TX / 10mA RX<br />
* Supply Voltage 3.3v<br />
* Range up to 4000m<br />
* Dimensions 26 x 33 x 4mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)<br />
* Chip antenna, U.FL antenna connector or both<br />
* Price: 29-31€ @ mouser (SMD / XBEE header)<br />
<br />
Two different mounting/pinuts are available:<br/><br />
* smd version: can be soldered on a pcb<br/><br />
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)<br />
<br />
Available in two different output power versions:<br />
{|border="1"<br />
|-valign="top"<br />
||''value''||''50mW version''||''125mW version''<br />
|-<br />
|output power<br />
| 2,5 mW - 50 mW<br />
| 2,5 mW - 125 mW<br />
|-<br />
|output power dbm<br />
|4 dbm - 17 dbm<br />
|4 dbm - 21 dbm<br />
|-<br />
|TX drain<br />
|90mA<br />
|<180mA<br />
|-<br />
|max range (280kbps with 2 dbi antenna)<br />
|2400m<br />
|4000m<br />
|-<br />
|approval<br />
|CE for EU, FCC/IC for USA,<br />
Canada PRM122/123 also for Japan<br />
|FCC/IC for USA, Canada <br />
|}<br />
<br />
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.<br />
<br />
====Documentation====<br />
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual]<br/><br />
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual]<br/><br />
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]<br />
<br />
'''Setup'''<br />
<br />
Look at the [[Laird_RM024_setup page]]<br />
<br />
== Bluetooth ==<br />
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.<br />
{|<br />
|<br />
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===<br />
* Frequency Band 2.4GHz<br />
* Output Power 32 mW <br />
* RF Data Rate up to ~300 kbps in SPP<br />
* Interface Data Rate up to 921 kbps <br />
* Power Draw (typical) 50 mA TX / 40 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) 100 meters line-of-sight <br />
* Dimensions 26 x 13 x 2mm <br />
* Weight ~1.5 grams<br />
* Interface solder connector <br />
* price : 20€<br />
|<br />
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]<br />
|-<br />
|<br />
<br />
To connect to it, get the MAC address of the bluetooth modem<br />
<br />
me@mybox:~$ hcitool scan<br />
Scanning ...<br />
00:06:66:00:53:AD FireFly-53AD<br />
<br />
either make a virtual connection to a Bluetooth serial port each time you connect<br />
<br />
sudo rfcomm bind 0 00:06:66:00:53:AD<br />
<br />
or configure it once in /etc/bluetooth/rfcomm.conf<br />
<br />
rfcomm0 {<br />
bind yes;<br />
device 00:06:66:00:53:AD;<br />
}<br />
<br />
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.<br />
|}<br />
<br />
== WiFi ==<br />
<br />
== ESP8266 Chip Module ==<br />
<br />
[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]<br />
<br />
To have a simple connection from your GCS to your autopilot, one can use your GCS computer built-in WiFi to establish a dataconnection. THe only thing you need is a WiFimodule connected to your Autopilot dataport and a laptop or other GCS device with Wifi.<br />
<br />
Flash the Wifimodule with [https://github.com/beckdac/ESP8266-transparent-bridge transparent bridge firwmware] using [https://github.com/themadinventor/esptool esptool]. When connected through WiFi, you can use telnet to set the baud rate.<br />
<br />
<br />
telnet 192.168.4.1<br />
+++AT BAUD 57000<br />
<br />
To use with paparazzi GCS, the TCP signals need to be tunnelled to a virtual serial device. This was accomplished with the "socat" command<br />
<br />
$ socat -d -d PTY,link=/dev/mywifi TCP:192.168.4.1:23<br />
<br />
Satar up Paparazzi Center and make line like:<br />
<br />
<br style="clear:both"><br />
<br />
== Telemetry via Video Transmitter==<br />
<br />
[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]<br />
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. <br />
<br />
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.<br />
<br style="clear:both"><br />
<br />
<br />
== Antennas ==<br />
<br />
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.<br />
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]] <br />
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]] <br />
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]] <br />
<br style="clear:both"><br />
<br />
This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna<br />
<br />
[[Category:Hardware]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Modems&diff=20964Modems2016-03-04T07:51:16Z<p>Esden: /* SiLabs Si1000 SoC based modems */</p>
<hr />
<div>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 through 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.<br />
<br />
==General comparison==<br />
'''This is ONLY a comparison between modules on this page'''<br />
<br />
All modules listed here work without issue and are generally available.<br />
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" <br />
| align="center" style="background:#f0f0f0;"|'''Feature'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€<br />
|-<br />
| 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<br />
|}<br />
<br />
== Frequencies ==<br />
<br />
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)).<br />
<br />
You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. <br/><br />
Sending on a wrong frequency or with too much power may end in a serious lawsuit !<br />
<br />
Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]<br />
<br />
== HAM / CEPT Licence ==<br />
<br />
If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)<br />
<br />
You will learn about the radio technology, operational technology and legislation.<br/><br />
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!)<br/><br />
<br />
'''Licence Pros'''<br />
* You will be informed well about the (local and international) legislations.<br />
* You can transmit on a higher power (depends on frequency).<br />
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.<br />
* It will be easier to find faults in your radio systems.<br />
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else. <br />
* Well educated people respecting the legislation just looks much better in looks to UAV's :)<br />
<br />
'''Licence Cons'''<br />
* You will need to learn for the test (can be compared with a diverce licence).<br />
* The certificate and books will cost about 70€ (total, can vary !).<br />
* Maybe some costs (per year) for your call sign.<br />
<br />
=== CEPT Licence in Austria ===<br />
<br />
A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.<br />
<br />
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.<br />
<br />
The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.<br />
<br />
To be continued...<br />
