PaparazziUAV - User contributions [en]

User:HWal

2019-09-21T19:04:54Z

HWal: Restore user page

='''My Paparazzi Twinstar2 UAV experience'''=
__TOC__

==General==

===Changes during the progress of my project===

My project started in autumn 2009. The Paparazzi project has evolved significantly since then. This document reflects how a Paparazzi fixed wing aircraft is configured in mid november 2010.

===About me===

* Automation and electricity engineer, graduated in 1972 (!)
* Main hobby: Model aircraft since I was a boy.
* Computer experience: Some programming in RPGII for IBM business machines. A little programming in Basic and Pascal.

===The project===

'''''Main focus:''''' Getting airborne with Paparazzi UAV.

'''''Primary goal:''''' Obtain Auto2 flight with a fixed wing model aircraft in other patterns than just a circle.

'''''Secondary goal:''''' Equip the plane with metheorological equipment (pressure, temperature sensors...) and receive online readings from the plane while in flight.

To maintain focus on getting airborne I bought the TWOG with boot loader installed. The GPS and ppm board were configured from the supplier.

Later on I intend to manage bootloader install myself, and use of the “tunnel” for GPS access. The ppm board works well as received from the supplier, so I’ll leave that alone for now.

The Paparazzi project is very flexible and seems (maybe for this reason) a bit complicated. There are more than one way to connect things. I have chosen to use IR sensors for attitude sensing. Due to the plane having four servos, I have chosen to power these, the RC receiver and the ppm board from a separate UBEC.

I run Ubuntu 10.04 on my “Paparazzi laptop”. At home I also run Paparazzi on my stationary PC. It was on the stationary machine I first tried the new “xml only” airframe file before I eventually converted my Ground Station laptop to this configuration method with success.

I have tried not to repeat the wiki too much in this page. However I have added links to the wiki as needed.

==Hardware==

===Paparazzi / UAV equipment===

The equipment was bought from CheBuzz and PPZUAV during autumn/winter of 2009/2010, consisting of:
* TWOG v1
* IR sensors
* Paparazzi GPS13 v0.9 (*)
* SPK LEA-5 GPS
* 2 x Aerocomm AC4790 modems with interface cables and Duck antennas
* 2 x XBee PRO Series 2 - 2.4 GHz modems with ground station adapter and duck antenna for the ground modem (*)
* ppm decoder by Hendrix and Moa
* USB-serial adapter - Sparkfun FTDI basic 3.3V DEV-08772
* Necessary cables for flashing and connecting the components

(*) This equipment is on a rig at the moment, but I have tested it and have dedicated it to a Cessna-like foam plane I have assembled.

===R/C equipment and link===

I use a Futaba 10CG 2.4 GHz transmitter with R617FS receiver. This radio is also used to control conventional R/C planes I have.

The three position switch (C) on the transmitter is used to change modes. This is mixed into channel 7, which again is connected to channel 8 on the ppm board. The ppm encoder manual is of great help when connecting this part of the installation.

===Airframe===

My project airframe is a Multiplex Twinstar2. This airframe has documented many successful flights equipped with Paparazzi autopilot. It has four servos; two for the ailerons, one for the elevator and one for the rudder.

''Note:'' Rudder control has later been disconnected, see below.

===Ground station Computer===

A cheap Compaq Presario Laptop with Vista on it was bought. I shrinked the Windows partition on the disk so that I got 100GB unused space. Then Ubuntu 9.04 was downloaded and installed on the free disk space.

''Note:'' Ubuntu 9.04 was replaced with 10.04 in october 2010.

==Software==

===Installing Paparazzi on the laptop===

I followed the instructions in the [http://paparazzi.enac.fr/wiki/Installation Installation] page and installed the system.

During installation a new directory, paparazzi3, was created in my home directory.

''Note:'' It was important to read through the Installation page in advance and select the method that was relevant. I chose to download the source code from Subversion and compiled with make.

===Preparing suitable configuration files===

After presenting a question to the community, Chris (hendrix) from Hellas emailed me a set of his files for the Multiplex Easyglider. I decided to adapt these to my Twinstar2 project.

===Editing the configuration files to my needs===

I wanted 57600 baud for the ground station and airplane. Also I wanted to use the transparent serial (pprz) protocol as recommended for ordinary users. These are the configuration I edited to fit my setup:

.../conf/conf.xml
.../conf/control_panel.xml
.../conf/airframes/twinstarhw.xml
.../conf/flight_plans/basic.xml
.../conf/radios/T10CG.xml

I regularly edit these files. If you would like a copy of my current configuration files, please email me at helgewal@gmail.com.

===Simulation===

There are instructions for simulation in the [http://paparazzi.enac.fr/wiki/Simulation Simulation] page. The following shows a simulation setup where I have used my own configuration files:

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: sim
Session: Simulation

''Note:'' After pushing Execute it is important to wait 10 seconds until Holding point is active (highlighted green in the notebook) before hitting the Takeoff and Launch buttons.

==Electrical connections==

Power supply connections: [[Image:diagram.png|thumb|center|Power supply]]

Telemetry connections, alternatives used: [[Image:diagram1.png|thumb|center|Telemetry]]

Please observe notes 1) and 2) about Gnd connections.

After experiencing a number of TWOG resets while powering up the autopilot, I chose to connect a separate power supply (BEC) for the servos, RC receiver and ppm board. This is advisable if the plane has more than two small servos.

''Note:'' It is of great importance that in a setup like mine the + lead from the motor ESC is isolated. Also it is important to avoid ground loops.

==Telemetry==

The equipment was connected as shown in the diagrams above. See the relevant alternative for each instance.

===Communicating with TWOG via the FTDI USB-serial adapter===

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight USB-serial_cable@9600

''Note:'' Line 2 in .../conf/flight_plans/basic.xml was updated with position data for my local model airfield.

The Clean button was pushed, then Build to generate the airframe files.

With the autopilot still not connected to the battery, the USB port on TWOG was connected to the USB port on the laptop via the adapter cable. TWOG was powered up, and Upload pushed.

Successful flashing was indicated by these lines:

....
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#########
Starting software at 0x00004000
....

Then battery supply was disconnected from the TWOG. More detailed wiki instructions is found in the [http://paparazzi.enac.fr/wiki/Compiling Compiling] page.

The serial port on the FTDI board was connected to SERIAL on the TWOG (only RX, TX and GND, remember RX -> TX and TX -> RX). Then the USB port on the laptop was connected to the USB port on the FTDI adapter, and the TWOG was powered up again.

I hit Execute in Paparazzi Center and could see blinking from the TX / RX leds on the FTDI board. The GCS got populated.

The responses (Manu, Auto1, Auto2) from the three different positions of the Mode switch (C) on The RC transmitter was observed in the GCS, and servo function was verified in Manual mode.

===Communicating with TWOG via XBee 2.4 GHz modems===

The X-CTU program (for Windows) was downloaded [http://www.digi.com/support/kbase/kbaseresultdetl.jsp?kb=125 here] .
I first connected the airborne modem to the ground station adapter, and the adapter to the PC with the USB cable. Then the X-CTU configuration program was started. I had not ever used this program before so took my time just to get familiar with (at least some of) the options.
The baudrate was set to 57600bps and the modem set as END DEVICE AT. The configuration was then written to the modem.
Next the ground station modem was connected to the ground station adapter. The baudrate was set to 57600 bps and the modem set as COORDINATOR AT. The configuration was written to the modem.

The airborne modem (with the wire antenna) was then connected to the TWOG.

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight XBee 2.4GHz or AC4790 900MHz@57600

The Clean button was pushed, then Build to generate the airframe files.

Upload was performed and after power cycle, Execute.

The blinking from led’s on the ground station modem adapter told me that communication was ok, and GCS was populated.

===Communicating with TWOG via AC4790 900MHz modems===

The configuration program (for Windows) was downloaded [http://www.lairdtech.com/Products/Wireless-M2M-and-Telematics-Solutions/Proprietary-Radio-Modules/ here] . I followed Download-->Software Downloads and installed the Configuration Utility.

I first connected airborne modem to the Sparkfun FTDI adapter and started AeroComm_OEM.exe. This also was a new utility to me and took its time to get familiar with. The modem was configured as shown below.

Next the ground station modem was connected to the FTDI adapter and configured.

Ground station modem: [[Image:Ground_modem.jpg |thumb|center| AC4790 Ground modem]]

Ground station modem configuration: [[Image:gcs.png |thumb|center| Ground modem conf]]

Airborne modem configuration: [[Image:airborne.png |thumb|center| Airborne modem conf]]

''Note:'' The Destination address on one modem is the MAC Address of the other, and vice versa.

The airborne modem was then connected to the TWOG.

The procedure for Build, Upload and Execute is equal to the procedure for the XBee’s.

===Getting messages from the GPS===

As already mentioned I bought the GPS configured for Paparazzi. The GPS tab was opened in the Notebook, where I could confirm that the TWOG received messages by watching the columns representing each sattellite. This test is best carried out outdoors, as sometimes indoors the GPS will not be able to see any satellites.

==External data==

===Downloading map tiles===

In the GCS I chose Maps-->Maps Policy-->http, and then Maps-->Maps fill. Map tiles started to fill the screen. As I zoomed out I coud download more tiles. More info on downloading maps is found on the [http://paparazzi.enac.fr/wiki/Maps Maps] page.

After downloading a number of tiles Maps fill would not work anymore, and I got an error message. I have read that Google Maps ban your ip for 24 hours after a certain number of tiles have been downloaded, so I waited till the next day. After some re-tries during the next days I eventually managed to get the tiles I needed for my area. The tiles are stored in …/var/maps for later use.

''Note:'' To make sure Paparazzi uses the right http link for tile download, svn update was run first.

===Getting ground altitude data for my part of the world===

Living in Norway, I could not find SRTM data published by NASA. I could however find the data I needed [http://www.viewfinderpanoramas.org/dem3.html here] .

This is described in the [http://paparazzi.enac.fr/wiki/Maps Maps] page in the wiki. The appropriate zip file was downloaded and implemented like this:

unzip P31v2.zip A new directory P31 is created
cd P31 Go to the new directory
bzip2 * Compress the files
mv * .../paparazzi3/data/srtm Move the files to their correct location

==Other peripherals==

===ppm pulses from the RC transmitter===

To measure the ppm pulses I needed the ppm messages. I did the following:

* Opened ...paparazzi3/conf/telemetry/default.xml
* Copied the ppm message in the “fbw” process from “debug” mode to “default” mode

After compiling and flashing, a Messages window was opened in Paparazzi Center. This time the ppm message was transmitted to the GCS. With all trims in the RC transmitter set to zero, I noted the max, neutral and min values for each channel. The values in the message was divided by 15 to get the ppm values. More about this in the [http://paparazzi.enac.fr/wiki/Radio_Control Radio Control] page in the wiki.

The values were entered into both the radio file '''.../conf/radios/T10CG.xml''', and the airframe file '''.../conf/airframes/twinstarhw.xml''' (in the servos section).

===IR sensors neutral===

I made a box from two styrofoam blocks where I carved out room for the sensors. My box is relatively small and there is only about 2,5cm - 3cm of styrofoam around the sensors. The sensors were enclosed in the box for 10 minutes or so before adjustments were carried out.

A Messages window was opened in Paparazzi Center -->tools-->Messages and I observed the IR_SENSORS message. The target was to make the readings for '''ir1''', '''ir2''' and '''vertical''' equal to zero.

These are typical values to start with in the airframe file:
<define name="ADC_IR1_NEUTRAL" value="511"/>
<define name="ADC_IR2_NEUTRAL" value="511"/>
<define name="ADC_TOP_NEUTRAL" value="510"/>

If for example the reading for Ir1 showed -4 in Messages, then ADC_IR1_NEUTRAL was changed by four units. The airframe was re-flashed and the result observed. If things got worse I just made the change the other way. In the end I managed readings that altered between 1 and 0.

''Note:'' I have later repeated this adjustment by enclosing only one of the two IR boards in the styrofoam box at a time. This seems to work well.

==Hardware installation and tuning==

===Installing the equipment in the plane===

As mentioned above in the circuit diagram I have a separate power supply for the servos, RC receiver and ppm encoder board. This is to prevent TWOG from being reset by variations in voltage caused by changing servo current draw.

IR sensors and GPS: [[Image:IR_AND_GPS.jpg |thumb|center| IR and GPS]]

The horizontal IR sensor board was mounted on a small plastic tube on top of the wing. The sensors have a tilted orientation, which means that each sensor “look” in a 45 degrees angle from the longitudinal and lateral axis. '''Tilted''' or '''not tilted''' orientation is configurable in the airframe file.

The vertical IR sensors board was mounted under the rear part of the left wing. I made a hole through the wing making it possible for one thermopile to look straight up.

In my setup, the orientation of sensors and responses in the IR_SENSORS message is as follows:

'''Sensor Location Response'''
ir1 (horizontal) Front right Positive when warm
ir1 (horizontal) Rear left Negative when warm
ir2 (horizontal) Rear right Positive when warm
ir2 (horizontal) Front left Negative when warm
vertical looking down Positive when warm
vertical looking up Negative when warm

It is sensible to spread the electronics in the plane as much as possible to avoid interference, and also place the usb flash socket in an easily accessible location.

===Checking correct IR sensor response in the PFD===

The following was checked:

* That the PFD showed everything the right way round, i.e. Blue (sky) up, and brown (ground) down.

* That the PFD showed level when the plane was kept level. The horizontal IR sensor board was adjusted mechanically to suit.

* That the PFD showed correct tilting direction and angle when it was tilted in different directions and angles.

To compensatate from what seemed a too small roll response angle I increased VERTICAL_CORRECTION in the INFRARED section from 1.5 to 1.7.

===Flying and trimming the plane in Manual mode===

When flying in Manual, all trims on the transmitter were set to zero, and the linkages adjusted mechanically to make the plane fly straight and level with no stick input from the RC transmitter.

A number of flights were carried out to gain experience with the telemetry and log files.

===Tuning in Auto1===

I selected the tuning.xml file in Paparazzi Center, compiled the aircraft and flashed the TWOG. Placed myself on an open field, held the plane over my head and engaged Auto1. Tilted the plane in every direction and I noted that the ailerons responded correctly, ''and that the elevator moved the wrong way''. This was corrected by reversing the max/min values for the elevator in the airframe file and in the radio file.

Then I engaged Manual and threw the plane. Climbed to a secure height and engaged Auto1, ready to return to Manual quickly if needed. The plane drifted a bit to the left. The two important parameters in the airframe file for tuning in this mode are ROLL_NEUTRAL_DEFAULT and PITCH_NEUTRAL_DEFAULT.

The ROLL_NEUTRAL_DEFAULT parameter needed -2.9 degrees adjustment

The PITCH_NEUTRAL_DEFAULT parameter was ok at 0

''Note:'' These values are entered in radians in GCS-->Notebook-->Settings-->control-->ir., and in degrees in the airframe file.

After a number of flights I have learned to remember the elevator position that gives neutral flight with no stick input. The trim of the Twinstar2 is sensitive to the expansion and shrinking of the foam fuselage with changing temperatures. I have therefore disconnected the rudder control and fixed it with tape in neutral position. This works just fine. And, before every flying session I adjust the elevator trim mechanically to the neutral flight position.

I did some turns in Auto1 to verify that the plane could roll sufficiently both left and right. Also I banked and tilted the plane to some stupid angles in flight, let go of the TX sticks and observed the plane level out by itself quite nicely.

'''Two important gains:'''

''ROLL_ATTITUDE_GAIN''

The plane was banked to one side in Auto1, then I abruptly let go of the aileron stick. The plane returned gently to level flight. ROLL_ATTITUDE_GAIN was increased in 500 unit steps until the plane just started to oscillate when I let go of the stick. Then I reduced the value by approx 500 units to avoid oscillation, and still keep the gain as high as possible.

''PITCH_PGAIN''

This gain was never actually tuned, but rather chosen as an intermediate value between values I have seen in other airframe files.

''Note:'' Increasing the gain means increasing the number (even if it becomes more negative).

===Auto2 flight===

Before trying the first Auto2 flight I edited the flight plan and placed the Standby waypoint in a suitable positon, so that I could follow the plane closely with my eyes and take over manual control if needed. Also I chose a sensible max_dist_from_home at 275m. In the airframe file I entered a DEFAULT_CIRCLE_RADIUS of 75m.

Then the following was performed:
1. Started Paparazzi Center. Compiled and flashed the autopilot
2. Started the GCS
3. Turned on the RC transmitter, throttle at zero, Manual mode
4. Powered up the plane and verified that the telemetry link worked
5. Checked that all control surfaces moved in the right direction in Manual and Auto1
6. Waited until Notebook-->Flight Plan showed Geo init and then entered Holding Point
7. Clicked the Takeoff button and then the Launch button
8. Held the plane firmly and briefly entered Auto2 to verify that engines throttled up
9. Back to Manual mode, engines stopped
10. If not already active, double clicked the Standby block in GCS

The plane was thrown in the air and flown in Manual mode to a safe altitude, near the Auto2 cruising altitude.

Then Auto2 was engaged on the RC transmitter. The plane adjusted its heighth and started to circle the Standby waypoint.

That's it. A great feeling of achievement.

Flying circles: [[Image:Auto2_16_10_2010_2.jpg |thumb|center| Circles]]

Circle and figure eight: [[Image:Auto2_16_10_2010_1.jpg |thumb|center| Circles and eights]]

==Further progress==

* I have some improvements to do on the tuning of my Twinstar2. However, a Funjet RR is in my workshop waiting for a Paparazzi installation.

* I have ordered an EagleTree Airspeed sensor. I hope to implement this shortly in my airframe and use it to improve flying and also receive messages from it in the GCS.

* As mentioned in my secondary goal I would like to implement some metheorological equipment in the plane. This work has not started yet.

* I also plan to spend more time trying to understand more about how the software works.

User:HWal

2019-09-13T13:06:04Z

HWal: Paparazzi equipment for sale.

