Installation

2022-01-27T21:29:16Z

Ghattenb: /* Getting the Source Code */

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

== Introduction ==

Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or Apple Macintosh running [http://en.wikipedia.org/wiki/OS_X Mac OS X]. After Microsoft introduced Ubuntu on Windows, now it is possible to run Paparazzi on [https://en.wikipedia.org/wiki/Windows_10 Windows 10]. There is also another work being done to port Paparazzi to Windows with a different approach to work on all versions of Windows.

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

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

== Quickstart for Ubuntu users ==
Love one-liners? To get the latest Paparazzi up and running on your '''Ubuntu 16.04 or Ubuntu 18.04''', make sure you have a working internet connection and the '''universe''' packages activated in 'Software & Updates', then just copy and paste the text below into your terminal and press [enter] ... and wait a while...

<nowiki>
sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo add-apt-repository -y ppa:team-gcc-arm-embedded/ppa && sudo apt-get update && sudo apt-get -f -y install paparazzi-dev paparazzi-jsbsim gcc-arm-embedded dfu-util && cd ~ && git clone --origin upstream https://github.com/paparazzi/paparazzi.git && cd ~/paparazzi && git remote update -p && git checkout -b v6.1 upstream/v6.1 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules && make && ./paparazzi
</nowiki>

'''Ubuntu 20.04:'''

<nowiki>
sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo apt-get update && sudo apt-get -f -y install paparazzi-dev paparazzi-jsbsim python-is-python3 python3-serial gcc-arm-none-eabi gdb-multiarch dfu-util && cd ~ && git clone --origin upstream https://github.com/paparazzi/paparazzi.git && cd ~/paparazzi && git remote update -p && git checkout -b v6.1 upstream/v6.1 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules && make && ./paparazzi
</nowiki>

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

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

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).

== OS Specific Instructions ==

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

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

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

=== Virtual Machines ===

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

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

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

From the directory of your choice type:
git clone --origin upstream https://github.com/paparazzi/paparazzi.git
Check out the released stable version branch:
cd paparazzi
git checkout v6.1

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

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

make

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

./paparazzi

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

=== Environment Variables ===

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

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

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

In case you obtain an error indicating that your environmental variables are not set up correctly (for example 'ocamlfind: Package `pprz.xlib' not found') it should be noted that some shells or versions of make can not handle the '~/paparazzi' path. Try setting it to '/home/username/paparazzi' instead.

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

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

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

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

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

=== Quick'n dirty description ===

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

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

make

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

make clean
make

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

make test

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

== Using the Virtual Machine image ==

Virtual machine image based on [https://www.vmware.com/products/workstation-player.html VMWare Player] Available at [http://data.recherche.enac.fr/drones/Paparazzi/ http://data.recherche.enac.fr/drones/Paparazzi/]

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

Installation

2022-01-27T21:28:39Z

Ghattenb: /* Quickstart for Ubuntu users */

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

== Introduction ==

Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or Apple Macintosh running [http://en.wikipedia.org/wiki/OS_X Mac OS X]. After Microsoft introduced Ubuntu on Windows, now it is possible to run Paparazzi on [https://en.wikipedia.org/wiki/Windows_10 Windows 10]. There is also another work being done to port Paparazzi to Windows with a different approach to work on all versions of Windows.

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

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

== Quickstart for Ubuntu users ==
Love one-liners? To get the latest Paparazzi up and running on your '''Ubuntu 16.04 or Ubuntu 18.04''', make sure you have a working internet connection and the '''universe''' packages activated in 'Software & Updates', then just copy and paste the text below into your terminal and press [enter] ... and wait a while...

<nowiki>
sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo add-apt-repository -y ppa:team-gcc-arm-embedded/ppa && sudo apt-get update && sudo apt-get -f -y install paparazzi-dev paparazzi-jsbsim gcc-arm-embedded dfu-util && cd ~ && git clone --origin upstream https://github.com/paparazzi/paparazzi.git && cd ~/paparazzi && git remote update -p && git checkout -b v6.1 upstream/v6.1 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules && make && ./paparazzi
</nowiki>

'''Ubuntu 20.04:'''

<nowiki>
sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo apt-get update && sudo apt-get -f -y install paparazzi-dev paparazzi-jsbsim python-is-python3 python3-serial gcc-arm-none-eabi gdb-multiarch dfu-util && cd ~ && git clone --origin upstream https://github.com/paparazzi/paparazzi.git && cd ~/paparazzi && git remote update -p && git checkout -b v6.1 upstream/v6.1 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules && make && ./paparazzi
</nowiki>

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

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

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).