<br />
=== Links ===<br />
<br />
[http://www.oevsv.at/ Austrian ÖVSV]<br/><br />
[http://www.darc.de/ German DARC]<br />
<br />
== Digi XBee modules ==<br />
<br />
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. <br />
<br />
Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna<br />
<br />
* XBee (PRO) ZB (the current series)<br />
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)<br />
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.<br />
<br />
These two also share the same hardware and can be converted from one to another by flashing a different firmware:<br />
* XBee-PRO 802.15.4 (formerly Series 1)<br />
* XBee-PRO DigiMesh 2.4<br />
<br />
'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''<br />
<br />
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.<br/><br />
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)<br />
<br />
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.<br />
<br />
=== Module Comparison ===<br />
{|border="1"<br />
|-valign="top"<br />
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''<br />
|-<br />
|'''XBee ZB'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet PRO 3.1 (ZigBee 2007)<br />
|2.4 GHz<br />
|2mW/50mW<br />
|coordinator needed<br />
|-<br />
|'''XBee ZNet 2.5'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet 2.5 ZigBee<br />
|2.4 GHz<br />
|2mW/50mW<br />
|(only legacy -> use XBee-PRO ZB) coordinator needed<br />
|-<br />
|'''XBee DigiMesh 2.4'''<br />
|<br />
|yes<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|all nodes equal (no special coordinators/routers/end-devices)<br />
|-<br />
|'''XBee 802.15.4'''<br />
|yes<br />
|<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|<br />
|-<br />
|'''XBee-PRO 868'''<br />
|yes<br />
|<br />
|?<br />
|<br />
|868 MHz<br />
|500mW<br />
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW<br />
|}<br />
<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]<br />
<br style="clear:both"><br />
<br />
{|border="1"<br />
|-valign="top"<br />
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||<br />
|-<br />
|1<br />
| +3.3v<br />
| Power<br />
|Red<br />
|-<br />
|2<br />
|DOUT<br />
|Tx output - connect to Autopilot Rx<br />
|Green<br />
|-<br />
|3<br />
|DIN<br />
|Rx input - connect to Autopilot Tx<br />
|Blue<br />
|-<br />
|10<br />
|GND<br />
| Ground<br />
|Black<br />
|}<br />
<br />
The image view is from above, top, thus NOT at the side where the connector pins come out<br />
<br />
Note : DTR and RTS need to be wired for upgrading firmware<br />
<br />
=== GCS Adaptation ===<br />
<br />
There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.<br/><br />
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.<br />
<br />
====Adafruit====<br />
<br />
[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]<br />
[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.<br />
<br />
<br style="clear:both"><br />
<br />
====Droids====<br />
<br />
[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]<br />
<br />
[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]<br />
<br />
[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]<br />
<br />
Simple breakout board with voltage regulator.<br />
<br />
[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]<br />
<br />
Adapter with FTDI chip for direct USB connection.<br />
<br />
<br style="clear:both"><br />
<br />
====PPZUAV====<br />
<br />
[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0]]<br />
<br />
[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link]<br/><br />
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.<br />
<br />
FTDI Utility Board 1.0 with FTDI232RL<br/><br />
On board XBEE connector and Molex Picoblade connectors. <br />
<br />
<br style="clear:both"><br />
<br />
====Sparkfun====<br />
<br />
[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]<br />
<br />
[http://www.sparkfun.com/products/8687 sparkfun.com]<br />
<br />
XBee Explorer USB with FTDI232RL<br />
<br />
<br style="clear:both"><br />
<br />
=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===<br />
*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.<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]<br />
|<br />
* Frequency Band 2.4GHz<br />
* Output Power 100mW (Xbee Pro)<br />
* Sensitivity -100 dBm <br />
* RF Data Rate Up to 250 Kbps<br />
* Interface data rate Up to 115.2 Kbps<br />
* Power Draw (typical) 214 mA TX / 55 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight <br />
* Dimensions 24 x 33mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector <br />
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)<br />
* Price: 16€, Pro 26€<br />
|<br />
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]<br />
|}<br />
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA]<br><br />
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.<br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]<br />
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]<br />
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]<br />
* 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)<br />
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].<br />
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]<br />
<br />
=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===<br />
<br />
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]<br />
|<br />
* Low-cost, low-power mesh networking<br />
* Interoperability with ZigBee PRO Feature Set devices from other vendors*<br />
* Support for larger, more dense mesh networks<br />
* 128-bit AES encryption<br />
* Frequency agility<br />
* Over-the-air firmware updates (change firmware remotely)<br />
* ISM 2.4 GHz operating frequency<br />
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)<br />
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)<br />
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna<br />
* price : 14€, Pro 28€<br />
|<br />
|}<br />
These are available from Mouser:<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA<br />
<br />
See [[XBee_configuration|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]<br />
<br />
=== Digi XBee Pro 868 ===<br />
<br />
'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''<br />
<br />
868MHz is a limited band. Please read the [[868MHz Issues]]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]<br />
|<br />
* 868 MHz short range device (SRD) G3 band for Europe<br />
* Software selectable Transmit Power<br />
* 40 km RF LOS w/ dipole antennas<br />
* 80 km RF LOS w/ high gain antennas (TX Power reduced)<br />
* Simple to use peer-to-peer/point-to-mulitpoint topology<br />