='''Paparazzi electronics for sale'''=

==I own too much Paparazzi UAV equipment. If someone would be interested in the items below, I have split them into three bundles. The Lisa/M v2.0 and Elle0 bundles have been tested to work properly (see photos and videos). Because of this I do not want to sell any of these as individual components. In Bundle 3, all items have been tested individually except from the blue PWM to PPM board. If you are interested, please email me at helgewal@gmail.com==

===Bundle 1.===

1 Lisa/M v2.0 autopilot with Aspirin v2.1 IMU. Bought with a Quadshot from Transition Robotics. It has only been hovered barely above ground for a very short time (a minute or so). It was then moved to a Multiplex Funjet which was only tested on the bench and never flown.

Note: To get data from the onboard barometer via I2C, the 4.7k pullups R1 and R2 have been removed, and the jumpers JP4 and JP5 have been closed.

1 pair of XBee PRO S1 modems with adapters. The ground station modem has been placed in a small plastic casing.

1 GPS Drotek NEO M8N.

Videos (sorry for the poor quality):

Build firmware and upload: https://youtu.be/iGpmYqewWdo

Ground Control Station: https://youtu.be/-f7St6Z28zU

Postage from Norway to abroad is regretfully quite expensive at USD 20. If I can remove, and not send, the USB cable and the plastic modem casing, postage will be USD 12. Both alternatives include packing as unregistered letter in a cardboard box.

If you are interested, please send me an offer on helgewal@gmail.com. I am sorry I do not accept offers below USD 70 + postage.

The buyer is responsible for checking the legality of importing this kind of equipment into his / her country.

The items are sold as-is, though they have been very carefully handled.

Electronics: [[Image:20190816_115517.jpg |thumb|center| Electronics]]

===Bundle 2.===

1 Elle0 autopilot. Bench tested, never installed in aircraft. Purchased from Transition Robotics.

1 pair of XBee PRO Series 2 modems with adapters. The ground station modem has been placed in a small plastic casing.

1 GPS ublox NEO-6M. Not top of the line, it needs to be placed a bit away from the autopilot to get proper reception.

1 Voltage divider for measuring battery voltage on 3S Lipo. See schematic.

Videos (sorry for the poor quality):

Build firmware and upload: https://youtu.be/C-Sj0XW-1ps

Ground Control Station: https://youtu.be/pGSeS8SHQIQ

Postage from Norway to abroad is regretfully quite expensive at USD 20. If I can remove,and not send, the USB cable and the plastic modem casing, postage will be USD 12. Both alternatives include packing as unregistered letter in a cardboard box.

If you are interested, please send me an offer on helgewal@gmail.com. I am sorry I do not accept offers below USD 45 + postage.

The buyer is responsible for checking the legality of importing this kind of equipment into his / her country.

The items are sold as-is, though they have been very carefully handled.

Electronics: [[Image:20190814_211707.jpg |thumb|center| Electronics]]

Connection diagram: [[Image:diagram_Elle0_v2.jpg |thumb|center| Connection diagram]]

===Bundle 3.===

2 PWM to PPM converters for 8 channels. To be used if there is no PPM signal available.

1 R/C receiver Robbe R6107SP with PPM output only. Never flown in aircraft.

1 GPS ublox NEO-6M.

1 SPK GPS LEA-5H 3.3V.

1 pair of XBee S1 modems with adapters.

Postage from Norway to abroad is USD 12. This includes packing as unregistered letter in a cardboard box.

If you are interested, please send me an offer on helgewal@gmail.com. I am sorry I do not accept offers below USD 30 + postage.

The buyer is responsible for the legality of importing this kind of equipment into his / her country.

The items are sold as-is, though they have been very carefully handled.

Electronics: [[Image:20190819_192459.jpg |thumb|center| Electronics]]

User:HWal

2019-09-04T10:25:41Z

HWal:

File:20190819 192459.jpg

2019-09-03T13:55:49Z

HWal:

File:20190816 115517.jpg

2019-09-03T13:55:21Z

HWal:

File:Diagram Elle0 v2.jpg

2019-09-03T13:54:37Z

HWal:

File:20190814 211707.jpg

2019-09-03T13:50:55Z

HWal:

User:HWal

2010-11-20T21:40:50Z

HWal:

='''My Paparazzi UAV experience'''=
__TOC__

==General==

===Changes during the progress of my project===

My project started in autumn 2009. The Paparazzi project has evolved significantly since then. This document reflects how a Paparazzi fixed wing aircraft is configured in mid november 2010.

===About me===

* Automation and electricity engineer, graduated in 1972 (!)
* Main hobby: Model aircraft since I was a boy.
* Computer experience: Some programming in RPGII for IBM business machines. A little programming in Basic and Pascal.

===The project===

'''''Main focus:''''' Getting airborne with Paparazzi UAV.

'''''Primary goal:''''' Obtain Auto2 flight with a fixed wing model aircraft in other patterns than just a circle.

'''''Secondary goal:''''' Equip the plane with metheorological equipment (pressure, temperature sensors...) and receive online readings from the plane while in flight.

To maintain focus on getting airborne I bought the TWOG with boot loader installed. The GPS and ppm board were configured from the supplier.

Later on I intend to manage bootloader install myself, and use of the “tunnel” for GPS access. The ppm board works well as received from the supplier, so I’ll leave that alone for now.

The Paparazzi project is very flexible and seems (maybe for this reason) a bit complicated. There are more than one way to connect things. I have chosen to use IR sensors for attitude sensing. Due to the plane having four servos, I have chosen to power these, the RC receiver and the ppm board from a separate UBEC.

I run Ubuntu 10.04 on my “Paparazzi laptop”. At home I also run Paparazzi on my stationary PC. It was on the stationary machine I first tried the new “xml only” airframe file before I eventually converted my Ground Station laptop to this configuration method with success.

I have tried not to repeat the wiki too much in this page. However I have added links to the wiki as needed.

==Hardware==

===Paparazzi / UAV equipment===

The equipment was bought from CheBuzz and PPZUAV during autumn/winter of 2009/2010, consisting of:
* TWOG v1
* IR sensors
* Paparazzi GPS13 v0.9 (*)
* SPK LEA-5 GPS
* 2 x Aerocomm AC4790 modems with interface cables and Duck antennas
* 2 x XBee PRO Series 2 - 2.4 GHz modems with ground station adapter and duck antenna for the ground modem (*)
* ppm decoder by Hendrix and Moa
* USB-serial adapter - Sparkfun FTDI basic 3.3V DEV-08772
* Necessary cables for flashing and connecting the components

(*) This equipment is on a rig at the moment, but I have tested it and have dedicated it to a Cessna-like foam plane I have assembled.

===R/C equipment and link===

I use a Futaba 10CG 2.4 GHz transmitter with R617FS receiver. This radio is also used to control conventional R/C planes I have.

The three position switch (C) on the transmitter is used to change modes. This is mixed into channel 7, which again is connected to channel 8 on the ppm board. The ppm encoder manual is of great help when connecting this part of the installation.

===Airframe===

My project airframe is a Multiplex Twinstar2. This airframe has documented many successful flights equipped with Paparazzi autopilot. It has four servos; two for the ailerons, one for the elevator and one for the rudder.

''Note:'' Rudder control has later been disconnected, see below.

===Ground station Computer===

A cheap Compaq Presario Laptop with Vista on it was bought. I shrinked the Windows partition on the disk so that I got 100GB unused space. Then Ubuntu 9.04 was downloaded and installed on the free disk space.

''Note:'' Ubuntu 9.04 was replaced with 10.04 in october 2010.

==Software==

===Installing Paparazzi on the laptop===

I followed the instructions in the [http://paparazzi.enac.fr/wiki/Installation Installation] page and installed the system.

During installation a new directory, paparazzi3, was created in my home directory.

''Note:'' It was important to read through the Installation page in advance and select the method that was relevant. I chose to download the source code from Subversion and compiled with make.

===Preparing suitable configuration files===

After presenting a question to the community, Chris (hendrix) from Hellas emailed me a set of his files for the Multiplex Easyglider. I decided to adapt these to my Twinstar2 project.

===Editing the configuration files to my needs===

I wanted 57600 baud for the ground station and airplane. Also I wanted to use the transparent serial (pprz) protocol as recommended for ordinary users. These are the configuration I edited to fit my setup:

.../conf/conf.xml
.../conf/control_panel.xml
.../conf/airframes/twinstarhw.xml
.../conf/flight_plans/basic.xml
.../conf/radios/T10CG.xml

I regularly edit these files. If you would like a copy of my current configuration files, please email me at helgewal@gmail.com.

===Simulation===

There are instructions for simulation in the [http://paparazzi.enac.fr/wiki/Simulation Simulation] page. The following shows a simulation setup where I have used my own configuration files:

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: sim
Session: Simulation

''Note:'' After pushing Execute it is important to wait 10 seconds until Holding point is active (highlighted green in the notebook) before hitting the Takeoff and Launch buttons.

==Electrical connections==

Power supply connections: [[Image:diagram.png|thumb|center|Power supply]]

Telemetry connections, alternatives used: [[Image:diagram1.png|thumb|center|Telemetry]]

Please observe notes 1) and 2) about Gnd connections.

After experiencing a number of TWOG resets while powering up the autopilot, I chose to connect a separate power supply (BEC) for the servos, RC receiver and ppm board. This is advisable if the plane has more than two small servos.

''Note:'' It is of great importance that in a setup like mine the + lead from the motor ESC is isolated. Also it is important to avoid ground loops.

==Telemetry==

The equipment was connected as shown in the diagrams above. See the relevant alternative for each instance.

===Communicating with TWOG via the FTDI USB-serial adapter===

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight USB-serial_cable@9600

''Note:'' Line 2 in .../conf/flight_plans/basic.xml was updated with position data for my local model airfield.

The Clean button was pushed, then Build to generate the airframe files.

With the autopilot still not connected to the battery, the USB port on TWOG was connected to the USB port on the laptop via the adapter cable. TWOG was powered up, and Upload pushed.

Successful flashing was indicated by these lines:

....
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#########
Starting software at 0x00004000
....

Then battery supply was disconnected from the TWOG. More detailed wiki instructions is found in the [http://paparazzi.enac.fr/wiki/Compiling Compiling] page.

The serial port on the FTDI board was connected to SERIAL on the TWOG (only RX, TX and GND, remember RX -> TX and TX -> RX). Then the USB port on the laptop was connected to the USB port on the FTDI adapter, and the TWOG was powered up again.

I hit Execute in Paparazzi Center and could see blinking from the TX / RX leds on the FTDI board. The GCS got populated.

The responses (Manu, Auto1, Auto2) from the three different positions of the Mode switch (C) on The RC transmitter was observed in the GCS, and servo function was verified in Manual mode.

===Communicating with TWOG via XBee 2.4 GHz modems===

The X-CTU program (for Windows) was downloaded [http://www.digi.com/support/kbase/kbaseresultdetl.jsp?kb=125 here] .
I first connected the airborne modem to the ground station adapter, and the adapter to the PC with the USB cable. Then the X-CTU configuration program was started. I had not ever used this program before so took my time just to get familiar with (at least some of) the options.
The baudrate was set to 57600bps and the modem set as END DEVICE AT. The configuration was then written to the modem.
Next the ground station modem was connected to the ground station adapter. The baudrate was set to 57600 bps and the modem set as COORDINATOR AT. The configuration was written to the modem.

The airborne modem (with the wire antenna) was then connected to the TWOG.

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight XBee 2.4GHz or AC4790 900MHz@57600

The Clean button was pushed, then Build to generate the airframe files.

Upload was performed and after power cycle, Execute.

The blinking from led’s on the ground station modem adapter told me that communication was ok, and GCS was populated.

===Communicating with TWOG via AC4790 900MHz modems===

The configuration program (for Windows) was downloaded [http://www.lairdtech.com/Products/Wireless-M2M-and-Telematics-Solutions/Proprietary-Radio-Modules/ here] . I followed Download-->Software Downloads and installed the Configuration Utility.

I first connected airborne modem to the Sparkfun FTDI adapter and started AeroComm_OEM.exe. This also was a new utility to me and took its time to get familiar with. The modem was configured as shown below.

Next the ground station modem was connected to the FTDI adapter and configured.

Ground station modem: [[Image:Ground_modem.jpg |thumb|center| AC4790 Ground modem]]

Ground station modem configuration: [[Image:gcs.png |thumb|center| Ground modem conf]]

Airborne modem configuration: [[Image:airborne.png |thumb|center| Airborne modem conf]]

''Note:'' The Destination address on one modem is the MAC Address of the other, and vice versa.

The airborne modem was then connected to the TWOG.

The procedure for Build, Upload and Execute is equal to the procedure for the XBee’s.

===Getting messages from the GPS===

As already mentioned I bought the GPS configured for Paparazzi. The GPS tab was opened in the Notebook, where I could confirm that the TWOG received messages by watching the columns representing each sattellite. This test is best carried out outdoors, as sometimes indoors the GPS will not be able to see any satellites.

==External data==

===Downloading map tiles===

In the GCS I chose Maps-->Maps Policy-->http, and then Maps-->Maps fill. Map tiles started to fill the screen. As I zoomed out I coud download more tiles. More info on downloading maps is found on the [http://paparazzi.enac.fr/wiki/Maps Maps] page.

After downloading a number of tiles Maps fill would not work anymore, and I got an error message. I have read that Google Maps ban your ip for 24 hours after a certain number of tiles have been downloaded, so I waited till the next day. After some re-tries during the next days I eventually managed to get the tiles I needed for my area. The tiles are stored in …/var/maps for later use.

''Note:'' To make sure Paparazzi uses the right http link for tile download, svn update was run first.

===Getting ground altitude data for my part of the world===

Living in Norway, I could not find SRTM data published by NASA. I could however find the data I needed [http://www.viewfinderpanoramas.org/dem3.html here] .

This is described in the [http://paparazzi.enac.fr/wiki/Maps Maps] page in the wiki. The appropriate zip file was downloaded and implemented like this:

unzip P31v2.zip A new directory P31 is created
cd P31 Go to the new directory
bzip2 * Compress the files
mv * .../paparazzi3/data/srtm Move the files to their correct location

==Other peripherals==

===ppm pulses from the RC transmitter===

To measure the ppm pulses I needed the ppm messages. I did the following:

* Opened ...paparazzi3/conf/telemetry/default.xml
* Copied the ppm message in the “fbw” process from “debug” mode to “default” mode

After compiling and flashing, a Messages window was opened in Paparazzi Center. This time the ppm message was transmitted to the GCS. With all trims in the RC transmitter set to zero, I noted the max, neutral and min values for each channel. The values in the message was divided by 15 to get the ppm values. More about this in the [http://paparazzi.enac.fr/wiki/Radio_Control Radio Control] page in the wiki.

The values were entered into both the radio file '''.../conf/radios/T10CG.xml''', and the airframe file '''.../conf/airframes/twinstarhw.xml''' (in the servos section).

===IR sensors neutral===

I made a box from two styrofoam blocks where I carved out room for the sensors. My box is relatively small and there is only about 2,5cm - 3cm of styrofoam around the sensors. The sensors were enclosed in the box for 10 minutes or so before adjustments were carried out.

A Messages window was opened in Paparazzi Center -->tools-->Messages and I observed the IR_SENSORS message. The target was to make the readings for '''ir1''', '''ir2''' and '''vertical''' equal to zero.

These are typical values to start with in the airframe file:
<define name="ADC_IR1_NEUTRAL" value="511"/>
<define name="ADC_IR2_NEUTRAL" value="511"/>
<define name="ADC_TOP_NEUTRAL" value="510"/>

If for example the reading for Ir1 showed -4 in Messages, then ADC_IR1_NEUTRAL was changed by four units. The airframe was re-flashed and the result observed. If things got worse I just made the change the other way. In the end I managed readings that altered between 1 and 0.

''Note:'' I have later repeated this adjustment by enclosing only one of the two IR boards in the styrofoam box at a time. This seems to work well.

==Hardware installation and tuning==

===Installing the equipment in the plane===

As mentioned above in the circuit diagram I have a separate power supply for the servos, RC receiver and ppm encoder board. This is to prevent TWOG from being reset by variations in voltage caused by changing servo current draw.

IR sensors and GPS: [[Image:IR_AND_GPS.jpg |thumb|center| IR and GPS]]

The horizontal IR sensor board was mounted on a small plastic tube on top of the wing. The sensors have a tilted orientation, which means that each sensor “look” in a 45 degrees angle from the longitudinal and lateral axis. '''Tilted''' or '''not tilted''' orientation is configurable in the airframe file.

The vertical IR sensors board was mounted under the rear part of the left wing. I made a hole through the wing making it possible for one thermopile to look straight up.

In my setup, the orientation of sensors and responses in the IR_SENSORS message is as follows:

'''Sensor Location Response'''
ir1 (horizontal) Front right Positive when warm
ir1 (horizontal) Rear left Negative when warm
ir2 (horizontal) Rear right Positive when warm
ir2 (horizontal) Front left Negative when warm
vertical looking down Positive when warm
vertical looking up Negative when warm

It is sensible to spread the electronics in the plane as much as possible to avoid interference, and also place the usb flash socket in an easily accessible location.

===Checking correct IR sensor response in the PFD===

The following was checked:

* That the PFD showed everything the right way round, i.e. Blue (sky) up, and brown (ground) down.

* That the PFD showed level when the plane was kept level. The horizontal IR sensor board was adjusted mechanically to suit.

* That the PFD showed correct tilting direction and angle when it was tilted in different directions and angles.

To compensatate from what seemed a too small roll response angle I increased VERTICAL_CORRECTION in the INFRARED section from 1.5 to 1.7.

===Flying and trimming the plane in Manual mode===

When flying in Manual, all trims on the transmitter were set to zero, and the linkages adjusted mechanically to make the plane fly straight and level with no stick input from the RC transmitter.

A number of flights were carried out to gain experience with the telemetry and log files.

===Tuning in Auto1===

I selected the tuning.xml file in Paparazzi Center, compiled the aircraft and flashed the TWOG. Placed myself on an open field, held the plane over my head and engaged Auto1. Tilted the plane in every direction and I noted that the ailerons responded correctly, ''and that the elevator moved the wrong way''. This was corrected by reversing the max/min values for the elevator in the airframe file and in the radio file.

Then I engaged Manual and threw the plane. Climbed to a secure height and engaged Auto1, ready to return to Manual quickly if needed. The plane drifted a bit to the left. The two important parameters in the airframe file for tuning in this mode are ROLL_NEUTRAL_DEFAULT and PITCH_NEUTRAL_DEFAULT.

The ROLL_NEUTRAL_DEFAULT parameter needed -2.9 degrees adjustment

The PITCH_NEUTRAL_DEFAULT parameter was ok at 0

''Note:'' These values are entered in radians in GCS-->Notebook-->Settings-->control-->ir., and in degrees in the airframe file.

After a number of flights I have learned to remember the elevator position that gives neutral flight with no stick input. The trim of the Twinstar2 is sensitive to the expansion and shrinking of the foam fuselage with changing temperatures. I have therefore disconnected the rudder control and fixed it with tape in neutral position. This works just fine. And, before every flying session I adjust the elevator trim mechanically to the neutral flight position.

I did some turns in Auto1 to verify that the plane could roll sufficiently both left and right. Also I banked and tilted the plane to some stupid angles in flight, let go of the TX sticks and observed the plane level out by itself quite nicely.

'''Two important gains:'''

''ROLL_ATTITUDE_GAIN''

The plane was banked to one side in Auto1, then I abruptly let go of the aileron stick. The plane returned gently to level flight. ROLL_ATTITUDE_GAIN was increased in 500 unit steps until the plane just started to oscillate when I let go of the stick. Then I reduced the value by approx 500 units to avoid oscillation, and still keep the gain as high as possible.

''PITCH_PGAIN''

This gain was never actually tuned, but rather chosen as an intermediate value between values I have seen in other airframe files.

''Note:'' Increasing the gain means increasing the number (even if it becomes more negative).

===Auto2 flight===

Before trying the first Auto2 flight I edited the flight plan and placed the Standby waypoint in a suitable positon, so that I could follow the plane closely with my eyes and take over manual control if needed. Also I chose a sensible max_dist_from_home at 275m. In the airframe file I entered a DEFAULT_CIRCLE_RADIUS of 75m.

Then the following was performed:
1. Started Paparazzi Center. Compiled and flashed the autopilot
2. Started the GCS
3. Turned on the RC transmitter, throttle at zero, Manual mode
4. Powered up the plane and verified that the telemetry link worked
5. Checked that all control surfaces moved in the right direction in Manual and Auto1
6. Waited until Notebook-->Flight Plan showed Geo init and then entered Holding Point
7. Clicked the Takeoff button and then the Launch button
8. Held the plane firmly and briefly entered Auto2 to verify that engines throttled up
9. Back to Manual mode, engines stopped
10. If not already active, double clicked the Standby block in GCS

The plane was thrown in the air and flown in Manual mode to a safe altitude, near the Auto2 cruising altitude.

Then Auto2 was engaged on the RC transmitter. The plane adjusted its heighth and started to circle the Standby waypoint.

That's it. A great feeling of achievement.

Flying circles: [[Image:Auto2_16_10_2010_2.jpg |thumb|center| Circles]]

Circle and figure eight: [[Image:Auto2_16_10_2010_1.jpg |thumb|center| Circles and eights]]

==Further progress==

* I have some improvements to do on the tuning of my Twinstar2. However, a Funjet RR is in my workshop waiting for a Paparazzi installation.

* I have ordered an EagleTree Airspeed sensor. I hope to implement this shortly in my airframe and use it to improve flying and also receive messages from it in the GCS.

* As mentioned in my secondary goal I would like to implement some metheorological equipment in the plane. This work has not started yet.

* I also plan to spend more time trying to understand more about how the software works.

User:HWal

2010-11-14T17:39:06Z

HWal: /* Auto2 flight */

='''My Paparazzi UAV experience'''=
__TOC__

==General==

===Changes during the progress of my project===

My project started in autumn 2009. The Paparazzi project has evolved significantly since then. This document reflects how a Paparazzi fixed wing aircraft is configured in mid november 2010.

===About me===

* Automation and electricity engineer, graduated in 1972 (!)
* Main hobby: Model aircraft since I was a boy.
* Computer experience: Some programming in RPGII for IBM business machines. A little programming in Basic and Pascal.

===The project===

'''''Main focus:''''' Getting airborne with Paparazzi UAV.

'''''Primary goal:''''' Obtain Auto2 flight with a fixed wing model aircraft in other patterns than just a circle.

'''''Secondary goal:''''' Equip the plane with metheorological equipment (pressure, temperature sensors...) and receive online readings from the plane while in flight.

To maintain focus on getting airborne I bought the TWOG with boot loader installed. The GPS and ppm board were configured from the supplier.

Later on I intend to manage bootloader install myself, and use of the “tunnel” for GPS access. The ppm board works well as received from the supplier, so I’ll leave that alone for now.

The Paparazzi project is very flexible and seems (maybe for this reason) a bit complicated. There are more than one way to connect things. I have chosen to use IR sensors for attitude sensing. Due to the plane having four servos, I have chosen to power these, the RC receiver and the ppm board from a separate UBEC.

I run Ubuntu 10.04 on my “Paparazzi laptop”. At home I also run Paparazzi on my stationary PC. It was on the stationary machine I first tried the new “xml only” airframe file before I eventually converted my Ground Station laptop to this configuration method with success.

I have tried not to repeat the wiki too much in this page. However I have added links to the wiki as needed.

==Hardware==

===Paparazzi / UAV equipment===

The equipment was bought from CheBuzz and PPZUAV during autumn/winter of 2009/2010, consisting of:
* TWOG v1
* IR sensors
* Paparazzi GPS13 v0.9 (*)
* SPK LEA-5 GPS
* 2 x Aerocomm AC4790 modems with interface cables and Duck antennas
* 2 x XBee PRO Series 2 - 2.4 GHz modems with ground station adapter and duck antenna for the ground modem (*)
* ppm decoder by Hendrix and Moa
* USB-serial adapter - Sparkfun FTDI basic 3.3V DEV-08772
* Necessary cables for flashing and connecting the components

(*) This equipment is on a rig at the moment, but I have tested it and have dedicated it to a Cessna-like foam plane I have assembled.

===R/C equipment===

I use a Futaba 10CG 2.4 GHz transmitter with R617FS receiver. This radio is also used to control conventional R/C planes I have.

===Airframe===

My project airframe is a Multiplex Twinstar2. This airframe has documented many successful flights equipped with Paparazzi autopilot. It has four servos; two for the ailerons, one for the elevator and one for the rudder.

''Note:'' Rudder control has later been disconnected, see below.

===The RC link===

I use the three position switch (C) on my transmitter to change modes. This is mixed into channel 7, which again is connected to channel 8 on the ppm board. The ppm encoder manual is of great help when connecting this part of the installation.

===Ground station Computer===

A cheap Compaq Presario Laptop with Vista on it was bought. I shrinked the Windows partition on the disk so that I got 100GB unused space. Then Ubuntu 9.04 was downloaded and installed on the free disk space. Ubuntu 9.04 was replaced with 10.04 in october 2010.

==Software==

===Installing Paparazzi on the laptop===

I followed the instructions in the [http://paparazzi.enac.fr/wiki/Installation Installation] page and installed the system.

During installation a new directory, paparazzi3, was created in my home directory.

''Note:'' It was important to read through the Installation page in advance and select the method that was relevant. I chose to download the source code from Subversion and compiled with make.

===Preparing suitable configuration files===

After presenting a question to the community, Chris (hendrix) from Hellas emailed me a set of his files for the Multiplex Easyglider. I decided to adapt these to my Twinstar2 project.

===Editing the configuration files to my needs===

I wanted 57600 baud for the ground station and airplane. Also I wanted to use the transparent serial (pprz) protocol as recommended for normal users. These are the configuration I edited to fit my setup:

.../conf/conf.xml
.../conf/control_panel.xml
.../conf/airframes/twinstarhw.xml
.../conf/flight_plans/basic.xml
.../conf/radios/T10CG.xml

These files are often updated. If you would like a copy of my configuration files, please email me at helgewal@gmail.com.

===Simulation===

There are instructions for simulation in the [http://paparazzi.enac.fr/wiki/Simulation Simulation] page. The following shows a simulation setup where I have used my own configuration files:

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: sim
Session: Simulation

''Note:'' After pushing Execute it is important to wait 10 seconds until Holding point is active (highlighted green in the notebook) before hitting the Takeoff and Launch buttons.

==Electrical connections==

Power supply connections: [[Image:diagram.png|thumb|center|Power supply]]

Telemetry connections, alternatives used: [[Image:diagram1.png|thumb|center|Telemetry]]

After experiencing a number of TWOG resets while powering up the autopilot, I chose to connect a separate power supply (BEC) for the servos, RC receiver and ppm board. This is advisable is the plane has more than two small servos.

''Note:'' It is of great importance that in a setup like mine the + lead from the motor ESC is isolated. Also it is important to avoid ground loops.

==Telemetry==

===Communicating with TWOG via the FTDI USB-serial adapter===

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight USB-serial_cable@9600

''Note:'' Line 2 in ../conf/flight_plans/basic.xml was updated with position data for my local model airfield.

The Clean button was pushed, then Build to generate the airframe files.

With the autopilot still not connected to the battery, the USB port on TWOG was connected to the USB port on the laptop via the adapter cable. TWOG was powered up, and Upload pushed.

Successful flashing was indicated by these lines:

....
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#########
Starting software at 0x00004000
....

Then battery supply was disconnected from the TWOG. More detailed wiki instructions is found in the [http://paparazzi.enac.fr/wiki/Compiling Compiling] page.

The serial port on the FTDI board was connected to SERIAL on the TWOG (only RX, TX and GND, remember RX -> TX and TX -> RX). Then the USB port on the laptop was connected to the USB port on the FTDI adapter, and the TWOG was powered up again.

I hit Execute in Paparazzi Center and could see blinking from the TX / RX leds on the FTDI board. The GCS got populated.

The responses (Manu, Auto1, Auto2) from the three different positions of the Mode switch (C) on The RC transmitter was observed in the GCS, and servo function was verified in Manual mode.

===Communicating with TWOG via XBee 2.4 GHz modems===

The X-CTU program (for Windows) was downloaded [http://www.digi.com/support/kbase/kbaseresultdetl.jsp?kb=125 here] .
I first connected the airborne modem to the ground station adapter and started the X-CTU configuration program. I had not ever used this program before so took my time just to get familiar with (at least some of) the options.
The baudrate was set to 57600bps and the modem set as END DEVICE AT. The configuration was then written to the modem.
Next the ground station modem was connected to the ground station adapter. The baudrate was set to 57600 bps and the modem set as COORDINATOR AT. The configuration was written to the modem.

The airborne modem (with the wire antenna) was then connected to the TWOG.

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight XBee 2.4GHz or AC4790 900MHz@57600

The Clean button was pushed, then Build to generate the airframe files.

Upload was performed and after power cycle, Execute.

The blinking from led’s on the ground station modem adapter told me that communication was ok, and GCS was populated.

===Communicating with TWOG via AC4790 900MHz modems===

The configuration program (for Windows) was downloaded [http://www.lairdtech.com/Products/Wireless-M2M-and-Telematics-Solutions/Proprietary-Radio-Modules/ here] . I followed Download-->Software Downloads and installed the Configuration Utility.

I first connected airborne modem to the Sparkfun FTDI adapter and started AeroComm_OEM.exe. This also was a new utility to me and took its time to get familiar with. The modem was configured as shown here.
Next the ground station modem was connected to the FTDI adapter and configured as shown below.

Ground station modem: [[Image:Ground_modem.jpg |thumb|center| AC4790 Ground modem]]

Ground station modem configuration: [[Image:gcs.png |thumb|center| Ground modem conf]]

Airborne modem configuration: [[Image:airborne.png |thumb|center| Airborne modem conf]]

''Note:'' The Destination address on one modem is the MAC Address of the other, and vice versa.

The airborne modem was then connected to the TWOG.

The procedure for Build, Upload and Execute is equal to the procedure for the XBee’s.

===Getting messages from the GPS===

As already mentioned I bought the GPS configured for Paparazzi. The GPS tab was opened in the Notebook, where I could confirm that the TWOG received messages by watching the columns representing each sattellite. This test is best carried out outdoors, as sometimes indoors the GPS will not be able to see any satellites.

==External data==

===Downloading map tiles===

In the GCS I chose Maps-->Maps Policy-->http, and then Maps-->Maps fill. Map tiles started to fill the screen. As I zoomed out I coud download more tiles. More info on downloading maps is found on the [http://paparazzi.enac.fr/wiki/Maps Maps] page.

After downloading a number of tiles Maps fill would not work anymore, and I got an error message. I have read that Google Maps ban your ip for 24 hours after a certain number of tiles have been downloaded, so I waited till the next day. After some re-tries during the next days I eventually managed to get the tiles I needed for my area. The tiles are stored in …/var/maps for later use.

''Note:'' To make sure Paparazzi uses the right http link for tile download, svn update was run first.

===Getting ground altitude data for my part of the world===

Living in Norway, I could not find SRTM data published by NASA. I could however find the data I needed [http://www.viewfinderpanoramas.org/dem3.html here] .

This is described in the [http://paparazzi.enac.fr/wiki/Maps Maps] page in the wiki. The appropriate zip file was downloaded and implemented like this:

unzip P31v2.zip A new directory P31 is created
cd P31 Go to the new directory
bzip2 * Compress the files
mv * .../paparazzi3/data/srtm Move the files to their correct location

==Other peripherals==

===ppm pulses from the RC transmitter===

To measure the ppm pulses I needed the ppm messages. I did the following:

* Opened ...paparazzi3/conf/telemetry/default.xml
* Copied the ppm message in the “fbw” process from “debug” mode to “default” mode

After compiling and flashing, a Messages window was opened in Paparazzi Center. This time the ppm message was monitored. With all trims in the RC transmitter set to zero, I noted the max, neutral and min values for each channel. The values in the message was divided by 15 to get the ppm values. More about this in the [http://paparazzi.enac.fr/wiki/Radio_Control Radio Control] page in the wiki.

The values were entered into both the radio file '''.../conf/radios/T10CG.xml''', and the airframe file '''.../conf/airframes/twinstarhw.xml''' (in the servos section).

===IR sensors neutral===

I made a box from two styrofoam blocks where I carved out room for the sensors. My box is relatively small and there is only about 2,5cm - 3cm of styrofoam around the sensors. The sensors were enclosed in the box for 10 minutes or so before adjustments were carried out.

A Messages window was opened in Paparazzi Center -->tools-->Messages and I observed the IR_SENSORS message. The target was to make the readings for '''ir1''', '''ir2''' and '''vertical''' equal to zero.

These are typical values to start with in the airframe file:
<define name="ADC_IR1_NEUTRAL" value="511"/>
<define name="ADC_IR2_NEUTRAL" value="511"/>
<define name="ADC_TOP_NEUTRAL" value="510"/>

If for example the reading for Ir1 showed -4 in Messages, then ADC_IR1_NEUTRAL was changed by four units. The airframe was re-flashed and the result observed. If things got worse I just made the change the other way. In the end I managed readings that altered between 1 and 0.

''Note:'' I have later repeated this adjustment by enclosing only one of the two IR boards in the styrofoam box at a time. This seems to work well.

==Hardware installation and tuning==

===Installing the equipment in the plane===

As mentioned above in the circuit diagram I have a separate power supply for the servos, RC receiver and ppm encoder board. This is to prevent TWOG from being reset by variations in voltage caused by changing servo current draw.

IR sensors and GPS: [[Image:IR_AND_GPS.jpg |thumb|center| IR and GPS]]

The horizontal IR sensor board was mounted on a small plastic tube on top of the wing. The sensors have a tilted orientation, which means that the sensor “look” in a 45 degrees angle from the longitudinal and lateral axis. '''Tilted''' or '''not tilted''' orientation is configurable in the airframe file.

The vertical IR sensors board was mounted under the rear part of the left wing. I made a hole through the wing making it possible for one thermopile to look straight up.

In my setup, the orientation of sensors and responses in the IR_SENSORS message is as follows:

'''Sensor Location Response'''
ir1 (horizontal) Front right Positive when warm
ir1 (horizontal) Rear left Negative when warm
ir2 (horizontal) Rear right Positive when warm
ir2 (horizontal) Front left Negative when warm
vertical looking down Positive when warm
vertical looking up Negative when warm

It is sensible to spread the electronics in the plane as much as possible to avoid interference, and also place the usb flash socket in an easily accessible location.

===Checking correct IR sensor response in the PFD===

The following was checked:

* That the PFD showed everything the right way round, i.e. Blue (sky) up, and brown (ground) down.

* That the PFD showed level when the plane was kept level. The horizontal IR sensor board was adjusted mechanically to suit.

* That the PFD showed correct tilting direction and angle when it was tilted in different directions and angles.

To compensatate from what seemed a too small roll response angle I increased VERTICAL_CORRECTION in the INFRARED section from 1.5 to 1.7.

===Flying and trimming the plane in Manual mode===

When flying in Manual, all trims on the transmitter were set to zero, and the linkages adjusted mechanically to make the plane fly straight and level with no stick input from the RC transmitter.

A number of flights were carried out to gain experience with the telemetry and log files.

===Tuning in Auto1===

I selected the tuning.xml file in Paparazzi Center, compiled the aircraft and flashed the TWOG. Placed myself on an open field, held the plane over my head and engaged Auto1. Tilted the plane in every direction and I noted that the ailerons responded correctly, ''and that the elevator moved the wrong way''. This was corrected by reversing the max/min values for the elevator in the airframe file and in the radio file.

Then I engaged Manual and threw the plane. Climbed to a secure height and engaged Auto1, ready to return to Manual quickly if needed. The plane drifted a bit to the left. The two important parameters in the airframe file for tuning in this mode are ROLL_NEUTRAL_DEFAULT and PITCH_NEUTRAL_DEFAULT.

The ROLL_NEUTRAL_DEFAULT parameter needed -2.9 degrees adjustment

The PITCH_NEUTRAL_DEFAULT parameter was ok at 0

''Note:'' These values are entered in radians in GCS-->Notebook-->Settings-->control-->ir., and in degrees in the airframe file.

After a number of flights I have learned to remember the elevator position that gives neutral flight with no stick input. The trim of the Twinstar2 is sensitive to the expansion and shrinking of the foam fuselage with changing temperatures. I have therefore disconnected the rudder control and fixed it with tape in neutral position. This works just fine. And, before every flying session I adjust the elevator trim mechanically to the neutral flight position.

I did some turns in Auto1 to verify that the plane could roll sufficiently both left and right. Also I banked and tilted the plane to some stupid angles in flight, let go of the TX sticks and observed the plane level out by itself quite nicely.

'''Two important gains:'''

''ROLL_ATTITUDE_GAIN''

The plane was banked to one side in Auto1, then I abruptly let go of the aileron stick. The plane returned gently to level flight. ROLL_ATTITUDE_GAIN was increased in 500 unit steps until the plane just started to oscillate when I let go of the stick. Then I reduced the value by approx 500 units to avoid oscillation, and still keep the gain as high as possible.

''PITCH_PGAIN''

This gain was never actually tuned, but rather chosen as an intermediate value between values I have seen in other airframe files.

''Note:'' Increasing the gain means increasing the number (even if it becomes more negative).

===Auto2 flight===

Before trying the first Auto2 flight I edited the flight plan and placed the Standby waypoint in a suitable positon, so that I could follow the plane closely with my eyes and take over manual control if needed. Also I chose a sensible max_dist_from_home at 275m. In the airframe file I entered a DEFAULT_CIRCLE_RADIUS of 75m.

Then the following was performed:
1. Started Paparazzi Center. Compiled and flashed the autopilot
2. Started the GCS
3. Turned on the RC transmitter, throttle at zero, Manual mode
4. Powered up the plane and verified that the telemetry link worked
5. Checked that all control surfaces moved in the right direction in Manual and Auto1
6. Waited until Notebook-->Flight Plan showed Geo init and then entered Holding Point
7. Clicked the Takeoff button and then the Launch button
8. Held the plane firmly and briefly entered Auto2 to verify that engines throttled up
9. Back to Manual mode, engines stopped
10. If not already active, double clicked the Standby block in GCS

The plane was thrown in the air and flown in Manual mode to a safe altitude, near the Auto2 cruising altitude.

Then Auto2 was engaged on the RC transmitter. The plane adjusted its heighth and started to circle the Standby waypoint.

That's it. A great feeling of achievement.

Flying circles: [[Image:Auto2_16_10_2010_2.jpg |thumb|center| Circles]]

Circle and figure eight: [[Image:Auto2_16_10_2010_1.jpg |thumb|center| Circles and eights]]

==Further progress==

* I have some improvements to do on the tuning of my Twinstar2. However, a Funjet RR is in my workshop waiting for a Paparazzi installation.

* I have ordered an EagleTree Airspeed sensor. I hope to implement this shortly in my airframe and use it to improve flying and also receive messages from it in the GCS.

* As mentioned in my secondary goal I would like to implement some metheorological equipment in the plane. This work has not started yet.

* I also plan to spend more time trying to understand more about how the software works.

Users

2010-11-14T16:38:36Z

HWal: /* Europe */

Please add yourself to this list if you wish to share who you are and what you are doing with Paparazzi

==Need help adding your information?==
To have your information added by another paparazzi user, please send me an [http://www.rcgroups.com/forums/showpost.php?p=6575288&postcount=1 EMAIL] at with the
following:

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== Wiki pages ==
add a link to your users wiki page.

[http://paparazzi.enac.fr/wiki/User:Dconger Dconger]

[http://paparazzi.enac.fr/wiki/User:MarcusWolschon MarcusWolschon]

[http://paparazzi.enac.fr/wiki/User:Alfamyke Alfamyke]

[http://paparazzi.enac.fr/wiki/User:Danstah Danstah]

[http://paparazzi.enac.fr/wiki/User:Martinmm Martinmm]

[http://paparazzi.enac.fr/wiki/User:John_Burt John Burt]

[http://paparazzi.enac.fr/wiki/User:SilaS SilaS]

[http://paparazzi.enac.fr/wiki/User:Mecevans Mecevans]

[http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU-FCUAV]

[http://paparazzi.enac.fr/wiki/User:GPH Pierre-Selim]

[http://paparazzi.enac.fr/wiki/User:Martinpi martinpi]

[http://paparazzi.enac.fr/wiki/User:VAMK VAMK]

[http://paparazzi.enac.fr/wiki/User:EldenC Elden_Crom]

[http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison]

[http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider]

[http://paparazzi.enac.fr/wiki/User:Marc Marc]

[http://paparazzi.enac.fr/wiki/User:Bu5hm4nn Bu5hm4nn]

[http://paparazzi.enac.fr/wiki/User:HWal HWal]

==Asia==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"

| [mailto:wangcfan@163.com Wangcfan]|| China || Tiny2.11 ||| 2008 || The beginning, is now in learning phase;Learning in Tiny2.11 using the method of IMU!
|- style="background:bisque; color:black"

| [mailto:mnwxiaobao@gmail.com MNW]|| China || Tiny2.11 ||| 2009 || Just starting,having troubles with parts.
|- style="background:bisque; color:black"
| [mailto:shubhamearly@gmail.com Shubham]|| India || Tiny2.11 ||| 2009 || Writing the configuration code for airframe
|- style="background:bisque; color:black"
| [mailto:mundhra@gmail.com M Mundhra] || India || Tiny 1.3 ||| 2007 || Gain tuning on a flying wing configuration airframe
|- style="background:bisque; color:black"
| [mailto:ngkiangloong_at_hopetechnik.com Jianlun]|| Singapore || TWOG V1 ||| 2008 || trying to get TWOG onto an EasyStar. very much a newbie!
|- style="background:bisque; color:black"
| [mailto:praxmail@gmail.com prashanth] || India || Tiny 2.11 ||| 2008 || 6 autonomous flights till now, currently build a new wing like funjet
|- style="background:bisque; color:black"
| [mailto:spencerpangborn@gmail.com spencer] || Taipei, Taiwan || none ||| 2009 || research for now, hope to take aerial photos of Taipei City soon
|}

==Europe==
{| class="wikitable" style="text-align:center;background:black; color:blue"

! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
|Austria

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Martinpi Martin Piehslinger] || Vienna, Austria || Tiny 2.11 || 2008 || just starting

|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz, Austria || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.

|- style="background:bisque; color:black"
|France

|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.

|- style="background:bisque; color:black"
| [mailto:pvol_at_club.fr Philippe Volivert] || Paris, France || TWOG 2.12, EasyGlider, MPX3030 ||| July 2009 || Working on pan/tilt/roll camera

|- style="background:bisque; color:black"
| [mailto:thibaut.bergal@estaca.eu ESTACA Modélisme] || Paris, France || TWOG 2.11, Swift 2, MC22 ||| January 2010 || Starting

|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
| Toulouse
| Tiny v2.11 || Nov. 2008 || GWS Slow Stick flying in AUTO2 reliably. Starting on stabilized video and payload drops Skype: pauldanielcox Gtalk: [use email]

|- style="background:bisque; color:black"
|Germany

|- style="background:bisque; color:black"
| [mailto:maik.hoepfel_at_web.de Maik Hoepfel] || Berlin, Germany || TWOG, Borjet Maja, Futaba 9C 35 Mhz ||| August 2009 || Have flown different airframes and am flying a Borjet Maja right now; built a more rugged case and connecting board for PPRZ; taking surveying pictures

|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues

|- style="background:bisque; color:black"
| [[User:Flixr|Felix Ruess]] || Munich, Germany || Booz2 quadrotor ||| 2008 || flying, but a lot to improve ;-)

|- style="background:bisque; color:black"
| [[User:TheJJ|Jonas Jelten]] || Augsburg, Germany || just our airframe ||| 2010 || "P-Seminar" for the new G8 at our Gymnasium ([http://www.solarflugzeug.de.tc solarflugzeug.de.tc])

|- style="background:bisque; color:black"
| [[User:Christoph|Christoph Niemann]] || Bremen, Germany || Reely Condor with TWOG and Sparkfun Razor-IMU ||| 2010 || Several successful AUTO2-Flights but still need to improve the Configuration

|- style="background:bisque; color:black"
| Portugal

|- style="background:bisque; color:black"
| [mailto:azoreanuav_at_gmail.com Rui Costa] || Azores, Portugal || Outrunner Twinstar II with Tiny 2.11, Aerocomm datalink, 1W video tx ||| 2008 || Only ground test and software configuration.

|- style="background:bisque; color:black"
| [mailto:muralha_at_gmail.com Nuno Guedes] || Lamego, Portugal || Tiny 2.11 || 2008 || Starting

|- style="background:bisque; color:black"
|Switzerland

|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny v2.11, TWOG v1, EeePC as GCS, Multiplex FunJet & EasyStar ||| 2008 || Many successful flights.

|- style="background:bisque; color:black"
| [mailto:spam1_at_marzer.com CedricM] || Geneva, Switzerland || Tiny 2.11, Multiplex FunJet with video camera ||| 2008 || Many successful flights working on an osd module and weather probes.

|- style="background:bisque; color:black"
| [mailto:reto.buettner_at_gmail.com RetoB] || Meilen, Switzerland || TWOG, Tiny 2.11, AeroMaster, E-Hawk, Y-UAV, EzOSD, Scherrer UHF ||| 2010 || Many successful flights. See [http://www.aerovista.ch/news.html www.aerovista.ch] and [http://www.y-uav.com www.y-uav.com] for current status.

|- style="background:bisque; color:black"
| [mailto:schmiemi_at_students.zhaw.ch EmilioS] || Winterthur, Switzerland || TWOG incl. ArduIMU, Borjet Maja, UMARS||| 2010 || Many successful flights. See [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html UMARS] for current status.

|- style="background:bisque; color:black"
| [mailto:samuelbryner_gmx.ch Samuel B.] || Winterthur, Switzerland || Tiny 2.11, Multiplex Easyglider ||| 2010 || Just starting. No flight so far :/

|- style="background:bisque; color:black"
| UK

|- style="background:bisque; color:black"
| [mailto:et@onyxnet.co.uk Alan K] || Middlesbrough, England || Tiny 2.11 & MaxStream ||| 2008 || Just starting.

|- style="background:bisque; color:black"
| [[User:G R|Gareth R]] || Sheffield, UK || Tiny 2.11, video, bunch of helicopters, Multiplex Mentor, Multiplex Funjet, Multiplex Fox, GWS Formosa ||| 2008 || Came 4th in EMAV09 (although won the Golden Balls award for courage in the face of adversity and exceptional partying). Many AUTO2 flights with a camera and XBee868s. Current main airframe is a GWS Formosa (they are so cheap!).

|- style="background:bisque; color:black"
| Other

|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3,2.11, Twog 1.0 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV. Successfull. Now using it on large gliders and jets.

|- style="background:bisque; color:black"
| [[ email = hendrix at vivodinet dot gr| Chris Efstathiou]] || Piraeus Hellas || tiny 2.11 on a Mpx EasyGlider, TWOG 1.3 on a Boomerang turbine jet ||| 2008 || The Easyglider is fully operational, still working on the jet which had his first flight with the TWOG at 25/1/2009

|- style="background:bisque; color:black"
| [[User:openuas|OpenUAS]] || Amsterdam, The Netherlands || TWOG, Tiny and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed integration

|- style="background:bisque; color:black"
| [mailto:sanarlab@yandex.ru Andrew Saenko] || Russia, St-Petersburg || Tiny 1.13, Tiny 2.11, two own hardware designs, 5 kg aerial photo plane, 2.5 kg survelliance uav, Easystar ||| 2007 || Use modified autopilot and GCS in professional tasks, add self desidned IMU

|- style="background:bisque; color:black"
| [mailto:chebuzz_at_gmail.com David "Buzz" Carlson] || Cyprus || Tiny 2.11, Lynx EDF & GWS SloStick, 9XTend datalink ||| 2008 || Quite a few AUTO2 flights. Plane currently grounded due to a TX run-in with a 1 year-old. Currently working on getting new TX and completing CBP store setup.

|- style="background:bisque; color:black"
| [mailto:kostalexis@ece.upatras.gr AneMos-Group] || Patras, Greece || Tiny 2.11, Quadrotor VTOL ||| 2008 || Working on IMU, Trying to implement Constrained Control for the quadrotor trajectory flight

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:VAMK Allan Ojala (VAMK)] || Vaasa, Finland || TWOG, with AC4790 radio and LEA-5H GPS ||| 2009 || Ditched the SIG Kadet. Built a new big plane TaigaCam. Self-build model made out of EPP and a plastic tube.

|- style="background:bisque; color:black"
| [mailto:alexandru.panait@ral.ro Phineas] || Bucharest, Romania || Tiny2.11 (PPZUAV) ||| November 2009 || Just started to set-up

|- style="background:bisque; color:black"
| [mailto:lukeiron@hotmail.com Luke] || Torino, Italy || TWOG ||| December 2009 || Close to mount the AP on my Mentor
|

|- style="background:bisque; color:black"
| [mailto:helgewal@gmail.com Helge] || Bergen, Norway || TWOG ||| 2009 || First Auto2 flight with Twinstar2 in October 2010
|}

==North America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Mcurrie Matthew Currie] || Nanaimo, BC Canada || Tiny 13 v1.1 (Self-built) ||| November 2006 || Funjet + XBee

|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] [http://paparazzi.enac.fr/wiki/User:John_Burt wiki page]|| Portland, Oregon || Tiny v2.11 + LEA-4H (PPZUAV), Multiplex Cularis/Easystar, 9Xtend modem, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Initial flight tests w/ Easystar in AUTO1 & AUTO2.

|- style="background:bisque; color:black"
| [mailto:ogar0007@umn.edu Pat O'Gara] || St. Paul, MN || Tiny 2.11 and TWOG (PPZUAV) |||Oct. 2008 || Completed and flown FunJet and Minimag in Auto 2. Currently rebuilding MiniMag as an improved development platform.

|- style="background:bisque; color:black"
| [mailto:kochesj@gvsu.edu John Koches] || Muskegon, Michigan || Tiny 2.11 (PPZUAV) ||| 2007 || currently flying a 48 inch zagi, 80 inch under construction.

|- style="background:bisque; color:black"
| [mailto:Stdeguir@gmail.com Steve Deguir] || New York,New York || Tiny2.11+LEA-5H (PPZUAV), XbeePro 2.4, Berg4L, JR FMA ||| Feb 2009 ||

|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.

|- style="background:bisque; color:black"
| [mailto:mecevans@gmail.com Michael Evans] || Seaside(Monterey Bay), California || Tiny2.11 (PPZUAV) ||| Feb 2009 ||http://www.rcgroups.com/forums/showthread.php?t=1000937.

|- style="background:bisque; color:black"
| USU AggieAir Remote Sensing || Logan, UT || TWOG (PPZUAV) ||| January 2009 || Building 72" Flying Wings which will be used for remote sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://www.engr.usu.edu/wiki/index.php/OSAM USU OSAM-UAV] || Logan, UT || TWOG (PPZUAV) ||| June 2007 || 2x72" 5x48" 1x60" Flying Wings. Research backyard for AggieAir Remote Sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU Fuel Cell UAV] || Fort Collins, Co || Tiny 2.11 + LEA-5H (PPZUAV), 2.4Ghz XBPro ||| Mar 2009 || Maiden flight complete Feb 28. New Airframe in development.

|- style="background:bisque; color:black"
| [mailto:armz12@gmail.com Armen Gharibans] || La Jolla, California || Tiny2.11 (PPZUAV) ||| March 2009 || UCSD Project with Multiplex Mentor. Completed August 2, 2009. Several Successful Auto2 Flights. A LOT of help from David Conger.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:EldenC Elden Crom] || Tucson, AZ || Twog 1.0 ||| July 2009 || Multiplex Twinstar, XBee Pro. Several Successful Auto2 Flights. Working toward precise Auto-Takeoff and Auto-Land

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider] || Tucson, AZ || None, will use TWOG 1.0 ||| December 2009 || Super Dimona, Aerocomm. No Flight test. Working toward setting waypoints within Paparazzi code

|- style="background:bisque; color:black"
| [Reegan] || Lubbock, TX || Planning on Tiny 2.11 (PPZUAV), 900mhz XBPro |||Dec. 2009 || Gaining info to begin a collegiate project

|- style="background:bisque; color:black"
| Team UAV UALR Caleb Tenberge || Little Rock, AR || Using TWOG 1.0 ||| Feb 2010 || Using a Telemaster, we are learning the GCS and building our plane.

|- style="background:bisque; color:black"
| [mailto:changho.nam@asu.edu Arizona State University POLY - Capstone Team: Development of UAV /w surveillance System] || Mesa, AZ || Using TINY 2.1 - 2.4GHz Modem, CCD Camera /w 900 MHz Video Transmitter ||| March 2010 || 4-lbs Flying Wings. We made successful autonomous flights.

|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==Central America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:joschau@comcast.net Joekadet] || David Panama' || Tiny v2.11/LEA-4P, RF Modems XBee Pro 2.4 GHz (PPZUAV). Multiplex Mentor ||| 2008 || Seven flights now. Flights 6 & 7 in Auto2. Now only a matter of fine tuning.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==South America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:gustavoviolato@gmail.com Gustavo Violato] || São José dos Campos, Brasil || Tiny v2.11/LEA-4P, Modem XBee Pro 2.4 GHz Swift II ||| 2009 || Flying autonomously and enjoying it. Planning to use the system for flight test data acquisition and aircraft parameter recognition.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==Australia==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| [mailto:reubenb87@gmail.com Reuben Brown]|| Gawler, SA || Tiny v2.11 ||| May 2009 || Getting the autopilot set up
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison] || Neutral Bay, NSW || Tiny v2.11, Vertical + Horizontal IR sensors, XBee PRO modems, Futaba T6EXAP TX, Futaba R136F RX, Funjet, MacBook laptop ||| August 2008 || Several flights in Auto1
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rufus Chris Gough] || Canberra || TWOG v2.11, EZ* || September 09 || not yet airborn
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Adam.A Adam Amos] || Sydney, NSW || TWOG, IMU, BORJET MAJA || March 2010 || see [http://www.rescuerobotics.com.au www.rescuerobotics.com.au] for current status
|}

==Africa==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:w1_th@yahoo.com W1th] || South Africa KZN || TWOG V1 ,LEA-5H GPS , RF Modems XBee Pro 868 (CheBuzz) ||| July 2009 || Got TWOG,GPS etc interfacing with Laptop and working , Have not done anything to it recently but...Made a website [http://sites.google.com/site/scarfclub/paparazi-uav SCARF Paparazzi-UAV] of my struggle ...
|- style="background:bisque; color:black"
| [mailto:willie.smit@nwu.ac.za Willie Smit] || South Africa NW || Tiny v2.11, LEA-4P GPS, RF Modems XBee Pro ||| April 2010 || We are currently doing test flights. Also doing research on obstacle avoidance.
|- style="background:bisque; color:black"
|}

Users

2010-11-14T16:32:30Z

HWal: /* Wiki pages */

Please add yourself to this list if you wish to share who you are and what you are doing with Paparazzi

==Need help adding your information?==
To have your information added by another paparazzi user, please send me an [http://www.rcgroups.com/forums/showpost.php?p=6575288&postcount=1 EMAIL] at with the
following:

*Name
*Email
*Location
*Hardware
*Join date
*Current activities / project status

== Wiki pages ==
add a link to your users wiki page.

[http://paparazzi.enac.fr/wiki/User:Dconger Dconger]

[http://paparazzi.enac.fr/wiki/User:MarcusWolschon MarcusWolschon]

[http://paparazzi.enac.fr/wiki/User:Alfamyke Alfamyke]

[http://paparazzi.enac.fr/wiki/User:Danstah Danstah]

[http://paparazzi.enac.fr/wiki/User:Martinmm Martinmm]

[http://paparazzi.enac.fr/wiki/User:John_Burt John Burt]

[http://paparazzi.enac.fr/wiki/User:SilaS SilaS]

[http://paparazzi.enac.fr/wiki/User:Mecevans Mecevans]

[http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU-FCUAV]

[http://paparazzi.enac.fr/wiki/User:GPH Pierre-Selim]

[http://paparazzi.enac.fr/wiki/User:Martinpi martinpi]

[http://paparazzi.enac.fr/wiki/User:VAMK VAMK]

[http://paparazzi.enac.fr/wiki/User:EldenC Elden_Crom]

[http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison]

[http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider]

[http://paparazzi.enac.fr/wiki/User:Marc Marc]

[http://paparazzi.enac.fr/wiki/User:Bu5hm4nn Bu5hm4nn]

[http://paparazzi.enac.fr/wiki/User:HWal HWal]

==Asia==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"

| [mailto:wangcfan@163.com Wangcfan]|| China || Tiny2.11 ||| 2008 || The beginning, is now in learning phase;Learning in Tiny2.11 using the method of IMU!
|- style="background:bisque; color:black"

| [mailto:mnwxiaobao@gmail.com MNW]|| China || Tiny2.11 ||| 2009 || Just starting,having troubles with parts.
|- style="background:bisque; color:black"
| [mailto:shubhamearly@gmail.com Shubham]|| India || Tiny2.11 ||| 2009 || Writing the configuration code for airframe
|- style="background:bisque; color:black"
| [mailto:mundhra@gmail.com M Mundhra] || India || Tiny 1.3 ||| 2007 || Gain tuning on a flying wing configuration airframe
|- style="background:bisque; color:black"
| [mailto:ngkiangloong_at_hopetechnik.com Jianlun]|| Singapore || TWOG V1 ||| 2008 || trying to get TWOG onto an EasyStar. very much a newbie!
|- style="background:bisque; color:black"
| [mailto:praxmail@gmail.com prashanth] || India || Tiny 2.11 ||| 2008 || 6 autonomous flights till now, currently build a new wing like funjet
|- style="background:bisque; color:black"
| [mailto:spencerpangborn@gmail.com spencer] || Taipei, Taiwan || none ||| 2009 || research for now, hope to take aerial photos of Taipei City soon
|}

==Europe==
{| class="wikitable" style="text-align:center;background:black; color:blue"

! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
|Austria

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Martinpi Martin Piehslinger] || Vienna, Austria || Tiny 2.11 || 2008 || just starting

|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz, Austria || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.

|- style="background:bisque; color:black"
|France

|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.

|- style="background:bisque; color:black"
| [mailto:pvol_at_club.fr Philippe Volivert] || Paris, France || TWOG 2.12, EasyGlider, MPX3030 ||| July 2009 || Working on pan/tilt/roll camera

|- style="background:bisque; color:black"
| [mailto:thibaut.bergal@estaca.eu ESTACA Modélisme] || Paris, France || TWOG 2.11, Swift 2, MC22 ||| January 2010 || Starting

|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
| Toulouse
| Tiny v2.11 || Nov. 2008 || GWS Slow Stick flying in AUTO2 reliably. Starting on stabilized video and payload drops Skype: pauldanielcox Gtalk: [use email]

|- style="background:bisque; color:black"
|Germany

|- style="background:bisque; color:black"
| [mailto:maik.hoepfel_at_web.de Maik Hoepfel] || Berlin, Germany || TWOG, Borjet Maja, Futaba 9C 35 Mhz ||| August 2009 || Have flown different airframes and am flying a Borjet Maja right now; built a more rugged case and connecting board for PPRZ; taking surveying pictures

|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues

|- style="background:bisque; color:black"
| [[User:Flixr|Felix Ruess]] || Munich, Germany || Booz2 quadrotor ||| 2008 || flying, but a lot to improve ;-)

|- style="background:bisque; color:black"
| [[User:TheJJ|Jonas Jelten]] || Augsburg, Germany || just our airframe ||| 2010 || "P-Seminar" for the new G8 at our Gymnasium ([http://www.solarflugzeug.de.tc solarflugzeug.de.tc])

|- style="background:bisque; color:black"
| [[User:Christoph|Christoph Niemann]] || Bremen, Germany || Reely Condor with TWOG and Sparkfun Razor-IMU ||| 2010 || Several successful AUTO2-Flights but still need to improve the Configuration

|- style="background:bisque; color:black"
| Portugal

|- style="background:bisque; color:black"
| [mailto:azoreanuav_at_gmail.com Rui Costa] || Azores, Portugal || Outrunner Twinstar II with Tiny 2.11, Aerocomm datalink, 1W video tx ||| 2008 || Only ground test and software configuration.

|- style="background:bisque; color:black"
| [mailto:muralha_at_gmail.com Nuno Guedes] || Lamego, Portugal || Tiny 2.11 || 2008 || Starting

|- style="background:bisque; color:black"
|Switzerland

|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny v2.11, TWOG v1, EeePC as GCS, Multiplex FunJet & EasyStar ||| 2008 || Many successful flights.

|- style="background:bisque; color:black"
| [mailto:spam1_at_marzer.com CedricM] || Geneva, Switzerland || Tiny 2.11, Multiplex FunJet with video camera ||| 2008 || Many successful flights working on an osd module and weather probes.

|- style="background:bisque; color:black"
| [mailto:reto.buettner_at_gmail.com RetoB] || Meilen, Switzerland || TWOG, Tiny 2.11, AeroMaster, E-Hawk, Y-UAV, EzOSD, Scherrer UHF ||| 2010 || Many successful flights. See [http://www.aerovista.ch/news.html www.aerovista.ch] and [http://www.y-uav.com www.y-uav.com] for current status.

|- style="background:bisque; color:black"
| [mailto:schmiemi_at_students.zhaw.ch EmilioS] || Winterthur, Switzerland || TWOG incl. ArduIMU, Borjet Maja, UMARS||| 2010 || Many successful flights. See [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html UMARS] for current status.

|- style="background:bisque; color:black"
| [mailto:samuelbryner_gmx.ch Samuel B.] || Winterthur, Switzerland || Tiny 2.11, Multiplex Easyglider ||| 2010 || Just starting. No flight so far :/

|- style="background:bisque; color:black"
| UK

|- style="background:bisque; color:black"
| [mailto:et@onyxnet.co.uk Alan K] || Middlesbrough, England || Tiny 2.11 & MaxStream ||| 2008 || Just starting.

|- style="background:bisque; color:black"
| [[User:G R|Gareth R]] || Sheffield, UK || Tiny 2.11, video, bunch of helicopters, Multiplex Mentor, Multiplex Funjet, Multiplex Fox, GWS Formosa ||| 2008 || Came 4th in EMAV09 (although won the Golden Balls award for courage in the face of adversity and exceptional partying). Many AUTO2 flights with a camera and XBee868s. Current main airframe is a GWS Formosa (they are so cheap!).

|- style="background:bisque; color:black"
| Other

|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3,2.11, Twog 1.0 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV. Successfull. Now using it on large gliders and jets.

|- style="background:bisque; color:black"
| [[ email = hendrix at vivodinet dot gr| Chris Efstathiou]] || Piraeus Hellas || tiny 2.11 on a Mpx EasyGlider, TWOG 1.3 on a Boomerang turbine jet ||| 2008 || The Easyglider is fully operational, still working on the jet which had his first flight with the TWOG at 25/1/2009

|- style="background:bisque; color:black"
| [[User:openuas|OpenUAS]] || Amsterdam, The Netherlands || TWOG, Tiny and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed integration

|- style="background:bisque; color:black"
| [mailto:sanarlab@yandex.ru Andrew Saenko] || Russia, St-Petersburg || Tiny 1.13, Tiny 2.11, two own hardware designs, 5 kg aerial photo plane, 2.5 kg survelliance uav, Easystar ||| 2007 || Use modified autopilot and GCS in professional tasks, add self desidned IMU

|- style="background:bisque; color:black"
| [mailto:chebuzz_at_gmail.com David "Buzz" Carlson] || Cyprus || Tiny 2.11, Lynx EDF & GWS SloStick, 9XTend datalink ||| 2008 || Quite a few AUTO2 flights. Plane currently grounded due to a TX run-in with a 1 year-old. Currently working on getting new TX and completing CBP store setup.

|- style="background:bisque; color:black"
| [mailto:kostalexis@ece.upatras.gr AneMos-Group] || Patras, Greece || Tiny 2.11, Quadrotor VTOL ||| 2008 || Working on IMU, Trying to implement Constrained Control for the quadrotor trajectory flight

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:VAMK Allan Ojala (VAMK)] || Vaasa, Finland || TWOG, with AC4790 radio and LEA-5H GPS ||| 2009 || Ditched the SIG Kadet. Built a new big plane TaigaCam. Self-build model made out of EPP and a plastic tube.

|- style="background:bisque; color:black"
| [mailto:alexandru.panait@ral.ro Phineas] || Bucharest, Romania || Tiny2.11 (PPZUAV) ||| November 2009 || Just started to set-up

|- style="background:bisque; color:black"
| [mailto:lukeiron@hotmail.com Luke] || Torino, Italy || TWOG ||| December 2009 || Close to mount the AP on my Mentor
|}

==North America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Mcurrie Matthew Currie] || Nanaimo, BC Canada || Tiny 13 v1.1 (Self-built) ||| November 2006 || Funjet + XBee

|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] [http://paparazzi.enac.fr/wiki/User:John_Burt wiki page]|| Portland, Oregon || Tiny v2.11 + LEA-4H (PPZUAV), Multiplex Cularis/Easystar, 9Xtend modem, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Initial flight tests w/ Easystar in AUTO1 & AUTO2.

|- style="background:bisque; color:black"
| [mailto:ogar0007@umn.edu Pat O'Gara] || St. Paul, MN || Tiny 2.11 and TWOG (PPZUAV) |||Oct. 2008 || Completed and flown FunJet and Minimag in Auto 2. Currently rebuilding MiniMag as an improved development platform.

|- style="background:bisque; color:black"
| [mailto:kochesj@gvsu.edu John Koches] || Muskegon, Michigan || Tiny 2.11 (PPZUAV) ||| 2007 || currently flying a 48 inch zagi, 80 inch under construction.

|- style="background:bisque; color:black"
| [mailto:Stdeguir@gmail.com Steve Deguir] || New York,New York || Tiny2.11+LEA-5H (PPZUAV), XbeePro 2.4, Berg4L, JR FMA ||| Feb 2009 ||

|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.

|- style="background:bisque; color:black"
| [mailto:mecevans@gmail.com Michael Evans] || Seaside(Monterey Bay), California || Tiny2.11 (PPZUAV) ||| Feb 2009 ||http://www.rcgroups.com/forums/showthread.php?t=1000937.

|- style="background:bisque; color:black"
| USU AggieAir Remote Sensing || Logan, UT || TWOG (PPZUAV) ||| January 2009 || Building 72" Flying Wings which will be used for remote sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://www.engr.usu.edu/wiki/index.php/OSAM USU OSAM-UAV] || Logan, UT || TWOG (PPZUAV) ||| June 2007 || 2x72" 5x48" 1x60" Flying Wings. Research backyard for AggieAir Remote Sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:CSU-FCUAV CSU Fuel Cell UAV] || Fort Collins, Co || Tiny 2.11 + LEA-5H (PPZUAV), 2.4Ghz XBPro ||| Mar 2009 || Maiden flight complete Feb 28. New Airframe in development.

|- style="background:bisque; color:black"
| [mailto:armz12@gmail.com Armen Gharibans] || La Jolla, California || Tiny2.11 (PPZUAV) ||| March 2009 || UCSD Project with Multiplex Mentor. Completed August 2, 2009. Several Successful Auto2 Flights. A LOT of help from David Conger.

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:EldenC Elden Crom] || Tucson, AZ || Twog 1.0 ||| July 2009 || Multiplex Twinstar, XBee Pro. Several Successful Auto2 Flights. Working toward precise Auto-Takeoff and Auto-Land

|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:jvs84 U of Arizona Autonomous Glider] || Tucson, AZ || None, will use TWOG 1.0 ||| December 2009 || Super Dimona, Aerocomm. No Flight test. Working toward setting waypoints within Paparazzi code

|- style="background:bisque; color:black"
| [Reegan] || Lubbock, TX || Planning on Tiny 2.11 (PPZUAV), 900mhz XBPro |||Dec. 2009 || Gaining info to begin a collegiate project

|- style="background:bisque; color:black"
| Team UAV UALR Caleb Tenberge || Little Rock, AR || Using TWOG 1.0 ||| Feb 2010 || Using a Telemaster, we are learning the GCS and building our plane.

|- style="background:bisque; color:black"
| [mailto:changho.nam@asu.edu Arizona State University POLY - Capstone Team: Development of UAV /w surveillance System] || Mesa, AZ || Using TINY 2.1 - 2.4GHz Modem, CCD Camera /w 900 MHz Video Transmitter ||| March 2010 || 4-lbs Flying Wings. We made successful autonomous flights.

|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==Central America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:joschau@comcast.net Joekadet] || David Panama' || Tiny v2.11/LEA-4P, RF Modems XBee Pro 2.4 GHz (PPZUAV). Multiplex Mentor ||| 2008 || Seven flights now. Flights 6 & 7 in Auto2. Now only a matter of fine tuning.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==South America==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:gustavoviolato@gmail.com Gustavo Violato] || São José dos Campos, Brasil || Tiny v2.11/LEA-4P, Modem XBee Pro 2.4 GHz Swift II ||| 2009 || Flying autonomously and enjoying it. Planning to use the system for flight test data acquisition and aircraft parameter recognition.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

==Australia==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| [mailto:reubenb87@gmail.com Reuben Brown]|| Gawler, SA || Tiny v2.11 ||| May 2009 || Getting the autopilot set up
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rbdavison Bernard Davison] || Neutral Bay, NSW || Tiny v2.11, Vertical + Horizontal IR sensors, XBee PRO modems, Futaba T6EXAP TX, Futaba R136F RX, Funjet, MacBook laptop ||| August 2008 || Several flights in Auto1
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Rufus Chris Gough] || Canberra || TWOG v2.11, EZ* || September 09 || not yet airborn
|- style="background:bisque; color:black"
| [http://paparazzi.enac.fr/wiki/User:Adam.A Adam Amos] || Sydney, NSW || TWOG, IMU, BORJET MAJA || March 2010 || see [http://www.rescuerobotics.com.au www.rescuerobotics.com.au] for current status
|}

==Africa==

{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:w1_th@yahoo.com W1th] || South Africa KZN || TWOG V1 ,LEA-5H GPS , RF Modems XBee Pro 868 (CheBuzz) ||| July 2009 || Got TWOG,GPS etc interfacing with Laptop and working , Have not done anything to it recently but...Made a website [http://sites.google.com/site/scarfclub/paparazi-uav SCARF Paparazzi-UAV] of my struggle ...
|- style="background:bisque; color:black"
| [mailto:willie.smit@nwu.ac.za Willie Smit] || South Africa NW || Tiny v2.11, LEA-4P GPS, RF Modems XBee Pro ||| April 2010 || We are currently doing test flights. Also doing research on obstacle avoidance.
|- style="background:bisque; color:black"
|}

User:HWal

2010-11-14T16:31:28Z

HWal: /* Electrical connections */

='''My Paparazzi UAV experience'''=
__TOC__

==General==

===Changes during the progress of my project===

My project started in autumn 2009. The Paparazzi project has evolved significantly since then. This document reflects how a Paparazzi fixed wing aircraft is configured in mid november 2010.

===About me===

* Automation and electricity engineer, graduated in 1972 (!)
* Main hobby: Model aircraft since I was a boy.
* Computer experience: Some programming in RPGII for IBM business machines. A little programming in Basic and Pascal.

===The project===

'''''Main focus:''''' Getting airborne with Paparazzi UAV.

'''''Primary goal:''''' Obtain Auto2 flight with a fixed wing model aircraft in other patterns than just a circle.

'''''Secondary goal:''''' Equip the plane with metheorological equipment (pressure, temperature sensors...) and receive online readings from the plane while in flight.

To maintain focus on getting airborne I bought the TWOG with boot loader installed. The GPS and ppm board were configured from the supplier.

Later on I intend to manage bootloader install myself, and use of the “tunnel” for GPS access. The ppm board works well as received from the supplier, so I’ll leave that alone for now.

The Paparazzi project is very flexible and seems (maybe for this reason) a bit complicated. There are more than one way to connect things. I have chosen to use IR sensors for attitude sensing. Due to the plane having four servos, I have chosen to power these, the RC receiver and the ppm board from a separate UBEC.

I run Ubuntu 10.04 on my “Paparazzi laptop”. At home I also run Paparazzi on my stationary PC. It was on the stationary machine I first tried the new “xml only” airframe file before I eventually converted my Ground Station laptop to this configuration method with success.

I have tried not to repeat the wiki too much in this page. However I have added links to the wiki as needed.

==Hardware==

===Paparazzi / UAV equipment===

The equipment was bought from CheBuzz and PPZUAV during autumn/winter of 2009/2010, consisting of:
* TWOG v1
* IR sensors
* Paparazzi GPS13 v0.9 (*)
* SPK LEA-5 GPS
* 2 x Aerocomm AC4790 modems with interface cables and Duck antennas
* 2 x XBee PRO Series 2 - 2.4 GHz modems with ground station adapter and duck antenna for the ground modem (*)
* ppm decoder by Hendrix and Moa
* USB-serial adapter - Sparkfun FTDI basic 3.3V DEV-08772
* Necessary cables for flashing and connecting the components

(*) This equipment is on a rig at the moment, but I have tested it and have dedicated it to a Cessna-like foam plane I have assembled.

===R/C equipment===

I use a Futaba 10CG 2.4 GHz transmitter with R617FS receiver. This radio is also used to control conventional R/C planes I have.

===Airframe===

My project airframe is a Multiplex Twinstar2. This airframe has documented many successful flights equipped with Paparazzi autopilot. It has four servos; two for the ailerons, one for the elevator and one for the rudder.

''Note:'' Rudder control has later been disconnected, see below.

===The RC link===

I use the three position switch (C) on my transmitter to change modes. This is mixed into channel 7, which again is connected to channel 8 on the ppm board. The ppm encoder manual is of great help when connecting this part of the installation.

===Ground station Computer===

A cheap Compaq Presario Laptop with Vista on it was bought. I shrinked the Windows partition on the disk so that I got 100GB unused space. Then Ubuntu 9.04 was downloaded and installed on the free disk space. Ubuntu 9.04 was replaced with 10.04 in october 2010.

==Software==

===Installing Paparazzi on the laptop===

I followed the instructions in the [http://paparazzi.enac.fr/wiki/Installation Installation] page and installed the system.

During installation a new directory, paparazzi3, was created in my home directory.

''Note:'' It was important to read through the Installation page in advance and select the method that was relevant. I chose to download the source code from Subversion and compiled with make.

===Preparing suitable configuration files===

After presenting a question to the community, Chris (hendrix) from Hellas emailed me a set of his files for the Multiplex Easyglider. I decided to adapt these to my Twinstar2 project.

===Editing the configuration files to my needs===

I wanted 57600 baud for the ground station and airplane. Also I wanted to use the transparent serial (pprz) protocol as recommended for normal users. These are the configuration I edited to fit my setup:

.../conf/conf.xml
.../conf/control_panel.xml
.../conf/airframes/twinstarhw.xml
.../conf/flight_plans/basic.xml
.../conf/radios/T10CG.xml

These files are often updated. If you would like a copy of my configuration files, please email me at helgewal@gmail.com.

===Simulation===

There are instructions for simulation in the [http://paparazzi.enac.fr/wiki/Simulation Simulation] page. The following shows a simulation setup where I have used my own configuration files:

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: sim
Session: Simulation

''Note:'' After pushing Execute it is important to wait 10 seconds until Holding point is active (highlighted green in the notebook) before hitting the Takeoff and Launch buttons.

==Electrical connections==

Power supply connections: [[Image:diagram.png|thumb|center|Power supply]]

Telemetry connections, alternatives used: [[Image:diagram1.png|thumb|center|Telemetry]]

After experiencing a number of TWOG resets while powering up the autopilot, I chose to connect a separate power supply (BEC) for the servos, RC receiver and ppm board. This is advisable is the plane has more than two small servos.

''Note:'' It is of great importance that in a setup like mine the + lead from the motor ESC is isolated. Also it is important to avoid ground loops.

==Telemetry==

===Communicating with TWOG via the FTDI USB-serial adapter===

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight USB-serial_cable@9600

''Note:'' Line 2 in ../conf/flight_plans/basic.xml was updated with position data for my local model airfield.

The Clean button was pushed, then Build to generate the airframe files.

With the autopilot still not connected to the battery, the USB port on TWOG was connected to the USB port on the laptop via the adapter cable. TWOG was powered up, and Upload pushed.

Successful flashing was indicated by these lines:

....
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#########
Starting software at 0x00004000
....

Then battery supply was disconnected from the TWOG. More detailed wiki instructions is found in the [http://paparazzi.enac.fr/wiki/Compiling Compiling] page.

The serial port on the FTDI board was connected to SERIAL on the TWOG (only RX, TX and GND, remember RX -> TX and TX -> RX). Then the USB port on the laptop was connected to the USB port on the FTDI adapter, and the TWOG was powered up again.

I hit Execute in Paparazzi Center and could see blinking from the TX / RX leds on the FTDI board. The GCS got populated.

The responses (Manu, Auto1, Auto2) from the three different positions of the Mode switch (C) on The RC transmitter was observed in the GCS, and servo function was verified in Manual mode.

===Communicating with TWOG via XBee 2.4 GHz modems===

The X-CTU program (for Windows) was downloaded [http://www.digi.com/support/kbase/kbaseresultdetl.jsp?kb=125 here] .
I first connected the airborne modem to the ground station adapter and started the X-CTU configuration program. I had not ever used this program before so took my time just to get familiar with (at least some of) the options.
The baudrate was set to 57600bps and the modem set as END DEVICE AT. The configuration was then written to the modem.
Next the ground station modem was connected to the ground station adapter. The baudrate was set to 57600 bps and the modem set as COORDINATOR AT. The configuration was written to the modem.

The airborne modem (with the wire antenna) was then connected to the TWOG.

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight XBee 2.4GHz or AC4790 900MHz@57600

The Clean button was pushed, then Build to generate the airframe files.

Upload was performed and after power cycle, Execute.

The blinking from led’s on the ground station modem adapter told me that communication was ok, and GCS was populated.

===Communicating with TWOG via AC4790 900MHz modems===

The configuration program (for Windows) was downloaded [http://www.lairdtech.com/Products/Wireless-M2M-and-Telematics-Solutions/Proprietary-Radio-Modules/ here] . I followed Download-->Software Downloads and installed the Configuration Utility.

I first connected airborne modem to the Sparkfun FTDI adapter and started AeroComm_OEM.exe. This also was a new utility to me and took its time to get familiar with. The modem was configured as shown here.
Next the ground station modem was connected to the FTDI adapter and configured as shown below.

Ground station modem: [[Image:Ground_modem.jpg |thumb|center| AC4790 Ground modem]]

Ground station modem configuration: [[Image:gcs.png |thumb|center| Ground modem conf]]

Airborne modem configuration: [[Image:airborne.png |thumb|center| Airborne modem conf]]

''Note:'' The Destination address on one modem is the MAC Address of the other, and vice versa.

The airborne modem was then connected to the TWOG.

The procedure for Build, Upload and Execute is equal to the procedure for the XBee’s.

===Getting messages from the GPS===

As already mentioned I bought the GPS configured for Paparazzi. The GPS tab was opened in the Notebook, where I could confirm that the TWOG received messages by watching the columns representing each sattellite. This test is best carried out outdoors, as sometimes indoors the GPS will not be able to see any satellites.

==External data==

===Downloading map tiles===

In the GCS I chose Maps-->Maps Policy-->http, and then Maps-->Maps fill. Map tiles started to fill the screen. As I zoomed out I coud download more tiles. More info on downloading maps is found on the [http://paparazzi.enac.fr/wiki/Maps Maps] page.

After downloading a number of tiles Maps fill would not work anymore, and I got an error message. I have read that Google Maps ban your ip for 24 hours after a certain number of tiles have been downloaded, so I waited till the next day. After some re-tries during the next days I eventually managed to get the tiles I needed for my area. The tiles are stored in …/var/maps for later use.

''Note:'' To make sure Paparazzi uses the right http link for tile download, svn update was run first.

===Getting ground altitude data for my part of the world===

Living in Norway, I could not find SRTM data published by NASA. I could however find the data I needed [http://www.viewfinderpanoramas.org/dem3.html here] .

This is described in the [http://paparazzi.enac.fr/wiki/Maps Maps] page in the wiki. The appropriate zip file was downloaded and implemented like this:

unzip P31v2.zip A new directory P31 is created
cd P31 Go to the new directory
bzip2 * Compress the files
mv * .../paparazzi3/data/srtm Move the files to their correct location

==Other peripherals==

===ppm pulses from the RC transmitter===

To measure the ppm pulses I needed the ppm messages. I did the following:

* Opened ...paparazzi3/conf/telemetry/default.xml
* Copied the ppm message in the “fbw” process from “debug” mode to “default” mode

After compiling and flashing, a Messages window was opened in Paparazzi Center. This time the ppm message was monitored. With all trims in the RC transmitter set to zero, I noted the max, neutral and min values for each channel. The values in the message was divided by 15 to get the ppm values. More about this in the [http://paparazzi.enac.fr/wiki/Radio_Control Radio Control] page in the wiki.

The values were entered into both the radio file '''.../conf/radios/T10CG.xml''', and the airframe file '''.../conf/airframes/twinstarhw.xml''' (in the servos section).

===IR sensors neutral===

I made a box from two styrofoam blocks where I carved out room for the sensors. My box is relatively small and there is only about 2,5cm - 3cm of styrofoam around the sensors. The sensors were enclosed in the box for 10 minutes or so before adjustments were carried out.

A Messages window was opened in Paparazzi Center -->tools-->Messages and I observed the IR_SENSORS message. The target was to make the readings for '''ir1''', '''ir2''' and '''vertical''' equal to zero.

These are typical values to start with in the airframe file:
<define name="ADC_IR1_NEUTRAL" value="511"/>
<define name="ADC_IR2_NEUTRAL" value="511"/>
<define name="ADC_TOP_NEUTRAL" value="510"/>

If for example the reading for Ir1 showed -4 in Messages, then ADC_IR1_NEUTRAL was changed by four units. The airframe was re-flashed and the result observed. If things got worse I just made the change the other way. In the end I managed readings that altered between 1 and 0.

''Note:'' I have later repeated this adjustment by enclosing only one of the two IR boards in the styrofoam box at a time. This seems to work well.

==Hardware installation and tuning==

===Installing the equipment in the plane===

As mentioned above in the circuit diagram I have a separate power supply for the servos, RC receiver and ppm encoder board. This is to prevent TWOG from being reset by variations in voltage caused by changing servo current draw.

IR sensors and GPS: [[Image:IR_AND_GPS.jpg |thumb|center| IR and GPS]]

The horizontal IR sensor board was mounted on a small plastic tube on top of the wing. The sensors have a tilted orientation, which means that the sensor “look” in a 45 degrees angle from the longitudinal and lateral axis. '''Tilted''' or '''not tilted''' orientation is configurable in the airframe file.

The vertical IR sensors board was mounted under the rear part of the left wing. I made a hole through the wing making it possible for one thermopile to look straight up.

In my setup, the orientation of sensors and responses in the IR_SENSORS message is as follows:

'''Sensor Location Response'''
ir1 (horizontal) Front right Positive when warm
ir1 (horizontal) Rear left Negative when warm
ir2 (horizontal) Rear right Positive when warm
ir2 (horizontal) Front left Negative when warm
vertical looking down Positive when warm
vertical looking up Negative when warm

It is sensible to spread the electronics in the plane as much as possible to avoid interference, and also place the usb flash socket in an easily accessible location.

===Checking correct IR sensor response in the PFD===

The following was checked:

* That the PFD showed everything the right way round, i.e. Blue (sky) up, and brown (ground) down.

* That the PFD showed level when the plane was kept level. The horizontal IR sensor board was adjusted mechanically to suit.

* That the PFD showed correct tilting direction and angle when it was tilted in different directions and angles.

To compensatate from what seemed a too small roll response angle I increased VERTICAL_CORRECTION in the INFRARED section from 1.5 to 1.7.

===Flying and trimming the plane in Manual mode===

When flying in Manual, all trims on the transmitter were set to zero, and the linkages adjusted mechanically to make the plane fly straight and level with no stick input from the RC transmitter.

A number of flights were carried out to gain experience with the telemetry and log files.

===Tuning in Auto1===

I selected the tuning.xml file in Paparazzi Center, compiled the aircraft and flashed the TWOG. Placed myself on an open field, held the plane over my head and engaged Auto1. Tilted the plane in every direction and I noted that the ailerons responded correctly, ''and that the elevator moved the wrong way''. This was corrected by reversing the max/min values for the elevator in the airframe file and in the radio file.

Then I engaged Manual and threw the plane. Climbed to a secure height and engaged Auto1, ready to return to Manual quickly if needed. The plane drifted a bit to the left. The two important parameters in the airframe file for tuning in this mode are ROLL_NEUTRAL_DEFAULT and PITCH_NEUTRAL_DEFAULT.

The ROLL_NEUTRAL_DEFAULT parameter needed -2.9 degrees adjustment

The PITCH_NEUTRAL_DEFAULT parameter was ok at 0

''Note:'' These values are entered in radians in GCS-->Notebook-->Settings-->control-->ir., and in degrees in the airframe file.

After a number of flights I have learned to remember the elevator position that gives neutral flight with no stick input. The trim of the Twinstar2 is sensitive to the expansion and shrinking of the foam fuselage with changing temperatures. I have therefore disconnected the rudder control and fixed it with tape in neutral position. This works just fine. And, before every flying session I adjust the elevator trim mechanically to the neutral flight position.

I did some turns in Auto1 to verify that the plane could roll sufficiently both left and right. Also I banked and tilted the plane to some stupid angles in flight, let go of the TX sticks and observed the plane level out by itself quite nicely.

'''Two important gains:'''

''ROLL_ATTITUDE_GAIN''

The plane was banked to one side in Auto1, then I abruptly let go of the aileron stick. The plane returned gently to level flight. ROLL_ATTITUDE_GAIN was increased in 500 unit steps until the plane just started to oscillate when I let go of the stick. Then I reduced the value by approx 500 units to avoid oscillation, and still keep the gain as high as possible.

''PITCH_PGAIN''

This gain was never actually tuned, but rather chosen as an intermediate value between values I have seen in other airframe files.

''Note:'' Increasing the gain means increasing the number (even if it becomes more negative).

===Auto2 flight===

Before trying the first Auto2 flight I edited the flight plan and placed the Standby waypoint in a suitable positon, so that I could follow the plane closely with my eyes and take over manual control if needed. Also I chose a sensible max_dist_from_home at 275m. In the airframe file I entered a DEFAULT_CIRCLE_RADIUS of 75m.

Then the following was performed:
1. Started Paparazzi Center. Compiled and flashed the autopilot
2. Started the GCS
3. Turned on the RC transmitter, throttle at zero, Manual mode
4. Powered up the plane and verified that the telemetry link worked
5. Checked that all control surfaces moved in the right direction in Manual and Auto1
6. Waited until Notebook-->Flight Plan showed Geo init and then entered Holding Point
7. Clicked the Takeoff button and then the Launch button
8. Held the plane firmly and briefly entered Auto2 to verify that engines throttled up
9. Back to Manual mode, engines stopped
10. If not already active, double clicked the Standby block in GCS

The plane was thrown in the air and flown in Manual mode to a safe altitude, near the Auto2 cruising altitude.

Then Auto2 was engaged on the RC transmitter. The plane adjusted its heighth and started to circle the Standby waypoint.

That's it. A great feeling of achievement.

Flying circles: [[Image:Auto2_16_10_2010_2.jpg |thumb|center| Circles]]

Circle and figure eight: [[Image:Auto2_16_10_2010_1.jpg |thumb|center| Circles]]

==Further progress==

* I have some improvements to do on the tuning of my Twinstar2. However, a Funjet RR is in my workshop waiting for a Paparazzi installation.

* I have ordered an EagleTree Airspeed sensor. I hope to implement this shortly in my airframe and use it to improve flying and also receive messages from it in the GCS.

* As mentioned in my secondary goal I would like to implement some metheorological equipment in the plane. This work has not started yet.

* I also plan to spend more time trying to understand more about how the software works.

User:HWal

2010-11-14T15:07:54Z

HWal: /* Further progress */

='''My Paparazzi UAV experience'''=
__TOC__

==General==

===Changes during the progress of my project===

My project started in autumn 2009. The Paparazzi project has evolved significantly since then. This document reflects how a Paparazzi fixed wing aircraft is configured in mid november 2010.

===About me===

* Automation and electricity engineer, graduated in 1972 (!)
* Main hobby: Model aircraft since I was a boy.
* Computer experience: Some programming in RPGII for IBM business machines. A little programming in Basic and Pascal.

===The project===

'''''Main focus:''''' Getting airborne with Paparazzi UAV.

'''''Primary goal:''''' Obtain Auto2 flight with a fixed wing model aircraft in other patterns than just a circle.

'''''Secondary goal:''''' Equip the plane with metheorological equipment (pressure, temperature sensors...) and receive online readings from the plane while in flight.

To maintain focus on getting airborne I bought the TWOG with boot loader installed. The GPS and ppm board were configured from the supplier.

Later on I intend to manage bootloader install myself, and use of the “tunnel” for GPS access. The ppm board works well as received from the supplier, so I’ll leave that alone for now.

The Paparazzi project is very flexible and seems (maybe for this reason) a bit complicated. There are more than one way to connect things. I have chosen to use IR sensors for attitude sensing. Due to the plane having four servos, I have chosen to power these, the RC receiver and the ppm board from a separate UBEC.

I run Ubuntu 10.04 on my “Paparazzi laptop”. At home I also run Paparazzi on my stationary PC. It was on the stationary machine I first tried the new “xml only” airframe file before I eventually converted my Ground Station laptop to this configuration method with success.

I have tried not to repeat the wiki too much in this page. However I have added links to the wiki as needed.

==Hardware==

===Paparazzi / UAV equipment===

The equipment was bought from CheBuzz and PPZUAV during autumn/winter of 2009/2010, consisting of:
* TWOG v1
* IR sensors
* Paparazzi GPS13 v0.9 (*)
* SPK LEA-5 GPS
* 2 x Aerocomm AC4790 modems with interface cables and Duck antennas
* 2 x XBee PRO Series 2 - 2.4 GHz modems with ground station adapter and duck antenna for the ground modem (*)
* ppm decoder by Hendrix and Moa
* USB-serial adapter - Sparkfun FTDI basic 3.3V DEV-08772
* Necessary cables for flashing and connecting the components

(*) This equipment is on a rig at the moment, but I have tested it and have dedicated it to a Cessna-like foam plane I have assembled.

===R/C equipment===

I use a Futaba 10CG 2.4 GHz transmitter with R617FS receiver. This radio is also used to control conventional R/C planes I have.

===Airframe===

My project airframe is a Multiplex Twinstar2. This airframe has documented many successful flights equipped with Paparazzi autopilot. It has four servos; two for the ailerons, one for the elevator and one for the rudder.

''Note:'' Rudder control has later been disconnected, see below.

===The RC link===

I use the three position switch (C) on my transmitter to change modes. This is mixed into channel 7, which again is connected to channel 8 on the ppm board. The ppm encoder manual is of great help when connecting this part of the installation.

===Ground station Computer===

A cheap Compaq Presario Laptop with Vista on it was bought. I shrinked the Windows partition on the disk so that I got 100GB unused space. Then Ubuntu 9.04 was downloaded and installed on the free disk space. Ubuntu 9.04 was replaced with 10.04 in october 2010.

==Software==

===Installing Paparazzi on the laptop===

I followed the instructions in the [http://paparazzi.enac.fr/wiki/Installation Installation] page and installed the system.

During installation a new directory, paparazzi3, was created in my home directory.

''Note:'' It was important to read through the Installation page in advance and select the method that was relevant. I chose to download the source code from Subversion and compiled with make.

===Preparing suitable configuration files===

After presenting a question to the community, Chris (hendrix) from Hellas emailed me a set of his files for the Multiplex Easyglider. I decided to adapt these to my Twinstar2 project.

===Editing the configuration files to my needs===

I wanted 57600 baud for the ground station and airplane. Also I wanted to use the transparent serial (pprz) protocol as recommended for normal users. These are the configuration I edited to fit my setup:

.../conf/conf.xml
.../conf/control_panel.xml
.../conf/airframes/twinstarhw.xml
.../conf/flight_plans/basic.xml
.../conf/radios/T10CG.xml

These files are often updated. If you would like a copy of my configuration files, please email me at helgewal@gmail.com.

===Simulation===

There are instructions for simulation in the [http://paparazzi.enac.fr/wiki/Simulation Simulation] page. The following shows a simulation setup where I have used my own configuration files:

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: sim
Session: Simulation

''Note:'' After pushing Execute it is important to wait 10 seconds until Holding point is active (highlighted green in the notebook) before hitting the Takeoff and Launch buttons.

==Electrical connections==

Power supply connections: [[Image:diagram.png|thumb|center|Power supplyl]]

Telemetry connections, alternatives used: [[Image:diagram1.png|thumb|center|Telemetryl]]

After experiencing a number of TWOG resets while powering up the autopilot, I chose to connect a separate power supply (BEC) for the servos, RC receiver and ppm board. This is advisable is the plane has more than two small servos.

''Note:'' It is of great importance that in a setup like mine the + lead from the motor ESC is isolated. Also it is important to avoid ground loops.

==Telemetry==

===Communicating with TWOG via the FTDI USB-serial adapter===

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight USB-serial_cable@9600

''Note:'' Line 2 in ../conf/flight_plans/basic.xml was updated with position data for my local model airfield.

The Clean button was pushed, then Build to generate the airframe files.

With the autopilot still not connected to the battery, the USB port on TWOG was connected to the USB port on the laptop via the adapter cable. TWOG was powered up, and Upload pushed.

Successful flashing was indicated by these lines:

....
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#########
Starting software at 0x00004000
....

Then battery supply was disconnected from the TWOG. More detailed wiki instructions is found in the [http://paparazzi.enac.fr/wiki/Compiling Compiling] page.

The serial port on the FTDI board was connected to SERIAL on the TWOG (only RX, TX and GND, remember RX -> TX and TX -> RX). Then the USB port on the laptop was connected to the USB port on the FTDI adapter, and the TWOG was powered up again.

I hit Execute in Paparazzi Center and could see blinking from the TX / RX leds on the FTDI board. The GCS got populated.

The responses (Manu, Auto1, Auto2) from the three different positions of the Mode switch (C) on The RC transmitter was observed in the GCS, and servo function was verified in Manual mode.

===Communicating with TWOG via XBee 2.4 GHz modems===

The X-CTU program (for Windows) was downloaded [http://www.digi.com/support/kbase/kbaseresultdetl.jsp?kb=125 here] .
I first connected the airborne modem to the ground station adapter and started the X-CTU configuration program. I had not ever used this program before so took my time just to get familiar with (at least some of) the options.
The baudrate was set to 57600bps and the modem set as END DEVICE AT. The configuration was then written to the modem.
Next the ground station modem was connected to the ground station adapter. The baudrate was set to 57600 bps and the modem set as COORDINATOR AT. The configuration was written to the modem.

The airborne modem (with the wire antenna) was then connected to the TWOG.

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight XBee 2.4GHz or AC4790 900MHz@57600

The Clean button was pushed, then Build to generate the airframe files.

Upload was performed and after power cycle, Execute.

The blinking from led’s on the ground station modem adapter told me that communication was ok, and GCS was populated.

===Communicating with TWOG via AC4790 900MHz modems===

The configuration program (for Windows) was downloaded [http://www.lairdtech.com/Products/Wireless-M2M-and-Telematics-Solutions/Proprietary-Radio-Modules/ here] . I followed Download-->Software Downloads and installed the Configuration Utility.

I first connected airborne modem to the Sparkfun FTDI adapter and started AeroComm_OEM.exe. This also was a new utility to me and took its time to get familiar with. The modem was configured as shown here.
Next the ground station modem was connected to the FTDI adapter and configured as shown below.

Ground station modem: [[Image:Ground_modem.jpg |thumb|center| AC4790 Ground modem]]

Ground station modem configuration: [[Image:gcs.png |thumb|center| Ground modem conf]]

Airborne modem configuration: [[Image:airborne.png |thumb|center| Airborne modem conf]]

''Note:'' The Destination address on one modem is the MAC Address of the other, and vice versa.

The airborne modem was then connected to the TWOG.

The procedure for Build, Upload and Execute is equal to the procedure for the XBee’s.

===Getting messages from the GPS===

As already mentioned I bought the GPS configured for Paparazzi. The GPS tab was opened in the Notebook, where I could confirm that the TWOG received messages by watching the columns representing each sattellite. This test is best carried out outdoors, as sometimes indoors the GPS will not be able to see any satellites.

==External data==

===Downloading map tiles===

In the GCS I chose Maps-->Maps Policy-->http, and then Maps-->Maps fill. Map tiles started to fill the screen. As I zoomed out I coud download more tiles. More info on downloading maps is found on the [http://paparazzi.enac.fr/wiki/Maps Maps] page.

After downloading a number of tiles Maps fill would not work anymore, and I got an error message. I have read that Google Maps ban your ip for 24 hours after a certain number of tiles have been downloaded, so I waited till the next day. After some re-tries during the next days I eventually managed to get the tiles I needed for my area. The tiles are stored in …/var/maps for later use.

''Note:'' To make sure Paparazzi uses the right http link for tile download, svn update was run first.

===Getting ground altitude data for my part of the world===

Living in Norway, I could not find SRTM data published by NASA. I could however find the data I needed [http://www.viewfinderpanoramas.org/dem3.html here] .

This is described in the [http://paparazzi.enac.fr/wiki/Maps Maps] page in the wiki. The appropriate zip file was downloaded and implemented like this:

unzip P31v2.zip A new directory P31 is created
cd P31 Go to the new directory
bzip2 * Compress the files
mv * .../paparazzi3/data/srtm Move the files to their correct location

==Other peripherals==

===ppm pulses from the RC transmitter===

To measure the ppm pulses I needed the ppm messages. I did the following:

* Opened ...paparazzi3/conf/telemetry/default.xml
* Copied the ppm message in the “fbw” process from “debug” mode to “default” mode

After compiling and flashing, a Messages window was opened in Paparazzi Center. This time the ppm message was monitored. With all trims in the RC transmitter set to zero, I noted the max, neutral and min values for each channel. The values in the message was divided by 15 to get the ppm values. More about this in the [http://paparazzi.enac.fr/wiki/Radio_Control Radio Control] page in the wiki.

The values were entered into both the radio file '''.../conf/radios/T10CG.xml''', and the airframe file '''.../conf/airframes/twinstarhw.xml''' (in the servos section).

===IR sensors neutral===

I made a box from two styrofoam blocks where I carved out room for the sensors. My box is relatively small and there is only about 2,5cm - 3cm of styrofoam around the sensors. The sensors were enclosed in the box for 10 minutes or so before adjustments were carried out.

A Messages window was opened in Paparazzi Center -->tools-->Messages and I observed the IR_SENSORS message. The target was to make the readings for '''ir1''', '''ir2''' and '''vertical''' equal to zero.

These are typical values to start with in the airframe file:
<define name="ADC_IR1_NEUTRAL" value="511"/>
<define name="ADC_IR2_NEUTRAL" value="511"/>
<define name="ADC_TOP_NEUTRAL" value="510"/>

If for example the reading for Ir1 showed -4 in Messages, then ADC_IR1_NEUTRAL was changed by four units. The airframe was re-flashed and the result observed. If things got worse I just made the change the other way. In the end I managed readings that altered between 1 and 0.

''Note:'' I have later repeated this adjustment by enclosing only one of the two IR boards in the styrofoam box at a time. This seems to work well.

==Hardware installation and tuning==

===Installing the equipment in the plane===

As mentioned above in the circuit diagram I have a separate power supply for the servos, RC receiver and ppm encoder board. This is to prevent TWOG from being reset by variations in voltage caused by changing servo current draw.

IR sensors and GPS: [[Image:IR_AND_GPS.jpg |thumb|center| IR and GPS]]

The horizontal IR sensor board was mounted on a small plastic tube on top of the wing. The sensors have a tilted orientation, which means that the sensor “look” in a 45 degrees angle from the longitudinal and lateral axis. '''Tilted''' or '''not tilted''' orientation is configurable in the airframe file.

The vertical IR sensors board was mounted under the rear part of the left wing. I made a hole through the wing making it possible for one thermopile to look straight up.

In my setup, the orientation of sensors and responses in the IR_SENSORS message is as follows:

'''Sensor Location Response'''
ir1 (horizontal) Front right Positive when warm
ir1 (horizontal) Rear left Negative when warm
ir2 (horizontal) Rear right Positive when warm
ir2 (horizontal) Front left Negative when warm
vertical looking down Positive when warm
vertical looking up Negative when warm

It is sensible to spread the electronics in the plane as much as possible to avoid interference, and also place the usb flash socket in an easily accessible location.

===Checking correct IR sensor response in the PFD===

The following was checked:

* That the PFD showed everything the right way round, i.e. Blue (sky) up, and brown (ground) down.

* That the PFD showed level when the plane was kept level. The horizontal IR sensor board was adjusted mechanically to suit.

* That the PFD showed correct tilting direction and angle when it was tilted in different directions and angles.

To compensatate from what seemed a too small roll response angle I increased VERTICAL_CORRECTION in the INFRARED section from 1.5 to 1.7.

===Flying and trimming the plane in Manual mode===

When flying in Manual, all trims on the transmitter were set to zero, and the linkages adjusted mechanically to make the plane fly straight and level with no stick input from the RC transmitter.

A number of flights were carried out to gain experience with the telemetry and log files.

===Tuning in Auto1===

I selected the tuning.xml file in Paparazzi Center, compiled the aircraft and flashed the TWOG. Placed myself on an open field, held the plane over my head and engaged Auto1. Tilted the plane in every direction and I noted that the ailerons responded correctly, ''and that the elevator moved the wrong way''. This was corrected by reversing the max/min values for the elevator in the airframe file and in the radio file.

Then I engaged Manual and threw the plane. Climbed to a secure height and engaged Auto1, ready to return to Manual quickly if needed. The plane drifted a bit to the left. The two important parameters in the airframe file for tuning in this mode are ROLL_NEUTRAL_DEFAULT and PITCH_NEUTRAL_DEFAULT.

The ROLL_NEUTRAL_DEFAULT parameter needed -2.9 degrees adjustment

The PITCH_NEUTRAL_DEFAULT parameter was ok at 0

''Note:'' These values are entered in radians in GCS-->Notebook-->Settings-->control-->ir., and in degrees in the airframe file.

After a number of flights I have learned to remember the elevator position that gives neutral flight with no stick input. The trim of the Twinstar2 is sensitive to the expansion and shrinking of the foam fuselage with changing temperatures. I have therefore disconnected the rudder control and fixed it with tape in neutral position. This works just fine. And, before every flying session I adjust the elevator trim mechanically to the neutral flight position.

I did some turns in Auto1 to verify that the plane could roll sufficiently both left and right. Also I banked and tilted the plane to some stupid angles in flight, let go of the TX sticks and observed the plane level out by itself quite nicely.

'''Two important gains:'''

''ROLL_ATTITUDE_GAIN''

The plane was banked to one side in Auto1, then I abruptly let go of the aileron stick. The plane returned gently to level flight. ROLL_ATTITUDE_GAIN was increased in 500 unit steps until the plane just started to oscillate when I let go of the stick. Then I reduced the value by approx 500 units to avoid oscillation, and still keep the gain as high as possible.

''PITCH_PGAIN''

This gain was never actually tuned, but rather chosen as an intermediate value between values I have seen in other airframe files.

''Note:'' Increasing the gain means increasing the number (even if it becomes more negative).

===Auto2 flight===

Before trying the first Auto2 flight I edited the flight plan and placed the Standby waypoint in a suitable positon, so that I could follow the plane closely with my eyes and take over manual control if needed. Also I chose a sensible max_dist_from_home at 275m. In the airframe file I entered a DEFAULT_CIRCLE_RADIUS of 75m.

Then the following was performed:
1. Started Paparazzi Center. Compiled and flashed the autopilot
2. Started the GCS
3. Turned on the RC transmitter, throttle at zero, Manual mode
4. Powered up the plane and verified that the telemetry link worked
5. Checked that all control surfaces moved in the right direction in Manual and Auto1
6. Waited until Notebook-->Flight Plan showed Geo init and then entered Holding Point
7. Clicked the Takeoff button and then the Launch button
8. Held the plane firmly and briefly entered Auto2 to verify that engines throttled up
9. Back to Manual mode, engines stopped
10. If not already active, double clicked the Standby block in GCS

The plane was thrown in the air and flown in Manual mode to a safe altitude, near the Auto2 cruising altitude.

Then Auto2 was engaged on the RC transmitter. The plane adjusted its heighth and started to circle the Standby waypoint.

That's it. A great feeling of achievement.

Flying circles: [[Image:Auto2_16_10_2010_2.jpg |thumb|center| Circles]]

Circle and figure eight: [[Image:Auto2_16_10_2010_1.jpg |thumb|center| Circles]]

==Further progress==

* I have some improvements to do on the tuning of my Twinstar2. However, a Funjet RR is in my workshop waiting for a Paparazzi installation.

* I have ordered an EagleTree Airspeed sensor. I hope to implement this shortly in my airframe and use it to improve flying and also receive messages from it in the GCS.

* As mentioned in my secondary goal I would like to implement some metheorological equipment in the plane. This work has not started yet.

* I also plan to spend more time trying to understand more about how the software works.

User:HWal

2010-11-14T15:06:50Z

HWal:

='''My Paparazzi UAV experience'''=
__TOC__

==General==

===Changes during the progress of my project===

My project started in autumn 2009. The Paparazzi project has evolved significantly since then. This document reflects how a Paparazzi fixed wing aircraft is configured in mid november 2010.

===About me===

* Automation and electricity engineer, graduated in 1972 (!)
* Main hobby: Model aircraft since I was a boy.
* Computer experience: Some programming in RPGII for IBM business machines. A little programming in Basic and Pascal.

===The project===

'''''Main focus:''''' Getting airborne with Paparazzi UAV.

'''''Primary goal:''''' Obtain Auto2 flight with a fixed wing model aircraft in other patterns than just a circle.

'''''Secondary goal:''''' Equip the plane with metheorological equipment (pressure, temperature sensors...) and receive online readings from the plane while in flight.

To maintain focus on getting airborne I bought the TWOG with boot loader installed. The GPS and ppm board were configured from the supplier.

Later on I intend to manage bootloader install myself, and use of the “tunnel” for GPS access. The ppm board works well as received from the supplier, so I’ll leave that alone for now.

The Paparazzi project is very flexible and seems (maybe for this reason) a bit complicated. There are more than one way to connect things. I have chosen to use IR sensors for attitude sensing. Due to the plane having four servos, I have chosen to power these, the RC receiver and the ppm board from a separate UBEC.

I run Ubuntu 10.04 on my “Paparazzi laptop”. At home I also run Paparazzi on my stationary PC. It was on the stationary machine I first tried the new “xml only” airframe file before I eventually converted my Ground Station laptop to this configuration method with success.

I have tried not to repeat the wiki too much in this page. However I have added links to the wiki as needed.

==Hardware==

===Paparazzi / UAV equipment===

The equipment was bought from CheBuzz and PPZUAV during autumn/winter of 2009/2010, consisting of:
* TWOG v1
* IR sensors
* Paparazzi GPS13 v0.9 (*)
* SPK LEA-5 GPS
* 2 x Aerocomm AC4790 modems with interface cables and Duck antennas
* 2 x XBee PRO Series 2 - 2.4 GHz modems with ground station adapter and duck antenna for the ground modem (*)
* ppm decoder by Hendrix and Moa
* USB-serial adapter - Sparkfun FTDI basic 3.3V DEV-08772
* Necessary cables for flashing and connecting the components

(*) This equipment is on a rig at the moment, but I have tested it and have dedicated it to a Cessna-like foam plane I have assembled.

===R/C equipment===

I use a Futaba 10CG 2.4 GHz transmitter with R617FS receiver. This radio is also used to control conventional R/C planes I have.

===Airframe===

My project airframe is a Multiplex Twinstar2. This airframe has documented many successful flights equipped with Paparazzi autopilot. It has four servos; two for the ailerons, one for the elevator and one for the rudder.

''Note:'' Rudder control has later been disconnected, see below.

===The RC link===

I use the three position switch (C) on my transmitter to change modes. This is mixed into channel 7, which again is connected to channel 8 on the ppm board. The ppm encoder manual is of great help when connecting this part of the installation.

===Ground station Computer===

A cheap Compaq Presario Laptop with Vista on it was bought. I shrinked the Windows partition on the disk so that I got 100GB unused space. Then Ubuntu 9.04 was downloaded and installed on the free disk space. Ubuntu 9.04 was replaced with 10.04 in october 2010.

==Software==

===Installing Paparazzi on the laptop===

I followed the instructions in the [http://paparazzi.enac.fr/wiki/Installation Installation] page and installed the system.

During installation a new directory, paparazzi3, was created in my home directory.

''Note:'' It was important to read through the Installation page in advance and select the method that was relevant. I chose to download the source code from Subversion and compiled with make.

===Preparing suitable configuration files===

After presenting a question to the community, Chris (hendrix) from Hellas emailed me a set of his files for the Multiplex Easyglider. I decided to adapt these to my Twinstar2 project.

===Editing the configuration files to my needs===

I wanted 57600 baud for the ground station and airplane. Also I wanted to use the transparent serial (pprz) protocol as recommended for normal users. These are the configuration I edited to fit my setup:

.../conf/conf.xml
.../conf/control_panel.xml
.../conf/airframes/twinstarhw.xml
.../conf/flight_plans/basic.xml
.../conf/radios/T10CG.xml

These files are often updated. If you would like a copy of my configuration files, please email me at helgewal@gmail.com.

===Simulation===

There are instructions for simulation in the [http://paparazzi.enac.fr/wiki/Simulation Simulation] page. The following shows a simulation setup where I have used my own configuration files:

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: sim
Session: Simulation

''Note:'' After pushing Execute it is important to wait 10 seconds until Holding point is active (highlighted green in the notebook) before hitting the Takeoff and Launch buttons.

==Electrical connections==

Power supply connections: [[Image:diagram.png|thumb|center|Power supplyl]]

Telemetry connections, alternatives used: [[Image:diagram1.png|thumb|center|Telemetryl]]

After experiencing a number of TWOG resets while powering up the autopilot, I chose to connect a separate power supply (BEC) for the servos, RC receiver and ppm board. This is advisable is the plane has more than two small servos.

''Note:'' It is of great importance that in a setup like mine the + lead from the motor ESC is isolated. Also it is important to avoid ground loops.

==Telemetry==

===Communicating with TWOG via the FTDI USB-serial adapter===

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight USB-serial_cable@9600

''Note:'' Line 2 in ../conf/flight_plans/basic.xml was updated with position data for my local model airfield.

The Clean button was pushed, then Build to generate the airframe files.

With the autopilot still not connected to the battery, the USB port on TWOG was connected to the USB port on the laptop via the adapter cable. TWOG was powered up, and Upload pushed.

Successful flashing was indicated by these lines:

....
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#########
Starting software at 0x00004000
....

Then battery supply was disconnected from the TWOG. More detailed wiki instructions is found in the [http://paparazzi.enac.fr/wiki/Compiling Compiling] page.

The serial port on the FTDI board was connected to SERIAL on the TWOG (only RX, TX and GND, remember RX -> TX and TX -> RX). Then the USB port on the laptop was connected to the USB port on the FTDI adapter, and the TWOG was powered up again.

I hit Execute in Paparazzi Center and could see blinking from the TX / RX leds on the FTDI board. The GCS got populated.

The responses (Manu, Auto1, Auto2) from the three different positions of the Mode switch (C) on The RC transmitter was observed in the GCS, and servo function was verified in Manual mode.

===Communicating with TWOG via XBee 2.4 GHz modems===

The X-CTU program (for Windows) was downloaded [http://www.digi.com/support/kbase/kbaseresultdetl.jsp?kb=125 here] .
I first connected the airborne modem to the ground station adapter and started the X-CTU configuration program. I had not ever used this program before so took my time just to get familiar with (at least some of) the options.
The baudrate was set to 57600bps and the modem set as END DEVICE AT. The configuration was then written to the modem.
Next the ground station modem was connected to the ground station adapter. The baudrate was set to 57600 bps and the modem set as COORDINATOR AT. The configuration was written to the modem.

The airborne modem (with the wire antenna) was then connected to the TWOG.

Paparazzi Center was started and the following options chosen:
A/C: TWINSTAR_II_HW
Airframe: airframes/twinstarhw.xml
Flight plan: flight_plans/basic.xml
Settings: settings/basic.xml
Radio: radios/T10CG.xml
Telemetry: telemetry/default.xml
Target: ap
Session: Flight XBee 2.4GHz or AC4790 900MHz@57600

The Clean button was pushed, then Build to generate the airframe files.

Upload was performed and after power cycle, Execute.

The blinking from led’s on the ground station modem adapter told me that communication was ok, and GCS was populated.

===Communicating with TWOG via AC4790 900MHz modems===

The configuration program (for Windows) was downloaded [http://www.lairdtech.com/Products/Wireless-M2M-and-Telematics-Solutions/Proprietary-Radio-Modules/ here] . I followed Download-->Software Downloads and installed the Configuration Utility.

I first connected airborne modem to the Sparkfun FTDI adapter and started AeroComm_OEM.exe. This also was a new utility to me and took its time to get familiar with. The modem was configured as shown here.
Next the ground station modem was connected to the FTDI adapter and configured as shown below.

Ground station modem: [[Image:Ground_modem.jpg |thumb|center| AC4790 Ground modem]]

Ground station modem configuration: [[Image:gcs.png |thumb|center| Ground modem conf]]

Airborne modem configuration: [[Image:airborne.png |thumb|center| Airborne modem conf]]

''Note:'' The Destination address on one modem is the MAC Address of the other, and vice versa.

The airborne modem was then connected to the TWOG.

The procedure for Build, Upload and Execute is equal to the procedure for the XBee’s.

===Getting messages from the GPS===

As already mentioned I bought the GPS configured for Paparazzi. The GPS tab was opened in the Notebook, where I could confirm that the TWOG received messages by watching the columns representing each sattellite. This test is best carried out outdoors, as sometimes indoors the GPS will not be able to see any satellites.

==External data==

===Downloading map tiles===

In the GCS I chose Maps-->Maps Policy-->http, and then Maps-->Maps fill. Map tiles started to fill the screen. As I zoomed out I coud download more tiles. More info on downloading maps is found on the [http://paparazzi.enac.fr/wiki/Maps Maps] page.

After downloading a number of tiles Maps fill would not work anymore, and I got an error message. I have read that Google Maps ban your ip for 24 hours after a certain number of tiles have been downloaded, so I waited till the next day. After some re-tries during the next days I eventually managed to get the tiles I needed for my area. The tiles are stored in …/var/maps for later use.

''Note:'' To make sure Paparazzi uses the right http link for tile download, svn update was run first.

===Getting ground altitude data for my part of the world===

Living in Norway, I could not find SRTM data published by NASA. I could however find the data I needed [http://www.viewfinderpanoramas.org/dem3.html here] .

This is described in the [http://paparazzi.enac.fr/wiki/Maps Maps] page in the wiki. The appropriate zip file was downloaded and implemented like this:

unzip P31v2.zip A new directory P31 is created
cd P31 Go to the new directory
bzip2 * Compress the files
mv * .../paparazzi3/data/srtm Move the files to their correct location

==Other peripherals==

===ppm pulses from the RC transmitter===

To measure the ppm pulses I needed the ppm messages. I did the following:

* Opened ...paparazzi3/conf/telemetry/default.xml
* Copied the ppm message in the “fbw” process from “debug” mode to “default” mode

After compiling and flashing, a Messages window was opened in Paparazzi Center. This time the ppm message was monitored. With all trims in the RC transmitter set to zero, I noted the max, neutral and min values for each channel. The values in the message was divided by 15 to get the ppm values. More about this in the [http://paparazzi.enac.fr/wiki/Radio_Control Radio Control] page in the wiki.

The values were entered into both the radio file '''.../conf/radios/T10CG.xml''', and the airframe file '''.../conf/airframes/twinstarhw.xml''' (in the servos section).

===IR sensors neutral===

I made a box from two styrofoam blocks where I carved out room for the sensors. My box is relatively small and there is only about 2,5cm - 3cm of styrofoam around the sensors. The sensors were enclosed in the box for 10 minutes or so before adjustments were carried out.

A Messages window was opened in Paparazzi Center -->tools-->Messages and I observed the IR_SENSORS message. The target was to make the readings for '''ir1''', '''ir2''' and '''vertical''' equal to zero.

These are typical values to start with in the airframe file:
<define name="ADC_IR1_NEUTRAL" value="511"/>
<define name="ADC_IR2_NEUTRAL" value="511"/>
<define name="ADC_TOP_NEUTRAL" value="510"/>

If for example the reading for Ir1 showed -4 in Messages, then ADC_IR1_NEUTRAL was changed by four units. The airframe was re-flashed and the result observed. If things got worse I just made the change the other way. In the end I managed readings that altered between 1 and 0.

''Note:'' I have later repeated this adjustment by enclosing only one of the two IR boards in the styrofoam box at a time. This seems to work well.

==Hardware installation and tuning==

===Installing the equipment in the plane===

As mentioned above in the circuit diagram I have a separate power supply for the servos, RC receiver and ppm encoder board. This is to prevent TWOG from being reset by variations in voltage caused by changing servo current draw.

IR sensors and GPS: [[Image:IR_AND_GPS.jpg |thumb|center| IR and GPS]]

The horizontal IR sensor board was mounted on a small plastic tube on top of the wing. The sensors have a tilted orientation, which means that the sensor “look” in a 45 degrees angle from the longitudinal and lateral axis. '''Tilted''' or '''not tilted''' orientation is configurable in the airframe file.

The vertical IR sensors board was mounted under the rear part of the left wing. I made a hole through the wing making it possible for one thermopile to look straight up.

In my setup, the orientation of sensors and responses in the IR_SENSORS message is as follows:

'''Sensor Location Response'''
ir1 (horizontal) Front right Positive when warm
ir1 (horizontal) Rear left Negative when warm
ir2 (horizontal) Rear right Positive when warm
ir2 (horizontal) Front left Negative when warm
vertical looking down Positive when warm
vertical looking up Negative when warm

It is sensible to spread the electronics in the plane as much as possible to avoid interference, and also place the usb flash socket in an easily accessible location.

===Checking correct IR sensor response in the PFD===

The following was checked:

* That the PFD showed everything the right way round, i.e. Blue (sky) up, and brown (ground) down.

* That the PFD showed level when the plane was kept level. The horizontal IR sensor board was adjusted mechanically to suit.

* That the PFD showed correct tilting direction and angle when it was tilted in different directions and angles.

To compensatate from what seemed a too small roll response angle I increased VERTICAL_CORRECTION in the INFRARED section from 1.5 to 1.7.

===Flying and trimming the plane in Manual mode===

When flying in Manual, all trims on the transmitter were set to zero, and the linkages adjusted mechanically to make the plane fly straight and level with no stick input from the RC transmitter.

A number of flights were carried out to gain experience with the telemetry and log files.

===Tuning in Auto1===

I selected the tuning.xml file in Paparazzi Center, compiled the aircraft and flashed the TWOG. Placed myself on an open field, held the plane over my head and engaged Auto1. Tilted the plane in every direction and I noted that the ailerons responded correctly, ''and that the elevator moved the wrong way''. This was corrected by reversing the max/min values for the elevator in the airframe file and in the radio file.

Then I engaged Manual and threw the plane. Climbed to a secure height and engaged Auto1, ready to return to Manual quickly if needed. The plane drifted a bit to the left. The two important parameters in the airframe file for tuning in this mode are ROLL_NEUTRAL_DEFAULT and PITCH_NEUTRAL_DEFAULT.

The ROLL_NEUTRAL_DEFAULT parameter needed -2.9 degrees adjustment

The PITCH_NEUTRAL_DEFAULT parameter was ok at 0

''Note:'' These values are entered in radians in GCS-->Notebook-->Settings-->control-->ir., and in degrees in the airframe file.

After a number of flights I have learned to remember the elevator position that gives neutral flight with no stick input. The trim of the Twinstar2 is sensitive to the expansion and shrinking of the foam fuselage with changing temperatures. I have therefore disconnected the rudder control and fixed it with tape in neutral position. This works just fine. And, before every flying session I adjust the elevator trim mechanically to the neutral flight position.

I did some turns in Auto1 to verify that the plane could roll sufficiently both left and right. Also I banked and tilted the plane to some stupid angles in flight, let go of the TX sticks and observed the plane level out by itself quite nicely.

'''Two important gains:'''

''ROLL_ATTITUDE_GAIN''

The plane was banked to one side in Auto1, then I abruptly let go of the aileron stick. The plane returned gently to level flight. ROLL_ATTITUDE_GAIN was increased in 500 unit steps until the plane just started to oscillate when I let go of the stick. Then I reduced the value by approx 500 units to avoid oscillation, and still keep the gain as high as possible.

''PITCH_PGAIN''

This gain was never actually tuned, but rather chosen as an intermediate value between values I have seen in other airframe files.

''Note:'' Increasing the gain means increasing the number (even if it becomes more negative).

===Auto2 flight===

Before trying the first Auto2 flight I edited the flight plan and placed the Standby waypoint in a suitable positon, so that I could follow the plane closely with my eyes and take over manual control if needed. Also I chose a sensible max_dist_from_home at 275m. In the airframe file I entered a DEFAULT_CIRCLE_RADIUS of 75m.

Then the following was performed:
1. Started Paparazzi Center. Compiled and flashed the autopilot
2. Started the GCS
3. Turned on the RC transmitter, throttle at zero, Manual mode
4. Powered up the plane and verified that the telemetry link worked
5. Checked that all control surfaces moved in the right direction in Manual and Auto1
6. Waited until Notebook-->Flight Plan showed Geo init and then entered Holding Point
7. Clicked the Takeoff button and then the Launch button
8. Held the plane firmly and briefly entered Auto2 to verify that engines throttled up
9. Back to Manual mode, engines stopped
10. If not already active, double clicked the Standby block in GCS

The plane was thrown in the air and flown in Manual mode to a safe altitude, near the Auto2 cruising altitude.

Then Auto2 was engaged on the RC transmitter. The plane adjusted its heighth and started to circle the Standby waypoint.

That's it. A great feeling of achievement.

Flying circles: [[Image:Auto2_16_10_2010_2.jpg |thumb|center| Circles]]

Circle and figure eight: [[Image:Auto2_16_10_2010_1.jpg |thumb|center| Circles]]

==Further progress==

* I have some improvements to do on the tuning of my Twinstar2. However, a Funjet RR is in my workshop waiting for a Paparazzi installation.

* I have ordered an EagleTree Airspeed sensor. I hope to implement this shortly in my airframe and use it to improve flying and also receive messages from it in the GCS.

* As mentioned in my secondary goal I would like to implement some metheorological equipment in the plane. This work has not started yet.

* I also plan to spend more time trying to understand more about how the software works.

File:IR AND GPS.jpg

2010-11-14T13:52:11Z

HWal:

File:Ground modem.jpg

2010-11-14T13:51:58Z

HWal:

File:Diagram1.png

2010-11-14T13:51:43Z

HWal:

File:Auto2 16 10 2010 2.jpg

2010-11-14T13:50:53Z

HWal:

File:Auto2 16 10 2010 1.jpg

2010-11-14T13:50:18Z

HWal:

File:Diagram.png

2010-07-17T10:43:59Z

HWal: TWOG w/ additional BEC power supply and R/C connections.

TWOG w/ additional BEC power supply and R/C connections.