== OS Specific Instructions ==

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

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

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

=== Virtual Machines ===

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

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

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

From the directory of your choice type:
git clone --origin upstream https://github.com/paparazzi/paparazzi.git
Check out the released stable version branch:
cd paparazzi
git checkout v5.18

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

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

make

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

./paparazzi

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

=== Environment Variables ===

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

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

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

In case you obtain an error indicating that your environmental variables are not set up correctly (for example 'ocamlfind: Package `pprz.xlib' not found') it should be noted that some shells or versions of make can not handle the '~/paparazzi' path. Try setting it to '/home/username/paparazzi' instead.

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

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

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

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

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

=== Quick'n dirty description ===

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

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

make

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

make clean
make

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

make test

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

== Using the Virtual Machine image ==

Virtual machine image based on [https://www.vmware.com/products/workstation-player.html VMWare Player] Available at [http://data.recherche.enac.fr/drones/Paparazzi/ http://data.recherche.enac.fr/drones/Paparazzi/]

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

Main Page

2022-01-27T21:27:18Z

Ghattenb:

__NOTOC__
__NOEDITSECTION__

[[Image:Welcome to paparazziuav.png|600px|center]]

<center>{{Hotbar}}</center>

'''[http://paparazziuav.org Paparazzi UAV]''' (Unmanned Aerial Vehicle) is an open-source drone hardware and software project encompassing autopilot systems and ground station software for multicopters/multirotors, fixed-wing, helicopters and hybrid aircraft that was founded in 2003. [http://paparazziuav.org Paparazzi UAV] was designed with autonomous flight as the primary focus and manual flying as the secondary. From the beginning it was designed with portability in mind and the ability to control multiple aircraft within the same system. Paparazzi features a dynamic flight plan system that is defined by mission states and using way points as “variables”. This makes it easy to create very complex fully automated missions without the operators intervention. For more project information, [[General|see here]].

{{P Header Box|color=#D51D00|size=100%|<center>Legal Disclaimer</center>}}

The Paparazzi software source and hardware design is distributed without any guarantee. Before flying, please refer to your country's national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.


{{P Topic Table|{{P Header Box|ico=favicon32.png|[[General]]}}
{{:General/Index}}
{{P Header Box|ico=Gear.png|[[Hardware]]}}
{{:Hardware/Index}}
{{P Header Box|ico=Code.png|[[Software]]}}
{{:Software/Index}}
{{P Header Box|ico=favicon32.png|[[Miscellaneous]]}}
{{:Miscellaneous/Index}}

|{{P Release|v6.1.0_stable|v6.1}}


{{P Header Box|ico=RSS.png|[http://blog.paparazziuav.org Paparazzi UAV Blog]}}
<rss max=10 item-max-length="1000">http://feeds.feedburner.com/PaparazziBlog</rss>


{{P Header Box|ico=Video.png|Video Collection}}

<center>{{#ev:youtubeplaylist|PLekU8nVT6qLm3oOudER7WVuj2plH_aU4u}}</center>

}}

Subsystems

2021-11-29T09:45:10Z

Ghattenb:

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

{| class="wikitable"
|-
| Since '''v6.0''' all subsystems have been moved to modules and no longer exist in Paparazzi.
|}

Mostly a subsystem is a part offering a specific functionality with a
defined interface and can have multiple different implementations. (See <tt>sw/airborne/subsystems/...</tt>)

They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].
{| class="wikitable"
|-
| Since '''v5.8''' it is possible to safely replace ''subsystem'' by ''module'' in your airframe file. The roadmap of Paparazzi is to convert existing subsystems to [[modules]].
|}

All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/firmwares/subsystems/...</tt>)

This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.

See [[FirmwareArchitecture]] for the differences to [[Modules]], as well as how to write a new subsystem.