* 128-bit AES encryption<br />
* 500 mW EIRP<br />
* 24 kbps RF data rate<br />
* price : ~70 USD<br />
|<br />
|}<br />
<br />
See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]<br />
<br />
=== Digi XBee 868LP ===<br />
<br />
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<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]<br />
|<br />
* 868 MHz short range device (SRD) G4 band for Europe<br />
* 4 km RF LOS w/ u.fl antennas<br />
* 5 mW EIRP<br />
* 10 or 80 kbps RF data rate<br />
* price : 18€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [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]<br />
<br />
==== Trial ====<br />
<br />
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.<br />
<br />
=== Digi XBee Pro 900HP ===<br />
* Frequency band 900Mhz<br />
* RF rate 10 or 200 kbps<br />
* up to 250mW output power<br />
* 5 to 8 grams<br />
* price: 32€<br />
<br />
==== Documentation ====<br />
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]<br />
<br />
=== Digi XBee Pro XSC 900MHz ===<br />
<br />
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!<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]<br />
|<br />
* Frequency Band 900 MHz<br />
* Output Power 100 mW (+20 dBm)<br />
* Sensitivity -100 dBm <br />
* RF Rate: 10 or 20 kbps<br />
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight <br />
* Interface 20-pin mini connector (Xbee compatible pinout)<br />
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)<br />
* price : 32€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]<br />
<br />
==== Trials ====<br />
Tested one today and it worked great. Going to try a multiUAV test with it soon<br />
--Danstah<br />
<br><br />
<br><br />
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.<br />
--Danstah<br />
<br><br />
<br><br />
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<br />
<br />
=== Digi 9XTend ===<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]<br />
|<br />
* Frequency Band 900Mhz and 2.4Ghz (2 versions)<br />
* Output Power 1mW to 1W software selectable<br />
* Sensitivity -110 dBm (@ 9600 bps)<br />
* RF Data Rate 9.6 or 115.2 Kbps<br />
* Interface data rate up to 230.4 Kbps<br />
* Power Draw (typical) 730 mA TX / 80 mA RX <br />
* Supply Voltage 2.8 to 5.5v<br />
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight <br />
* Dimensions 36 x 60 x 5mm<br />
* Weight 18 grams<br />
* Interface 20-pin mini connector or USB<br />
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)<br />
* price : 150€<br />
|<br />
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]<br />
|}<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''<br />
|-<br />
||1||GND||1 (GND)||Ground <br />
|-<br />
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)<br />
|-<br />
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX<br />
|-<br />
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX<br />
|-<br />
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation<br />
|}<br />
Notes:<br><br />
* 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.<br />
<br style="clear:both"><br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]<br />
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]<br />
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]<br />
<br />
==== Configuration ====<br />
<br />
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.<br />
<br />
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.<br />
<br />
* Acknowledged Polling Mode ('''Recommended'''):<br />
** 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).<br />
* Acknowledged Point-to-(Multi)Point Mode:<br />
** 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.<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''<br />
|-<br />
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||<br />
|-<br />
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)<br />
|-<br />
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||MD||default||default||3 (0x03)||4 (0x04)||<br />
|-<br />
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)<br />
|-<br />
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)<br />
|-<br />
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''<br />
|-<br />
||RN||0 (0x00)||8 (0x08)||default||default||<br />
|-<br />
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||<br />
|}<br />
<br />
'''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.<br />
<br />
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]<br />
<br />
== SiLabs Si1000 SoC based modems ==<br />
<br />
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/RFDesign/SiK open source firmware] for these radios which makes them suitable for use in MAVs. <br />
<br />
The latest SiK firmware supports also mesh topologies.<br />
<br />
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. The new RFD868 also works in the European spectrum licenses (868 MHz) <br />
<br />
Note: When using a SiK firmware radio with Paparazzi, you should set "ATS6=0" (MavLink packing off) and configure Paparazzi for transparent serial mode. Better still create a special module to make full use of the RFDxxx modem.<br />
<br />
[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).<br />
<br />
Alternatively, for shorter range a pair of HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system.<br />
<br />
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.<br />
<br />
== Laird (ex Aerocom) ==<br />
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.<br />
<br />
How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|<br />
=== AC4790-200 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-200mW<br />
* Sensitivity (@ full RF data rate) -110dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 68 mA<br />
* Supply Voltage 3.3v & 5.5V<br />
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight <br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector or internal<br />
* price : 52€<br />
|<br />
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]<br />
|<br />
|-<br />
|<br />
=== AC4790-1000 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-1000mW<br />
* Sensitivity (@ full RF data rate) -99dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 650 mA<br />
* Supply Voltage 3.3V only<br />
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna<br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector<br />
* price : 64€<br />
|}<br />
<br />
=== Pinout ===<br />
<br />
[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]<br />
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]<br />
<br style="clear:both"><br />
<br />
{| border="1"<br />
|+ Wiring the Laird AC4868 to the Tiny<br />
|-valign="top"<br />
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''<br />
|-<br />
||2||Tx||green||7||7||''(Note 1)''<br />
|-<br />
||3||Rx||blue||8||8||''(Note 1)''<br />
|-<br />
||5||GND||black||1||1|| -<br />
|-<br />
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''<br />
|-<br />
||17||C/D||white||3||?||Low = Command High = Data<br />
|}<br />
''Note 1 : names are specified with respect to the AEROCOMM module''<br />
<br />
''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''<br />
<br />
<br />
<br />
=== Laird RM024 ===<br />
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]<br />
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]<br />
The RM024 replaces the discontinued LT2510 (they are backwards compatible).<br />
<br />
General features:<br />
* Frequency Band 2.4GHz<br />
* Output Power 2,5mW - 125mW<br />
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps<br />
* RF Data Rate 280/500 kbps<br />
* UART up to 460800 baud<br />
* Power Draw 90mA - 180mA TX / 10mA RX<br />
* Supply Voltage 3.3v<br />
* Range up to 4000m<br />
* Dimensions 26 x 33 x 4mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)<br />
* Chip antenna, U.FL antenna connector or both<br />
* Price: 29-31€ @ mouser (SMD / XBEE header)<br />
<br />
Two different mounting/pinuts are available:<br/><br />
* smd version: can be soldered on a pcb<br/><br />
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)<br />
<br />
Available in two different output power versions:<br />
{|border="1"<br />
|-valign="top"<br />
||''value''||''50mW version''||''125mW version''<br />
|-<br />
|output power<br />
| 2,5 mW - 50 mW<br />
| 2,5 mW - 125 mW<br />
|-<br />
|output power dbm<br />
|4 dbm - 17 dbm<br />
|4 dbm - 21 dbm<br />
|-<br />
|TX drain<br />
|90mA<br />
|<180mA<br />
|-<br />
|max range (280kbps with 2 dbi antenna)<br />
|2400m<br />
|4000m<br />
|-<br />
|approval<br />
|CE for EU, FCC/IC for USA,<br />
Canada PRM122/123 also for Japan<br />
|FCC/IC for USA, Canada <br />
|}<br />
<br />
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.<br />
<br />
====Documentation====<br />
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual]<br/><br />
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual]<br/><br />
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]<br />
<br />
'''Setup'''<br />
<br />
Look at the [[Laird_RM024_setup page]]<br />
<br />
== Bluetooth ==<br />
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.<br />
{|<br />
|<br />
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===<br />
* Frequency Band 2.4GHz<br />
* Output Power 32 mW <br />
* RF Data Rate up to ~300 kbps in SPP<br />
* Interface Data Rate up to 921 kbps <br />
* Power Draw (typical) 50 mA TX / 40 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) 100 meters line-of-sight <br />
* Dimensions 26 x 13 x 2mm <br />
* Weight ~1.5 grams<br />
* Interface solder connector <br />
* price : 20€<br />
|<br />
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]<br />
|-<br />
|<br />
<br />
To connect to it, get the MAC address of the bluetooth modem<br />
<br />
me@mybox:~$ hcitool scan<br />
Scanning ...<br />
00:06:66:00:53:AD FireFly-53AD<br />
<br />
either make a virtual connection to a Bluetooth serial port each time you connect<br />
<br />
sudo rfcomm bind 0 00:06:66:00:53:AD<br />
<br />
or configure it once in /etc/bluetooth/rfcomm.conf<br />
<br />
rfcomm0 {<br />
bind yes;<br />
device 00:06:66:00:53:AD;<br />
}<br />
<br />
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.<br />
|}<br />
<br />
== WiFi ==<br />
<br />
== ESP8266 Chip Module ==<br />
<br />
[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]<br />
<br />
To have a simple connection from your GCS to your autopilot, one can use your GCS computer built-in WiFi to establish a dataconnection. THe only thing you need is a WiFimodule connected to your Autopilot dataport and a laptop or other GCS device with Wifi.<br />
<br />
Flash the Wifimodule with [https://github.com/beckdac/ESP8266-transparent-bridge transparent bridge firwmware] using [https://github.com/themadinventor/esptool esptool]. When connected through WiFi, you can use telnet to set the baud rate.<br />
<br />
<br />
telnet 192.168.4.1<br />
+++AT BAUD 57000<br />
<br />
To use with paparazzi GCS, the TCP signals need to be tunnelled to a virtual serial device. This was accomplished with the "socat" command<br />
<br />
$ socat -d -d PTY,link=/dev/mywifi TCP:192.168.4.1:23<br />
<br />
Satar up Paparazzi Center and make line like:<br />
<br />
<br style="clear:both"><br />
<br />
== Telemetry via Video Transmitter==<br />
<br />
[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]<br />
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. <br />
<br />
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.<br />
<br style="clear:both"><br />
<br />
<br />
== Antennas ==<br />
<br />
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.<br />
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]] <br />
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]] <br />
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]] <br />
<br style="clear:both"><br />
<br />
This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna<br />
<br />
[[Category:Hardware]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=Modems&diff=20963Modems2016-03-04T07:50:44Z<p>Esden: /* SiLabs Si1000 SoC based modems */</p>
<hr />
<div>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 through 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.<br />
<br />
==General comparison==<br />
'''This is ONLY a comparison between modules on this page'''<br />
<br />
All modules listed here work without issue and are generally available.<br />
{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" <br />
| align="center" style="background:#f0f0f0;"|'''Feature'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_DigiMesh_.2F_802.15.4_.28.22Series_1.22.29|XBee Pro Series 1]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_ZB_.2F_ZNet_2.5_.28.22Series_2.22.29|XBee Pro Series 2]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_868LP|XBee 868LP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_900HP|XBee Pro 900HP]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_XBee_Pro_XSC_900MHz|XBee Pro XSC 900]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Digi_9XTend|Digi 9XTend]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#SiLabs_Si1000_SoC_based_modems|SiLabs Si1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-200|Aerocom AC4790-200]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#AC4790-1000|Aerocom AC4790-1000]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 50mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#Laird_RM024|Laird RM024 125mW]]'''<br />
| align="center" style="background:#f0f0f0;"|'''[[Modems#RN-41_Bluetooth_module.28Sparkfun.27s_WRL-08497.29|RN-41 Bluetooth]]'''<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| 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<br />
|-<br />
| style="background:#f0f0f0;"|'''price'''||16€||26€||14€||28€||18€||32€||32€||150€||4€||52€||64€||30€||30€||20€<br />
|-<br />
| 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<br />
|}<br />
<br />
== Frequencies ==<br />
<br />
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)).<br />
<br />
You may want to inform yourself about your countries laws ! Different countries allow different frequencies at different power. <br/><br />
Sending on a wrong frequency or with too much power may end in a serious lawsuit !<br />
<br />
Digi: [http://www.digi.com/technology/rfmodems/agencyapprovals Government Agency Certifications]<br />
<br />
== HAM / CEPT Licence ==<br />
<br />
If possible, consider making a HAM radio (amateur radio) licence. (e.g. CEPT, depends on your locality)<br />
<br />
You will learn about the radio technology, operational technology and legislation.<br/><br />
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!)<br/><br />
<br />
'''Licence Pros'''<br />
* You will be informed well about the (local and international) legislations.<br />
* You can transmit on a higher power (depends on frequency).<br />
* You will learn a lot about the techniques and be more than a standard "consumer" of radio electronic products.<br />
* It will be easier to find faults in your radio systems.<br />
* You can build (if you want) high gain/focused antennas which can give you a better signal, wider range and won't disturb anyone else. <br />
* Well educated people respecting the legislation just looks much better in looks to UAV's :)<br />
<br />
'''Licence Cons'''<br />
* You will need to learn for the test (can be compared with a diverce licence).<br />
* The certificate and books will cost about 70€ (total, can vary !).<br />
* Maybe some costs (per year) for your call sign.<br />
<br />
=== CEPT Licence in Austria ===<br />
<br />
A short description about getting the CEPT 1 (not the CEPT Novice !) licence in Austria.<br />
<br />
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.<br />
<br />
The are (regularly?) HAM licence courses at the https://metalab.at/ in Vienna.<br />
<br />
To be continued...<br />
<br />
=== Links ===<br />
<br />
[http://www.oevsv.at/ Austrian ÖVSV]<br/><br />
[http://www.darc.de/ German DARC]<br />
<br />
== Digi XBee modules ==<br />
<br />
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. <br />
<br />
Four antenna options are offered: RP-SMA, U-FL, wire antenna, chip antenna<br />
<br />
* XBee (PRO) ZB (the current series)<br />
* XBee (PRO) ZNet 2.5 (formerly Series 2) (only legacy -> use XBee-PRO ZB)<br />
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.<br />
<br />
These two also share the same hardware and can be converted from one to another by flashing a different firmware:<br />
* XBee-PRO 802.15.4 (formerly Series 1)<br />
* XBee-PRO DigiMesh 2.4<br />
<br />
'''Note: Modules based on Freescale chipset (formerly Series 1) are not compatible with Ember chipset based modules (Series 2).'''<br />
<br />
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.<br/><br />
Modules with Zigbee firmware are needed for mesh functionality(communication between the UAV's)<br />
<br />
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.<br />
<br />
=== Module Comparison ===<br />
{|border="1"<br />
|-valign="top"<br />
||'''Module'''||'''Point-to-Multipoint'''||'''ZigBee/Mesh'''||'''Chipset'''|||'''Software stack'''||'''Frequency'''||'''TX Power normal/PRO'''||'''Notes'''<br />
|-<br />
|'''XBee ZB'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet PRO 3.1 (ZigBee 2007)<br />
|2.4 GHz<br />
|2mW/50mW<br />
|coordinator needed<br />
|-<br />
|'''XBee ZNet 2.5'''<br />
|<br />
|yes<br />
|Ember<br />
|EmberZNet 2.5 ZigBee<br />
|2.4 GHz<br />
|2mW/50mW<br />
|(only legacy -> use XBee-PRO ZB) coordinator needed<br />
|-<br />
|'''XBee DigiMesh 2.4'''<br />
|<br />
|yes<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|all nodes equal (no special coordinators/routers/end-devices)<br />
|-<br />
|'''XBee 802.15.4'''<br />
|yes<br />
|<br />
|Freescale<br />
|<br />
|2.4 GHz<br />
|<br />
|<br />
|-<br />
|'''XBee-PRO 868'''<br />
|yes<br />
|<br />
|?<br />
|<br />
|868 MHz<br />
|500mW<br />
|Only High Power Frequency allowed in the UK. 2.4GHz limited to 10mW<br />
|}<br />
<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]<br />
<br style="clear:both"><br />
<br />
{|border="1"<br />
|-valign="top"<br />
||''Xbee 20-pin Header''||''Name''||''Notes''||''Suggested Color''||<br />
|-<br />
|1<br />
| +3.3v<br />
| Power<br />
|Red<br />
|-<br />
|2<br />
|DOUT<br />
|Tx output - connect to Autopilot Rx<br />
|Green<br />
|-<br />
|3<br />
|DIN<br />
|Rx input - connect to Autopilot Tx<br />
|Blue<br />
|-<br />
|10<br />
|GND<br />
| Ground<br />
|Black<br />
|}<br />
<br />
The image view is from above, top, thus NOT at the side where the connector pins come out<br />
<br />
Note : DTR and RTS need to be wired for upgrading firmware<br />
<br />
=== GCS Adaptation ===<br />
<br />
There are several vendors of hardware to connect the ground XBee radio modem to the GCS computer.<br/><br />
More information about general USB-Serial adapters can be found on the [[Serial_Adapter]] page.<br />
<br />
====Adafruit====<br />
<br />
[[Image:xbeeadapter_LRG.jpg|thumb|left|Adafruit XBee adapter board]][[Image:xbeeadapterftdi_LRG.jpg|thumb|Adafruit XBee adapter with FTDI cable]]<br />
[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.<br />
<br />
<br style="clear:both"><br />
<br />
====Droids====<br />
<br />
[[Image:XBee_Simple_Board.jpg|thumb|left|XBee Simple Board]]<br />
<br />
[[Image:XBee_USB_Board.jpg|thumb|left|XBee USB Board]]<br />
<br />
[http://www.droids.it/cmsvb4/content.php?143-990.001-XBee-Simple-Board XBee Simple Board]<br />
<br />
Simple breakout board with voltage regulator.<br />
<br />
[http://www.droids.it/cmsvb4/content.php?152-990.002-XBee-USB-Board XBee USB Board]<br />
<br />
Adapter with FTDI chip for direct USB connection.<br />
<br />
<br style="clear:both"><br />
<br />
====PPZUAV====<br />
<br />
[[Image:FTDI_Utility_Board.jpg|thumb|left|FTDI Utility Board 1.0]]<br />
<br />
[https://www.ppzuav.com/osc/product_info.php?products_id=111 ppzuav.com product link]<br/><br />
More information at the [[Serial_Adapter#FTDI_utility_Board]] page.<br />
<br />
FTDI Utility Board 1.0 with FTDI232RL<br/><br />
On board XBEE connector and Molex Picoblade connectors. <br />
<br />
<br style="clear:both"><br />
<br />
====Sparkfun====<br />
<br />
[[Image:XBee_Explorer_USB.jpg|thumb|left|XBee Explorer USB]]<br />
<br />
[http://www.sparkfun.com/products/8687 sparkfun.com]<br />
<br />
XBee Explorer USB with FTDI232RL<br />
<br />
<br style="clear:both"><br />
<br />
=== Digi XBee Pro DigiMesh / 802.15.4 ("Series 1") ===<br />
*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.<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]<br />
|<br />
* Frequency Band 2.4GHz<br />
* Output Power 100mW (Xbee Pro)<br />
* Sensitivity -100 dBm <br />
* RF Data Rate Up to 250 Kbps<br />
* Interface data rate Up to 115.2 Kbps<br />
* Power Draw (typical) 214 mA TX / 55 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight <br />
* Dimensions 24 x 33mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector <br />
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)<br />
* Price: 16€, Pro 26€<br />
|<br />
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]<br />
|}<br />
Mouser: [http://au.mouser.com/Search/ProductDetail.aspx?qs=sGAEpiMZZMtJacPDJcUJYzVn8vIv7g2fIpf5DCzJqko%3d 888-XBP24-PKC-001-UA]<br><br />
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.<br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]<br />
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]<br />
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]<br />
* 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)<br />
* explanation on X-CTU [http://www.ladyada.net/make/xbee/configure.html here].<br />
* [http://ftp1.digi.com/support/firmware/update/xbee/ Drivers for XB24 and XBP24 modules]<br />
<br />
=== Digi XBee Pro ZB / ZNet 2.5 ("Series 2") ===<br />
<br />
The low-power XBee ZB and extended-range XBee-PRO ZB use the ZigBee PRO Feature Set for advanced mesh networking.<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:XBee_Pro_2SB.jpg|thumb|left|Digi XBee Pro ZB]]<br />
|<br />
* Low-cost, low-power mesh networking<br />
* Interoperability with ZigBee PRO Feature Set devices from other vendors*<br />
* Support for larger, more dense mesh networks<br />
* 128-bit AES encryption<br />
* Frequency agility<br />
* Over-the-air firmware updates (change firmware remotely)<br />
* ISM 2.4 GHz operating frequency<br />
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)<br />
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)<br />
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna<br />
* price : 14€, Pro 28€<br />
|<br />
|}<br />
These are available from Mouser:<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=888-XBP24-Z7WIT-004 888-XBP24-Z7WIT-004] XBee-PRO ZB with whip antenna<br><br />
[http://au.mouser.com/Search/Refine.aspx?Keyword=XBP24-Z7SIT-004 888-XBP24-Z7SIT-004] XBee-PRO ZB with RPSMA<br />
<br />
See [[XBee_configuration|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp http://www.digi.com/products/wireless/zigbee-mesh/xbee-zb-module.jsp]<br />
<br />
=== Digi XBee Pro 868 ===<br />
<br />
'''WARNING - THESE MODEMS HAVE A 10% DUTY CYCLE, AND CURRENTLY HAVE SEVERE ISSUES WITH PAPARAZZI'''<br />
<br />
868MHz is a limited band. Please read the [[868MHz Issues]]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro 868]]<br />
|<br />
* 868 MHz short range device (SRD) G3 band for Europe<br />
* Software selectable Transmit Power<br />
* 40 km RF LOS w/ dipole antennas<br />
* 80 km RF LOS w/ high gain antennas (TX Power reduced)<br />
* Simple to use peer-to-peer/point-to-mulitpoint topology<br />
* 128-bit AES encryption<br />
* 500 mW EIRP<br />
* 24 kbps RF data rate<br />
* price : ~70 USD<br />
|<br />
|}<br />
<br />
See [[XBee_configuration#XBee_Pro_868_MHZ|XBee Configuration]] for setup.<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-868.jsp]<br />
<br />
=== Digi XBee 868LP ===<br />
<br />
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<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:868lp.jpg|thumb|left|XBee 868LP]]<br />
|<br />
* 868 MHz short range device (SRD) G4 band for Europe<br />
* 4 km RF LOS w/ u.fl antennas<br />
* 5 mW EIRP<br />
* 10 or 80 kbps RF data rate<br />
* price : 18€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [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]<br />
<br />
==== Trial ====<br />
<br />
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.<br />
<br />
=== Digi XBee Pro 900HP ===<br />
* Frequency band 900Mhz<br />
* RF rate 10 or 200 kbps<br />
* up to 250mW output power<br />
* 5 to 8 grams<br />
* price: 32€<br />
<br />
==== Documentation ====<br />
[http://ftp1.digi.com/support/documentation/90002173_H.pdf http://ftp1.digi.com/support/documentation/90002173_H.pdf]<br />
<br />
=== Digi XBee Pro XSC 900MHz ===<br />
<br />
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!<br />
{|<br />
|-valign="top"<br />
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]<br />
|<br />
* Frequency Band 900 MHz<br />
* Output Power 100 mW (+20 dBm)<br />
* Sensitivity -100 dBm <br />
* RF Rate: 10 or 20 kbps<br />
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight <br />
* Interface 20-pin mini connector (Xbee compatible pinout)<br />
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)<br />
* price : 32€<br />
|<br />
|}<br />
<br />
==== Documentation ====<br />
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]<br />
<br />
==== Trials ====<br />
Tested one today and it worked great. Going to try a multiUAV test with it soon<br />
--Danstah<br />
<br><br />
<br><br />
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.<br />
--Danstah<br />
<br><br />
<br><br />
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<br />
<br />
=== Digi 9XTend ===<br />
<br />
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.<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]<br />
|<br />
* Frequency Band 900Mhz and 2.4Ghz (2 versions)<br />
* Output Power 1mW to 1W software selectable<br />
* Sensitivity -110 dBm (@ 9600 bps)<br />
* RF Data Rate 9.6 or 115.2 Kbps<br />
* Interface data rate up to 230.4 Kbps<br />
* Power Draw (typical) 730 mA TX / 80 mA RX <br />
* Supply Voltage 2.8 to 5.5v<br />
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight <br />
* Dimensions 36 x 60 x 5mm<br />
* Weight 18 grams<br />