== Available Subsystems ==

{| class="wikitable sortable" border="1"
! Name !! Types !! Firmwares !! Architecture !! Description
|-
|[[Subsystem/gps|gps]]
||
* ublox
* ublox_utm
* nmea
* mediatek_diy
* skytraq
* sirf
|
* all
* fixedwing
* all
* fixedwing
* rotorcraft
* rotorcraft
|
* all
| GPS drivers
|-
|[[Subsystem/imu|imu]]
||
* analog
* apogee
* aspirin_v1.0
* aspirin_v1.5
* aspirin_v2.1
* aspirin_v2.2
* aspirin_i2c_v1.0
* aspirin_i2c_v1.5
* aspirin2_i2c
* b2_v1.0
* b2_v1.1
* b2_v1.2
* drotek_10dof_v2
* gl1
* yai
* krooz_sd
* navgo
* umarin
* crista
* crista_hmc5843
* ppzuav
|
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* rotorcraft
* rotorcraft
* fixedwing
|
* all
* stm32f4
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* all
* stm32f4
* lpc21
* lpc21
* all
* all
* all
|| IMU drivers
Traditional IR sensors can be used for fixedwing

but an IMU subsystem is not required
|-
|-
|[[Subsystem/ahrs|ahrs]]
||
* int_cmpl_quat
* float_cmpl
* float_dcm
* int_cmpl_euler
* float_mlkf
* infrared
|
* all
|
* all
|| AHRS algorithms
|-
|[[Subsystem/ins|ins]]
||
* alt_float
* gps_passthrough
* xsens
* xsens700
* ''no_type''
* hff
* extended
* ardrone2
* float_invariant
* ekf2
|
* fixedwing
* fixedwing
* fixedwing
* fixedwing
* rotorcraft
* rotorcraft
* rotorcraft
* rotorcraft
* all (experimental, only tested on fw)
* all
|
* all
* all
* all
* all
* all
* all
* all
* all
* mcu with fpu (e.g. stm32f4)
* all
|| INS algorithms
Most of the INS filters are only providing position and speed, and they need to be used together with an AHRS filter for attitude

Currently, only the experimental invariant filter is a full INS
|-
|[[Subsystem/radio_control|radio_control]]
||
* ppm
* spektrum
* datalink
* superbitrf_rc
* sbus
* sbus_dual
|
* all
|
* all
* STM32
* all
* STM32
* all
* all
| Radio Control implementations
|-
|[[Subsystem/telemetry|telemetry]]
||
* transparent
* transparent_usb
* xbee_api
* superbitrf
|
* all
* all
* all
* rotorcraft
|
* all
* LPC21xx
* all
* STM32
| Telemetry implementations
|-
|[[Subsystem/actuators|actuators]]
||
* mkk
* mkk_v2
* asctec
* asctec_v2
* pwm
* dualpwm
* skiron
|
* all
|
* all
| Drivers for different ESCs and servos
|-
|[[Subsystem/stabilization|stabilization]]
||
* int_quat
* float_quat
* int_euler
* float_euler
* indi
|
* rotorcraft
|
* all
| Attitude control system for rotorcraft
|}

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

2018-05-04T13:08:43Z

2017-07-25T08:36:37Z

Ghattenb:

= Intro =

Without Paparazzi the Parrot Minidrones are nice small flying quadrotor that can be flown over a Bluetooth connection with an Android or iOS device.
Not any more: With a few simple clicks you can run Paparazzi on you Minidrone and let it perfrom whater you wan it to.

Although there are various different Parrot minidrones, the base of all the drones is the same. that is whay you see all thi info on just one page.

NOTE: THis page is a work in progress (WIP) and partly will not reflect the current state of Paparazzi and will contain major errors. in the imeframe of 20170719 till 20170820 this page will have massively improved.
If you can help, help out, if not... hope that other are willing to spend their time on improving support.

= Supported Minidrones =

Paparazzi have been tested with modified version of v2.6.8 firmware. The original firmware doesn't allow network connections required to upload and run Paparazzi. Discussion are opened with Parrot to distribute the alternate firmware or integrate the modification to the standard one. The supported models are (20170725, master):

* Swing [[File:SWING.png|300px|thumb|right|Parrot Swing]]

Soon:

* Spider
** Parrot Rolling Spider
* Mambo
** Parrot MAMBO
* Airborne Night
** Parrot Airborne Night Maclane
** Parrot Airborne Night Blaze
** Parrot Airborne Night Swat
* Airborne Cargo
** Parrot Airborne Cargo Travis

The Jumping Sumo and Hydrofoil extension, while Paparazzi likely can run on those, since they cannot fly there are no plans for testing or support. If you have on and teste it, make a pull request with any improvments you made, welcomed

= Notes =

This article assumes that you have already installed Paprazzi software on you local development PC. Used is Ubuntu 16.04. older version have different Bluetooth support, instructions there maydiffer.