* Interface 20-pin mini connector or USB<br />
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)<br />
* price : 150€<br />
|<br />
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]<br />
|}<br />
<br />
==== Pinout ====<br />
<br />
[[Image:Maxstream_9XTend_Pinout.gif|thumb|left|Maxstream 9XTend Pinout]]<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''9XTend 20-pin Header'''''||'''''Name'''''||'''''Tiny Serial-1 Header'''''||'''''Notes'''''<br />
|-<br />
||1||GND||1 (GND)||Ground <br />
|-<br />
||2||VCC||2 (5V)||5V power (150mA - 730mA Supplied from servo bus or other 5V source)<br />
|-<br />
||5||RX||8 (TX)||3-5V TTL data input - connect to Tiny TX<br />
|-<br />
||6||TX||7 (RX)||5V TTL data output - connect to Tiny RX<br />
|-<br />
||7||Shutdown||2||This pin must be connected to the 5V bus for normal operation<br />
|}<br />
Notes:<br><br />
* 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.<br />
<br style="clear:both"><br />
<br />
==== Documentation ====<br />
<br />
* [http://www.maxstream.net/products/xtend/oem-rf-module.php product page]<br />
* [http://www.maxstream.net/products/xtend/datasheet_XTend_OEM_RF-Module.pdf datasheet]<br />
* [http://www.maxstream.net/products/xtend/product-manual_XTend_OEM_RF-Module.pdf user manual]<br />
<br />
==== Configuration ====<br />
<br />
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.<br />
<br />
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.<br />
<br />
* Acknowledged Polling Mode ('''Recommended'''):<br />
** 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).<br />
* Acknowledged Point-to-(Multi)Point Mode:<br />
** 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.<br />
<br />
{| border="1"<br />
|-valign="top"<br />
||'''''Setting Name'''''||colspan="2"|'''''Acknowledged Mode'''''||colspan="2"|'''''Polling Mode (Acknowledged)'''''||'''''Notes'''''<br />
|-<br />
|| ||'''''Airside Module'''''||'''''Groundside Module'''''||'''''Base Module'''''||'''''Remote Module'''''||<br />
|-<br />
||BD||6||6||6||6||Adjust to match your configured autopilot and ground station baud rates (default for these is 57600bps)<br />
|-<br />
||DT||default||default||0x02||0x01||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||MD||default||default||3 (0x03)||4 (0x04)||<br />
|-<br />
||MT||0||0||0||0||Use this to enable Basic Reliable transmission, link bandwidth requirement increases (see manual)<br />
|-<br />
||MY||default||default||0x01||0x02||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PB||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PD||default||default||default||default||Can be adjusted to increase polling request rate and DI buffer flush timeout (see manual)<br />
|-<br />
||PE||default||default||0x02||default||Can be adjusted if consistency maintained across addressing functionalities (see manual)<br />
|-<br />
||PL||default||default||default||default||''Transmit power level should be reduced for lab testing!!''<br />
|-<br />
||RN||0 (0x00)||8 (0x08)||default||default||<br />
|-<br />
||RR||6 (0x06)||12 (0x0C)||6 (0x06)||12 (0x0C)||<br />
|}<br />
<br />
'''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.<br />
<br />
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]<br />
<br />
== SiLabs Si1000 SoC based modems ==<br />
<br />
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/RFDesign/SiK open source firmware] for these radios which makes them suitable for use in MAVs. <br />
<br />
The latest SiK firmware supports also mesh topologies.<br />
<br />
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. The new RFD868 also works in the European spectrum licenses (868 MHz) <br />
<br />
Note: When using a SiK firmware radio with Paparazzi, you should set "ATS6=0" (MavLink packing off) and configure Paparazzi for transparent serial mode. Better still create a special module to make full use of the RFDxxx modem.<br />
<br />
[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).<br />
<br />
Alternatively, for shorter range a pair of cheap generic HopeRF-based modems such as the [[R0]] sub GHz telemetry radio modem. It was developed by [[1BitSquared]] specifically for the use with the Paparazzi UAV framework and is part of the [[Elle]] avionics system.<br />
<br />
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.<br />
<br />
== Laird (ex Aerocom) ==<br />
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.<br />
<br />
How to use this modem on ground station side? [http://paparazzi.enac.fr/wiki/index.php/User:SilaS#SDK-AC4868-250_ground_modem_part]<br />
<br />
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.<br />
<br />
<br />
{|<br />
|<br />
=== AC4790-200 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-200mW<br />
* Sensitivity (@ full RF data rate) -110dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 68 mA<br />
* Supply Voltage 3.3v & 5.5V<br />
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight <br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector or internal<br />
* price : 52€<br />
|<br />
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]<br />
|<br />
|-<br />
|<br />
=== AC4790-1000 ===<br />
* Frequency 902-928MHz (North America, Australia, etc).<br />
* Output Power 5-1000mW<br />
* Sensitivity (@ full RF data rate) -99dB<br />
* RF Data Rate up to 76.8 Kbps<br />
* INterface Data Rate Up to Up to 115.2 Kbps <br />
* Power Draw (typical) 650 mA<br />
* Supply Voltage 3.3V only<br />
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna<br />
* Dimensions 42 x 48 x 5mm <br />
* Weight < 20 grams<br />
* Interface 20-pin mini connector <br />
* Antenna MMCX jack Connector<br />
* price : 64€<br />
|}<br />
<br />
=== Pinout ===<br />
<br />
[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Laird AC4868 modem pinout]]<br />
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Laird AC4490 wiring example]]<br />
<br style="clear:both"><br />
<br />
{| border="1"<br />
|+ Wiring the Laird AC4868 to the Tiny<br />
|-valign="top"<br />
||'''''AC4868 20-pin Header'''''||'''''Name'''''||'''''Color'''''||'''''Tiny v1.1 Serial-1'''''||'''''Tiny v2.11 Serial'''''||'''''Notes'''''<br />
|-<br />
||2||Tx||green||7||7||''(Note 1)''<br />
|-<br />
||3||Rx||blue||8||8||''(Note 1)''<br />
|-<br />
||5||GND||black||1||1|| -<br />
|-<br />
||10+11||VCC||red||2||3||+3.3v ''(Note 2)''<br />
|-<br />
||17||C/D||white||3||?||Low = Command High = Data<br />
|}<br />
''Note 1 : names are specified with respect to the AEROCOMM module''<br />
<br />
''Note 2 : AC4790-1000 needs pins 10 and 11 jumped to work properly''<br />
<br />
<br />
<br />
=== Laird RM024 ===<br />
[[Image:Laird_LT2510_RM024-P125-C-01-side.jpg|thumb|RM024 P125]]<br />
[[Image:Lt2510_prm123.jpg|thumb|LT2510 Modem]]<br />
The RM024 replaces the discontinued LT2510 (they are backwards compatible).<br />
<br />
General features:<br />
* Frequency Band 2.4GHz<br />
* Output Power 2,5mW - 125mW<br />
* Sensitivity -98dbm @ 280kbps/-94 dBm @ 500kbps<br />
* RF Data Rate 280/500 kbps<br />
* UART up to 460800 baud<br />
* Power Draw 90mA - 180mA TX / 10mA RX<br />
* Supply Voltage 3.3v<br />
* Range up to 4000m<br />
* Dimensions 26 x 33 x 4mm<br />
* Weight 4 grams<br />
* Interface 20-pin mini connector (smd solder pad or XBee compatible pin header)<br />
* Chip antenna, U.FL antenna connector or both<br />
* Price: 29-31€ @ mouser (SMD / XBEE header)<br />
<br />
Two different mounting/pinuts are available:<br/><br />
* smd version: can be soldered on a pcb<br/><br />
* pin header: standard XBEE pinout (this is the SMD version mounted on a seperate pcb with male pin headers)<br />
<br />
Available in two different output power versions:<br />
{|border="1"<br />
|-valign="top"<br />
||''value''||''50mW version''||''125mW version''<br />
|-<br />
|output power<br />
| 2,5 mW - 50 mW<br />
| 2,5 mW - 125 mW<br />
|-<br />
|output power dbm<br />
|4 dbm - 17 dbm<br />
|4 dbm - 21 dbm<br />
|-<br />
|TX drain<br />
|90mA<br />
|<180mA<br />
|-<br />
|max range (280kbps with 2 dbi antenna)<br />
|2400m<br />
|4000m<br />
|-<br />
|approval<br />
|CE for EU, FCC/IC for USA,<br />
Canada PRM122/123 also for Japan<br />
|FCC/IC for USA, Canada <br />
|}<br />
<br />
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.<br />
<br />
====Documentation====<br />
[http://www.lairdtech.com/WorkArea/DownloadAsset.aspx?id=2147488576 RM024 User Manual]<br/><br />
[http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4379 LT2510 User Manual]<br/><br />
[http://www.lairdtech.com/zips/Developer_Kit.zip Windows configuration tool]<br />
<br />
'''Setup'''<br />
<br />
Look at the [[Laird_RM024_setup page]]<br />
<br />
== Bluetooth ==<br />
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.<br />
{|<br />
|<br />
=== RN-41 Bluetooth module(Sparkfun's WRL-08497) ===<br />
* Frequency Band 2.4GHz<br />
* Output Power 32 mW <br />
* RF Data Rate up to ~300 kbps in SPP<br />
* Interface Data Rate up to 921 kbps <br />
* Power Draw (typical) 50 mA TX / 40 mA RX <br />
* Supply Voltage 3.3v<br />
* Range (typical, depends on antenna & environment) 100 meters line-of-sight <br />
* Dimensions 26 x 13 x 2mm <br />
* Weight ~1.5 grams<br />
* Interface solder connector <br />
* price : 20€<br />
|<br />
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]<br />
|-<br />
|<br />
<br />
To connect to it, get the MAC address of the bluetooth modem<br />
<br />
me@mybox:~$ hcitool scan<br />
Scanning ...<br />
00:06:66:00:53:AD FireFly-53AD<br />
<br />
either make a virtual connection to a Bluetooth serial port each time you connect<br />
<br />
sudo rfcomm bind 0 00:06:66:00:53:AD<br />
<br />
or configure it once in /etc/bluetooth/rfcomm.conf<br />
<br />
rfcomm0 {<br />
bind yes;<br />
device 00:06:66:00:53:AD;<br />
}<br />
<br />
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.<br />
|}<br />
<br />
== WiFi ==<br />
<br />
== ESP8266 Chip Module ==<br />
<br />
[[File:ESP8266.jpg|thumbnail|left|ESP8266 WiFi module]]<br />
<br />
To have a simple connection from your GCS to your autopilot, one can use your GCS computer built-in WiFi to establish a dataconnection. THe only thing you need is a WiFimodule connected to your Autopilot dataport and a laptop or other GCS device with Wifi.<br />
<br />
Flash the Wifimodule with [https://github.com/beckdac/ESP8266-transparent-bridge transparent bridge firwmware] using [https://github.com/themadinventor/esptool esptool]. When connected through WiFi, you can use telnet to set the baud rate.<br />
<br />
<br />
telnet 192.168.4.1<br />
+++AT BAUD 57000<br />
<br />
To use with paparazzi GCS, the TCP signals need to be tunnelled to a virtual serial device. This was accomplished with the "socat" command<br />
<br />
$ socat -d -d PTY,link=/dev/mywifi TCP:192.168.4.1:23<br />
<br />
Satar up Paparazzi Center and make line like:<br />
<br />
<br style="clear:both"><br />
<br />
== Telemetry via Video Transmitter==<br />
<br />
[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]<br />
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. <br />
<br />
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.<br />
<br style="clear:both"><br />
<br />
<br />
== Antennas ==<br />
<br />
Here are some examples of lightweight and efficient 868MHz antennas developped by the RF laboratory at ENAC.<br />
[[Image:868mhz_twinstar_antenna_1.jpg|thumb|left|868MHz copper foil antenna attached to the aircraft tail]] <br />
[[Image:868mhz_twinstar_antenna_2.jpg|thumb|left|868MHz copper foil antenna bottom view]] <br />
[[Image:868mhz_ground_antenna.jpg|thumb|left|868MHz ground antenna]] <br />
<br style="clear:both"><br />
<br />
This wiki page might give some ideas about antennas: http://en.wikipedia.org/wiki/Dipole_antenna<br />
<br />
[[Category:Hardware]]</div>Esdenhttp://wiki.paparazziuav.org/w/index.php?title=UU0&diff=20961UU02016-03-04T07:42:46Z<p>Esden: </p>
<hr />
<div><!--div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Hardware</categorytree></div--><br />
<div style="float: right; width: 60%; overflow: hidden">[[Image:UU0_V1_1_Top_Prototype.jpeg |right|500px|UU0 USB to UART adapter V1.1]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<!--br style="clear:both"--><br />
<br />
UU0 is a low cost USB to UART adapter dongle. Can be used for conecting telemetry modems like the [[R0]] or autopilots like [[Elle0]] or [[Lisa/M]] to your computer.<br />
<br />
= Features =<br />
<br />
* FTDI USB to Serial FIFO<br />
* TX & RX LEDs<br />
* USB-A connector<br />
* 100mil FTDI cable compatible pin-header<br />
* Molex Picoblade null modem connector<br />
<br />
<br />
<gallery widths=200px heights=200px><br />
Image:UU0_V1_1_Top_Prototype.jpeg|UU0 V1.1 top view<br />
Image:UU0_V1_1_Bottom_Prototype.jpeg|UU0 V1.1 bottom view<br />
</gallery><br />
<br />
= Pinout =<br />
<br />
= Schematic =<br />
<br />
= Related Hardware =<br />
<br />
* Overview: [[Elle]]<br />
* Elle0 Autopilot: [[Elle0]]<br />
* G0 GPS receiver: [[G0]]<br />
* R0 sub GHz telemetry radio modem: [[R0]]<br />
<br />
= Where to Buy =<br />
<br />
[http://1bitsquared.com/products/r0-radio-kit R0 Radio Kit] containing the UU0 adapters is available for purchase at the [http://1bitsquared.com 1BitSquared] store.</div>Esden