= Features =

== Connectivity ==

The minidrones have a Bluetooth Smart technology, Bluetooth V4.0 BLE device. Communication over older 2.0 bluetooth also possible after making some configuration changes on the Minidrone. Paparazzi can do this for you automatically

== Sensors ==

* Ultrasonic sensor
* 3-axis gyroscope and 3-axis accelerometer (MPU 6050)
* Vertical camera
* Pressure sensor

== Battery ==

Sawappable lithium-polymer battery of 550mAh
Charging time: about 25 minutes
Compatibility: Parrot Jumping Night, Jumping Race, Airborne Night, Airborne Cargo and Hydrofoil

= How to connect =

There are two ways to connect to the Rolling Spider with Paparazzi. The first one is an USB cable and the second one is via a Bluetooth connection. Both have the possibility to transfer files through FTP and execute programs over telnet.
Note that connecting over USB '''disables''' the vertical camera, as it uses the same USB bus.

== Pre steps ==

Latest Parrot firmware needs some buttonpressing before we can start usng the connection in combination with Paparzzzi

Press ButtonPress of the on/off small button. It will take a while before the Connection is ready.

== Connect with USB ==

* Switch on your Minidrone
* Plug in a micro-usb cable from your Drone to the computer
* A new network device will show up
* Connect with '''192.168.2.1''' through ftp or telnet

== Connect via Bluetooth ==

=== Using '''blueman''' tool (tested with Ubuntu 16.04) ===

* Install '''blueman'''
sudo apt install blueman

* Turn on your minidrone
* Enable bluetooth on your computer (can be done from blueman applet if present)
* Scan or select your minidrone from the list of the peripheral
[[File:Blueman_swing_1.png|400px|thumb|right|Blueman: peripherals list]]
* Configure this peripheral and select the "network access point" connection type
[[File:Blueman_swing_2.png|400px|thumb|right|Blueman: type of connection]]
* A new network connection should appear
% ifconfig bnep0
bnep0 Link encap:Ethernet HWaddr 5c:e0:c5:63:8e:5d
inet adr:192.168.4.2 Bcast:192.168.4.255 Masque:255.255.255.0
...
* The minidrone has the IP '''192.168.4.1''', connect with telnet via:
telnet 192.168.4.1

=== Older Ubuntu versions using the '''pand''' tool ===
* Execute "hcitool scan" and look for the mac address of the "RS_...." device. (If you cannot find it look at [[#Setup normal Bluetooth]])
* Install the bluez-utils package (if not installed) with "sudo apt-get install bluez-utils"
* Execute "sudo pand --connect <MAC address> -dGN -n", to connect to the bluetooth of the drone. *
* Execute "sudo ifconfig bnep0 192.168.2.3 up", to setup the ethernet device over bluetooth. *
* Connect with the drone with telnet via:
telnet 192.168.2.1

=== Setup normal Bluetooth ===
'''This part doesn't seem to be needed anymore!!!'''
* First connect over Bluetooth 4.0 or USB to the drone as described above
* Connect with telnet to the drone. (telnet 192.168.*.1)
* Open the "/etc/init.d/rcS" file and search for the line with "BLEproxy". (vi /etc/init.d/rcS)
* Now change the "BLEproxy" to "BLEproxy --normalbt"
* Reboot your drone by executing: "reboot". (This makes sure the filesystem is saved)

== Upload Paprazzi ==

If you do have a connection, press the upload button in the Paparazzi center

=Airframe=

A Parrot minidrone example airframe is in the works... The code is not yet available in Paparazzi Mater. For the Time being, progress here. As soon as testflights are performed a pull request will be made and example in the Main Paparazzi repository

== Bottom camera ==

All minidrones have a camera which can be used for various purposes. 160x120 pixels.

=== Optic Flow ===

Using the Optic flow module the Drone should be able to hover still.

== Extend Hardware ==

=== GPS ===

An GPS connected to the USB port, while possible, never done yet.

=== Serial ===

XBee and Si10xx based modems

By using external modems it is possible to exten the range of the drones.

=== Micro laser range ring ===

A TU Delft project makes it possible to fly autonomous inside a building using micro laser rangers. See {TODO}

= Links =

Some links that might be helpful for developers or otherwhise

*

[[Category:Autopilots]]

File:SWING.png

2017-07-25T08:34:16Z

Ghattenb: