PaparazziUAV - User contributions [en]

Hecto

2010-05-26T05:10:52Z

Jeremy:

[http://www.ladepeche.fr/article/2010/05/24/841327-Pyrenees-mort-et-prisonnier-des-glaces.html Newspaper article]

Pascal is the father of the Paparazzi project. He was the wizard of the computers, a talented "Alpiniste" and a great human being.

{|
|-
|[[Image:PolarBear.jpg|thumbnail|600px|Garmisch-Partenkirchen, Germany 2005]]
|[[Image:Pascal3.jpg|thumbnail|600px]]
|-
|[[Image:PascalTPS.jpg|thumbnail|600px]]
|[[Image:Pascal4.jpg|thumbnail|600px|Eglin AFB, Florida 2006]]
|}

'''Translation of "La Dépêche" article from 2010/05/24'''

'''Pyrenees : dead and ice-bound'''

[[Image:vignemale.jpg|thumbnail|left]]A 43 year old Toulouse resident, Pascal Brisset, fell to his death on Saturday afternoon into a crevasse from the north face of the Vignemale Glacier, in the Hautes-Pyrenees.

A member of the Toulouse French Alpine Club, Pascal Brisset was participating in a glacier safety camp. With his fellow climbers he planned to stay overnight at the refuge "Les Oulettes de Gaube". The accident took place on Saturday afternoon around 15:00. A snow bridge collapsed under Pascal's weight. The climber's harness was not attached at the moment and he fell into the newly revealed crevasse.

The rescue team from Pierrefitte-Nestalas arrived on scene shortly after by helicopter.

The body of the climber was located 30 meters deep. The crevasse was only one meter large at the top and narrowed down to 20 centimeters.

The rescue team worked all Saturday afternoon and came back on Sunday morning trying to free the body. A very difficult task due to the narrow crevasse, and the fact that the body was already ice-bound. The rescue team tried everything including a jackhammer to break the ice gangue. The effort ceased at noon on Sunday due to the high risk of rock falls and a hazardous snow. "we had to quit working" said, yesterday, a member of the rescue team, disappointed.

Pascal Brisset will remain a prisoner of his ice coffin for now. In motion, the Vignemale Glacier should give the body back in a few months or years.

From "La dépêche" 4/05/2010 08:43

[[Image:Ricou2003.jpg|frameless|border|right|middle|400px]]
[[Image:Ricou2005.jpg|frameless|border|right|middle|400px]]
[[Image:Pascal5.jpg|frameless|border|right|middle|400px]]
[[Image:PascalBook.gif|frameless|border|right|middle|400px]]
[[Image:PascalTruck.jpg|frameless|border|right|middle|400px]]
[[Image:PascalTruck2.jpg|frameless|border|right|middle|400px|Agra, India 2008]]
[[Image:Sante.jpg|frameless|border|right|middle|400px]]
[[Image:PascalUttam.jpg|frameless|border|right|middle|400px|Pascal and Uttam in Agra, India 2008]]
[[Image:PascalIndia.jpg|frameless|border|right|middle|400px|Taj Mahal 2008]]
[[Image:La08.jpg|frameless|border|right|middle|400px|Pascal and Murat, Los Angeles, 2008]]
[[Image:Pascal6.jpg|frameless|border|right|middle|400px]]
[[Image:Pascal7.jpg|frameless|border|right|middle|400px|Pascal and Murat at Antoine's house]]
[[Image:Pascal8.jpg|frameless|border|right|middle|400px]]
[[Image:Shades.jpg|frameless|border|right|middle|400px|Toulouse 2007]]

---

Pascal, your work, your project has changed my life. To fly an autonmous plane was only a dream and it came true. It was a great pleasure to meet you at all the interesting places that this project brought us to, work together and have all the talks and chats. Will miss you and all that a lot
<br><i>- Martin</i> (Germany)

---

Looks like it's going to be hard not to repeat what Martin said above, so.... Thank you for the ride and I'll miss you. I'm not sure how we're going to keep this thing afloat without you, but don't worry, we'll find a way
<br><i>- Poine</i> (France)

---

Pascal, we thank you for everything you teached us. We will never forget the feeling of our first night flights in Toulouse!
<br><i>- The TU Delft MAVlab Team</i> (Netherlands)

---

Pascal i will light a candle for you. I really cannot find any words to describe the magnitude of your
contribution not only to the Paparazzi project but also to the spirit of sharing Knowledge for free.
Good Bye my friend.
<br><i>- Chris</i>

---

Pascal, You were a great friend and role model to us all. Your incredible motivation, ingenuity, and generosity was inspirational and instrumental to the professional success of many of your followers. I, for one, could not have found my perfect job designing UAVs for Aerovironment if I had not met you and absorbed some of your tremendous knowledge. You have significantly shaped the direction of my life and will always remain a part of me.
<br><i>-Jeremy</i> (USA)

---

Paparazzi without Pascal would be like oil to water. Pascal, you showed patience without end, teaching someone new every day. You opened your home and your life to many of us without any thought of the cost. Without you and this project my life would be very different from where it is today, different and less fulfilling. You gave us all an amazing gift, do not worry we will not let it spoil. Thank you again, we all miss you!
<br><i>-Anton</i> (USA)
---

Not much to add, I only got the chance to meet you once and you wouldn't even let me buy you a beer!
You truly embodied the idea of open source and as many have said above, the Paparazzi project had a significant role in my future career and education.
Fly Free.
<br><i>- Gareth R</i>

---

Pascal, you were a kind & humble person and worked very hard on this incredible project.
The glacier may have taken you from us but we will keep this great project going.
<br><i>- Mark G</i>

---

Pascal, thank you for everything. I have learn so much with you. I will do my best to continue your work.
<br><i>- Gautier</i> (France)

--

Pascal, thank you for everythin! I had the privilege to know you for 7 years. In my eyes you will stay as the one that was always willing to help and to give to others. You shared with me some of your passions, a part of your tremendous knowledge, and your kindness. I will never forget that.<br>Merci Pascal.
<br><i>- Pierre-Selim</i> (France)

---

Pascal, I feel really lucky that I met you ! You were not only the best advisor that one can ever dream of, a perfect human being, but also a wonderful friend to me. After all years that you have dedicated for the project, I am totally sure that a part of you will ALWAYS fly with Paparazzi UAVs all over the world. There is so much things to say but... Thank you very much for everything Pascal ! I will miss you a lot...
<br><i>- Murat </i>(Turkey)

---

Pascal, thank you so much for each lucky minute I had learning from your experience and from your way as such a great human being. I stand together with everyone here to keep your great ideas flying and developing. Will you always be with us and our little planes. Again, thank you very very much...
<br><i>- Gustavo Violato </i>(Brazil)

---

Really sorry to hear that, that is indeed sad news. Pascal has contributed a lot to the project and he will be sorely missed. Condoleances to his family.
<br><i>- Adam Spence </i>

---

Very bad news. My condolences to the family and those of you who really knew him...
It would be difficult to fill the hole he leaves in the project, as he
took care of a lot of things...
<br><i>- Roi Rodriguez </i>

---

I'm so sorry to hear about this tragedy. After receiving much help from Pascal and many other wonderful members of this community, a working set of Paparazzi aircraft has facilitated me in the completion of my Ph.D. dissertation defense, and in surveying the damage caused by the disastrous floods here in Nashville, TN. I bring with me significant embedded systems expertise, and experience in integration of PPZ into large scale aircraft, so I will be happy to contribute to whatever I can. My deepest sympathies to his family and to all those that knew him.
<br><i>- Adrian Lauf </i>

---

My deepest condolence to Pascal`s family and friends.
Although he left us his work and dreams will live on...
<br><i>- Marko Thaler</i>

---

I wish to offer my most sincere condolences to Pascal's family, friends and colleagues on behalf of myself and other followers of the Paparazzi Project in New Zealand. He will be sorely missed.
<br><i>- Stephen L Hulme </i>(New Zealand)

---

I am so sorry to hear this sad news. In the US, friend or coworkers often contribute for a flower arrangement for the funeral. Is this being done?
Thanks, Pascal, for all you have done and may your work live on through those you have helped.
<br><i>- David Carlson </i>

---

This is shocking news. We are heartbroken here, our condolences to Pascals family, and the entire Paparazzi group. Pascal was indeed a special person. I met him, and some of the other ENAC members at MAV 08. To me, it was a dream come true, to meet Pascal and the group. We even went flying in the evening together. Pascal has always been there to help and assist, I don't think we would be doing what we do, or reached the stage we are at if it weren't for Pascals help. I cant come to terms with this loss. From now on, every flight we fly is dedicated to Pascal.
<br><i>- Uttam Chandrashekhar</i> (India)

---

I am really sorry to hear this. Pascal was a great friend and I know he helped alot of people including me.
We will remember him.
<br><i>- Roman Krashanitsa</i> (Ukraine)

---

My deepest condolences to Pascal's family and friends. I went online and saw the article about the accident after seeing the Wiki this AM.
I am speechless as well. I feel the world has lost someone special.
<br><i>- David Conger</i> (USA)

---

My Deepest condolences to Pascals family, its shocking to hear this. Although, i did not have the fortune to have met him personally, in many ways he has been instrumental in me building and flying a UAV. His dedication and helpfulness to all has inspired me and will always be remembered whenever my little plane flies with paparazzi.
<br><i>-Prashanth Thankachan</i>

---

This is great loss to all. He was a kind & humble person.
The glacier may have taken him from us but we will keep this great project going.
<br><i>-Mark Griffin</i>

---

So sorry to hear such a sad news, we have lost such an intelligent person. My deepest and sincerest condolence to Pascal's families and friends. I still remember how kindly he was for answering my questions and helping me to make progress on the Paparazzi project. The only thing I could do is making my best efforts to let our UAV equipped with Paparazzi autopilot win again in this year's competition as the best memorial for him.
<br><i>-Long Di</i>

---

Hi All,
I am very sad to ear this bad news. I met the paparazzi team once at the EMAV in Garmish Partenkirchen.
Condoleances to his family.
<br><i>-Martial Châteauvieux</i> (Germany)

---

It is very sad and shocking to hear that. Paparazzi has been a greatest project for me ever. I can not express my sadness with word……. my sincerest condolences for all Pascal’s friends and families.
<br><i>-Chen Kuo</i> (Germany)

---

This is a terrible news.
My most sincere condolences to Pascal's family and friends. Although, i didn't know him personally, I miss him already as I appreciated his help for my paparazzy set-up.
I explored deeply the code of the ground station, and started doing some OCAML. I can be of some help for the ground station part, but it is clear I won't be performing as fast as Pascal as i am still beginner in OCAML.
<br><i>-Guillaume Sanchez</i> (France)

---

I am shocked and sad to read of the abruptly death of Pascal.
My deepest and sincerest condolence to Pascal's families and friends.
I will keep him in my mind as kind and helpful person.
<br><i>-Prof. Dr.-Ing. Heinrich Warmers</i> (Germany)

---

Like so many others here, flying robots is a dream and your brainchild was what let me see that dreams can be a reality. For that I will be forever grateful and indebted to you. I remember the first time I flew on autopilot; putting a plane in the air and having it fly itself seemed almost magical. But it was the hard work that you took the pains to share with the world that made it possible. Your talents were unmatched and the world is poorer now without you. Your welcoming spirit is something that I will not soon forget. We grieve at your sudden departure and our hearts go out to those who knew you best.
<br><i>-Paul</i>

---

Pascal, thank you for all your help and inspiration. I'm very glad I met you and will always remember the time working, flying and hiking with you.
<br><i>-Felix Ruess</i> (Germany)

---

Pascal, so sad and terrible to hear this. As for many others on this page, you changed my life. We will never forget you as you will always fly with us.
<br><i>-Christian Lindenberg</i> (Germany)

---

From the very few contacts I had with Pascal, I was really unable to miss the gentleness and kindness he shows in every act.
He was helpful, simple, generous and sincere.Even for a stranger asking for a few hints about a mountain hike, he took plenty of time to give me his best tricks and advice. I really feel that, to everybody he met, his absence is going to be a great loss, and lasting sadness. I feel really sad today, and I send all my condoleances to his family.

<br><i>-Raïlane</i> (France)

---

The rare intelligence, kindness and humility of Pascal Brisset made him a precious man to meet. He has been, and still will be, a tremendous inspiration to some of my close friends who worked with him and whose life was forever changed to the better. Nature has now called him back, to the heart of the moutains he loved with passion. May he rest in peace and may time ease the pain of those who knew and remember him. Fly on Pascal !

<br><i>- David Paquet </i> (France)

File:Shades.jpg

2010-05-26T05:09:33Z

Jeremy: Pascal as I remember him

Pascal as I remember him

Hecto

2010-05-24T21:09:08Z

Jeremy:

Index.php/Main Page

2008-12-16T21:09:55Z

Jeremy: Redirecting to Main Page

#REDIRECT [[Main_Page]]

Modems

2008-12-14T07:48:25Z

Jeremy: /* Digi XBee modules */

The Paparazzi autopilot features a 5V tolerant 3V TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate thru non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Modem|Airframe Configuration]] page.

== Digi XBee modules ==

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

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

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

Note: Products based on XBee ZNet 2.5 (formerly Series 2) modules are not compatible with earlier XBee 802.15.4 (Series 1) modules.

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

==== Pinout ====

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
<br style="clear:both">

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

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

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

=== GCS Adaptation ===

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

<br style="clear:both">

=== Digi XBee Pro 2.4GHz (802.15.4, "Series 1") ===

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

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4Ghz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* price : ~32$
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}

==== Documentation ====

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]

=== Digi XBee Pro ZB ===

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

{|
|-valign="top"
|[[Image:Prd-xbeemoduleseries2.jpg|thumb|left|Maxstream XBee Pro ZB]]
|
* Low-cost, low-power mesh networking
* Interoperability with ZigBee PRO Feature Set devices from other vendors*
* Support for larger, more dense mesh networks
* 128-bit AES encryption
* Frequency agility
* Over-the-air firmware updates (change firmware remotely)
* ISM 2.4 GHz operating frequency
* XBee: 2 mW (+3 dBm) power output (up to 400 ft RF LOS range)
* XBee-PRO: 50 mW (+17 dBm) power output (up to 1 mile RF LOS range)
* RPSMA connector, U.FL connector, Chip antenna, or Wired Whip antenna
* price : ~34 USD
|
|}

==== Setup ====

For the ZigBee ZNet 2.5 and ZB modules to work one of the modules has to be flashed with the coordinator firmware. All the others in the same PAN can either run as routers or end-devices.
* Flash one module (ground station) with the coordinator AT firmware
* Flash aircraft module with router or end-device AT firmware
* Set PAN ID to some unique (but same) ID on both modules
* Set a Node Identifier for each module (e.g. ground, aircraft)

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

=== Digi XBee Pro 868 ===

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

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

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

=== Digi XBee Pro XSC 900Mhz ===

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4Ghz video compatibility of their high end 900Mhz models. Sounds like the perfect modem for anyone who can use 900Mhz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900Mhz
* Output Power 100mW
* Sensitivity -100 dBm
* Data Rate: 9600 bps
* Range (typical, depends on antenna & environment) Up to 24km (15 miles) line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : ~75 USD
|
|}

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

== Maxstream 9XTend ==

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side, about 20 grams, but give good performance at range. They have adjustable power settings from 100mW to 1W. Testing has shown range up to 3.2km (2 miles) with 100mW.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : ~179 USD
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

=== Pinout ===

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

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

=== Documentation ===

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

== Aerocomm ==
Aerocomm's API mode is not yet implemented. Therefore they are used in transparent mode. Users are reporting these modems cause more interference with GPS reception then the Maxstream modem.

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

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe).
* Output Power (w/ 2dBi antenna) 250 mW
* Sensitivity (@ full RF data rate) -103 dB
* RF Data Rate Up to 28.8 Kbps
* INterface Data Rate Up to 57.6 Kbps
* Power Draw (typical) 240 mA TX / 36 mA RX
* Supply Voltage 3.3v & 5V or 3.3v only
* Range (typical, depends on antenna & environment) Up to 15 kilometers line-of-sight
* Dimensions 49 x 42 x 5mm
* Weight < 21 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : ~80$
|
[[Image:ConnexLink_USB_RF_Modem.jpg|thumb|Aerocomm USB Stand-alone Modem]]
|-
|

=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : ~80$
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|

=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : ~80$
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Aerocomm AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Aerocomm AC4490 wiring example]]
<br style="clear:both">

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

=== Documentation ===
* [http://www.aerocomm.com/rf_transceiver_modules/ac4790_mesh-ready_transceiver.htm AC4790 product page]
* [http://www.aerocomm.com/docs/Datasheet_AC4790_HI.pdf AC4790 Datasheet]
* [http://www.aerocomm.com/docs/User_Manual_AC4790.pdf AC4790 Manual]
* [http://www.aerocomm.com/rf_transceiver_modules/ac4868_868mhz_rf_transceiver.htm AC4848 product page]
* [http://www.aerocomm.com/docs/Datasheet_AC4868_HI.pdf AC4868 Datasheet]
* [http://www.aerocomm.com/docs/User_Manual_AC4868.pdf AC4868 user manual]

== Radiotronix ==
These Radiotronix modems are used in transparent mode. Use the WI232EUR Evaluation Software for configuring the modems for the set speed. Connect /CMD and CTS for programming. The DTS version for the US market might cause severe interference with GPS reception, it is not recommended. For a nice ground station modem just add a FTDI232 USB->serial cable, a 3.3V regulator with 100nF capacitors from supplies to ground, solder a SMA cable/connector and put it in a nice case. Make sure you only connect RTS to /CMD if you want to reprogram the modem with the Evaluation software (see the open jumper connection in the picture, green wire) and leave it floating otherwise as connected RTS/CTS sporadically leads to a reprogramming of the modem. The ANT-GXD105-FME/F from [http://www.roundsolutions.com Roundsolutions] was used as a ground station antenna at many competitions.
{|
|
=== WI232EUR ===
* Frequency Band 868MHz (for Europe)
* Output Power 32 mW
* RF Data Rate Up to 76.8 kbps
* Interface Data Rate up to 115.2 kbps
* Power Draw (typical) 65 mA TX / 20 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 500 meters line-of-sight
* Dimensions 24 x 21 x 4mm
* Weight ~2 grams
* Interface solder connector
* Antenna solder connector
* price : ~25$
|
[[Image:Wi232eur_wiring.jpg|thumb|WI232EUR Modem (picture shows connection to Tiny 1.1)]]
|-
|

=== Pinout ===

<br style="clear:both">

{| border="1"
|+ Wiring the WI232EUR to the Tiny
|-valign="top"
||'''''WI232 pins'''''||'''''Name'''''||'''''Tiny Serial-1'''''||'''''Notes'''''
|-
||6||TxD||7||''(Note 1)''
|-
||5||RxD||8||''(Note 1)''
|-
||15-18||GND||1|| -
|-
||19||VCC||2||+3.3v
|-
||4||/CMD||-||''(Note 2)''
|-
||7||CTS||-||''(Note 3)''
|}
''Note 1 : names are specified with respect to the Radiotronix module''

''Note 2 : connect to RTS to program device with Evaluation software''

''Note 3 : connect to CTS to program device with Evaluation software''

|
[[Image:Wi232eur_bopla.jpg|thumb|WI232EUR Modem in BOPLA case]]
|-
|
|}
=== Documentation ===
* [http://www.radiotronix.com/datasheets/new/eur_um.pdf WI232EUR data sheet]
* [http://www.radiotronix.com/datasheets/new/rk-eur_um.pdf WI232EUR user's manual]
* [http://www.radiotronix.com/downloads/software/EUR/setup.exe Evaluation software]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== "Sparkfun" Roving Networks (WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : ~45$
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

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

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

and make a virtual connection to a Bluetooth serial port

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

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

== Coronis WaveCard ==

These relatively inexpensive and light modules implement a Coronis proprietary protocol. Low power consumption - high latency - I would not recommend these modules mostly because of the low quality of the distribution and support. The documentation is rather poor and not easily available.

'''Suport for these modems has been removed from the airborne code on Dec 10th, 2007.'''
{|
|-valign="top"
|
* Frequency Band 400MHz, 868Mhz and 915MHz (3 versions)
* Output Power 25mW and 500mW (2 versions)
* Sensitivity -110 dBm (@ 9600 bps)
* Data Rate 100 Kbps
* Power Draw (typical) 45mA (25mW), 450mA (500mW) TX / 15 mA RX
* Supply Voltage ...
* Range (typical, depends on antenna & environment) Up to 1km (25mW) , 5km (500mW) line-of-sight
* Dimensions 30 x 28 x 7mm (25mW), 37 x 30 x 7mm (500mW)
* 50 ohm RF port for antenna connection
|
[[Image:wavecard.jpg|Coronis Wavecard]]
|}

=== Documentation ===

* [http://www.coronis-systems.com/produit.php?lang=EN&id=WCA www.coronis-systems.com]
* [[Media:CS-COM-SPRD-WAVECARD-E03B.pdf|Wavecard datasheet]]

== Video Transmitter Telemetry ==

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

== Antennas ==

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

File:Xbeeadapterftdi LRG.jpg

2008-12-14T07:45:09Z

Jeremy: Fruity adapter with FTDI

Fruity adapter with FTDI

File:Xbeeadapter LRG.jpg

2008-12-14T07:42:01Z

Jeremy: Adafruit Xbee adapter

Adafruit Xbee adapter

Sensors/GPS

2008-10-04T16:51:33Z

Jeremy: /* NAVILOCK NL-507TTL */

{| align=right
|-
| __TOC__
|}

==Overview==
[[Image:U-blox_color_warm_60.gif|100px]]

Paparazzi autopilots are designed around the popular [http://www.u-blox.com u-blox] brand of receivers.

*Features:
**Small size
**Excellent performance
**4Hz position update rate

The '''[[Tiny]]''' features an onboard LEA series GPS receiver and patch antenna, while '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. Both modules have proven reliable and robust.

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/gps_ubx.c</tt>. Other GPS brands would require a similar parsing file to be written for NMEA or other proprietary protocols.

==GPS Receivers==

===u-Blox LEA Series Receivers===
[[Image:Lea big.jpg|100px|thumb|right|u-blox LEA]]
The '''[TWOG_v1|TWOG]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4 and 5 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4 and LEA-5 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S models as the special boot configuration code required for these models is already written.

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position [http://paparazzi.enac.fr/wiki_images/Gps_rx_noise.pdf noise] figure
[[Image:TINY_1.3_MCU_BOTTOM.JPG|thumb|center|250px|LEA-4P installed on the Tiny]]
<br style="clear:both">

===Paparazzi Stand-alone GPS Receivers===
[[Image:Ppzgps13_800.jpg|100px|thumb|left|Paparazzi GPS13]]
[[Image:LEA5HExternalModulePinout.jpg|250px|thumb|right|LEA-5H Full Board Pinout]]
There are currently two (LEA-based) stand-alone, GPS receiver + antenna, prototype boards in development; the first one is based on the Sangshin 13mm patch antenna.<br>
The second is based on the Sarantel helix antenna. Drawings for both are available from the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/ CVS]
Version 1 (V1) BOM is here.. Please post any pics you might have and check this for accuracy<br>
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br>
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br>

If this needs fixing don't be shy, fix away.

<br style="clear:both;" />

===NAVILOCK NL-507ETTL===
[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
<br style="clear:both;" />

===SPK GS406===
[[Image:GS406.jpg|thumb|left|SPK GS406 with LEA-5]]
[http://www.sparkfun.com/commerce/product_info.php?products_id=8889 Sparkfun] sells a nice small module featuring the newer 5-series receiver and the highly rated Sarantel antenna for about $90. The design is based around the active version of the Sarantel instead of the more appropriate passive model and there's some potentially tricky soldering involved to get around the ribbon cable but the price is great for this hardware.
<br style="clear:both;" />

===u-Blox C04-5H Reference Design===
[[Image:abavimage.jpg|100px|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.u-blox.com/products/c04_5h.html http://www.u-blox.com/products/c04_5h.html] for more info.
<br style="clear:both;" />

====Connecting external receivers to Classix, 1.2.1, Lite, and RoboStix boards====

The u-blox receivers require 3.3v power and all current models have 5V tolerant data lines. The best way to connect to the SAM-LS is to remove the bottom case and solder the 4 wires directly to the TIM-LL module (GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) check the TIM-LL datasheet for pinout diagrams. The Classix and Lite boards feature a 3.3V regulator to power the GPS.

===Sourcing from u-blox===

u-blox keeps tight control over the distribution of their products. They must be obtained DIRECTLY from their own reseller offices. These offices may not be available in your area, for example Canada does not have a reseller. Sample quantities can be obtained from uBlox but overnight or 2 day shipping is required which drives the cost up considerably. While it is a large hassle obtaining these devices, it is undoubtedly worth it.

Talking with ublox sale for two years, Confirmed, that Order is possiable Directly from ublox, by knowing what project it was for & how was it to be use. After long reply waiting time, the answer was: - YES, but at least 2K-3K in volume, otherwise they're not interested. Like to share the order ? It is 500pcs/Roll.

===Other potential source of u-blox GPS===

There seems to be a few alternative source of u-blox GPS out there. They are considerably cheaper then the samples u-blox offers (at least in america). We didn't buy from these sources yet. Do not take this as a recommandation, we do not know the level of service they offer, etc.

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error )
*http://www.expedienttech.com/product.htm ( Singapore )
*http://shop.halfbase.com/index.php/cPath/22?osCsid=414472d5a544b080f9ae153fdc323798 ( B2B- min.10pcs @ $38 )

==GPS configuration using U-Center==

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/products/u_center.html Download u-center]

* Note: You must [[Compiling#USB_flashing|install the UART tunnel]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].
* Note: You can run u-center on Linux by installing "wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and setting up com1 as /dev/ttyUSB0 See Info on wine for "dosdevices" setup. Just download the u-setup.exe and run it with wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.
* Note: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with the $20 [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun] or [http://shop.halfbase.com/product_info.php/products_id/54 Halfbase]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate.
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
<br style="clear:both">

===Uploading the Configuration File===
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [http://paparazzi.enac.fr/wiki_images/Tiny_LEA-5H-v5.zip LEA-5H (For Use w/ Firmware V5 ONLY!)]

===Manual Configuration===
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
6. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
7. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
8. UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
9. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

1. Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
2. Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction.
Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
6. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
7. UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
(add the flag -DGPS_USE_LATLONG in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]]) also make sure you set tiny_2_1_1.h if you have the latest boards Tiny/TinyWOG)
8. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH. Additionally, add the flag -DGPS_USE_LATLONG in the makefile section of the airframe xml file.

===Reset to Default Settings===
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===DGPS (Differential GPS)===
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.environmental-studies.de/Precision_Farming/EGNOS_WAAS__E/3E.html WAAS, EGNOS, and MSAS] though only WAAS is officially operational. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

====WAAS issues====
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to completely disable WAAS.

====EGNOS issues====
EGNOS is officially in "testing mode" and no claims of reliability are made. The [http://www.u-blox.com/customersupport/faq_antaris u-blox FAQ] states the following:
* "Do you see issues with EGNOS?"
*:"Yes. Although the data transmitted by the EGNOS satellites are usually good and valuable (e.g. during the solar storms in autumn 2003), they can sometimes be very unreliable, for example when system tests are performed. As an example, u-blox has noticed erroneous range information (up to three hundred kilometers) on various EGNOS satellite over the last few months [2006]."

===Further Reading===

The u-blox [http://www.u-blox.com/customersupport/antaris4_doc.html System Integration Manual] covers a lot of GPS theory as well as product specific topics.

== Antenna options for the Tiny and Paparazzi GPS units ==

The '''[[Tiny|Tiny 1.1]]''' features a 28mm square ground plane intended to be centered below the [[#Sangshin_13mm_Patch|Sangshin 13mm patch antenna]]. Much better performance has been seen with the 18mm antennas and an augmented ground plane. The ground plane is a critical part of the antenna affecting not only the gain and polarization characteristics but also the center frequency of the system. Users are advised to expand the ground plane to approximately 36mm square, centered on the ceramic portion of the antenna (not the pin). This can be done with copper foil soldered to the vias of the existing ground plane.
[[image:gps_antenna_comparison.jpg|thumb|500px|left|SAM-LS 25mm / Emtac 20mm / Emtac 18mm / Sangshin 18mm / Sangshin 13mm / Sarantel P2]]
<br style="clear:both">

=== Sangshin 18mm Patch ===
[[image:Sangshin_18mm.jpg|thumb|Sangshin 18mm x 4mm 1580Mhz]]
The Sangshin KSA-ST1580MS18 antenna has proven to offer the best performance of the currently available options. These are available from any Sanshin distributor such as [http://www.rfmw.com rfmw] ([http://www.rfmw.com/PortalProductDetail.aspx?ProdId=232436&fmt=1 here]) and cost approximately $6.50/ea. in small quantities.

<br style="clear:both">

=== EMTAC 18mm Patch ===
[[image:Emtac_18mm.jpg|thumb|Emtac 18mm x 4mm 1580Mhz]]
Offering identical performance to the Sangshin in a less attractive package is the Emtac 18mm antenna. The part number for the standard 1580MHz 18x18x4mm is ANA1580T18D40 and is not listed on their website. Other frequencies are available on a special order basis and the 1584Mhz has proven to outperform all other frequencies when used with a 36mm ground plane and no radome. The use of a radome (any material covering the antenna) or a larger ground plane should theoretically favor even higher frequencies.

'''Availability'''

* [http://www.transplantgps.com/modules.html TransplantGPS] in MN, USA. The 1580Mhz models are usually available at a cost of $3.55ea but there may be a minimum order requirement of ~$50 USD.
* [http://www.onefastdaddy.com/catalog/product_info.php?products_id=43 PPZUAV] ~$10.00 USD (no min. order requirement)
<br style="clear:both">

=== Sangshin 13mm Patch ===

[[image:Sangshin_13mm_onboard.jpg|thumb|Sangshin 13mm x 4mm 1580Mhz]]
Part of interest: '''[http://www.sangshinec.com/eng/patch_spec.htm KSA-ST1580MS13]'''

The Tiny 0.99 (not 0.9) and 1.1 were designed around this antenna but users are advised to install 18mm units for better performance.

Size: 13 x 13 mm<br/>
Center Frequency: 1580 MHz<br/>
Bandwidth: 5 MHz<br/>
@Fo: -15 dB<br/>
GAIN (dBi): 0 dBi<br/>
Ground Plane: 50 x 50 mm<br/>

'''Available From'''

[http://www.systroninc.com/ Systronic INC.] - Alberta, Canada
<br style="clear:both">

=== Emtac 20mm Patch ===

[[image:Salvaged_20mm_onboard.jpg|thumb|Emtac 20mm x 4mm]]
The Tiny 0.9 was designed around this 1583Mhz antenna and performed extremely well. Emtac has replaced this with an 18mm model that they claim offers even better performance.

* Obsolete
<br style="clear:both">

=== Sarantel GeoHelix-P2 ===

[[image:Geohelix-p2.jpg|thumb|Sarantel Geohelix P-2 1575Mhz]]

This antenna is popular among UAV designers due to it's natural rejection of other radio frequencies such as those originating from the modem or video system as well as it's improved rejection of signals reflected from the ground. U-blox recommends this antenna and features it in their [http://www.u-blox.com/news/sarantel.html reference design]. Frequency and polarization are not dependent upon ground plane geometry so this antenna is sold only in the true GPS frequency of 1575Mhz.
The geometry makes this antenna very inconvenient to mount, especially in an airplane. Some very non-scientific testing has been done with one of these antennas connected to a Tiny with a short length of 50 Ohm coax above a 120mm square of ungrounded aluminum foil and performance was adequate. The helical design should theoretically outperform a patch in the air, but not on the ground, so any organized comparison will be difficult. Possibly the most important aspect of this antenna is it's natural RFI filtering, which should be evaluated further.

* [http://www.sarantel.com/products/geohelix-p2 GeoHelix-P2] Passive GPS Antenna [[http://www.sarantel.com/downloads/specifications/geohelix-p2.pdf datasheet]]

'''Availability'''

* Sarantel @ cost of approx $18 USD each (active versions available for ~$40)
<br style="clear:both">
* [http://www.onefastdaddy.com/catalog/product_info.php?products_id=40&osCsid=709e839698120c5cd324072b77d67cc1 PPZUAV]

File:Navilock NL-507ETTL.jpg

2008-10-04T16:50:32Z

Jeremy: Navilock NL-507ETTL

Navilock NL-507ETTL

Sensors/GPS

2008-10-04T03:24:34Z

Jeremy:

{| align=right
|-
| __TOC__
|}

==Overview==
[[Image:U-blox_color_warm_60.gif|100px]]

Paparazzi autopilots are designed around the popular [http://www.u-blox.com u-blox] brand of receivers.

*Features:
**Small size
**Excellent performance
**4Hz position update rate

The '''[[Tiny]]''' features an onboard LEA series GPS receiver and patch antenna, while '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. Both modules have proven reliable and robust.

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. The protocol is parsed in <tt>sw/airborne/gps_ubx.c</tt>. Other GPS brands would require a similar parsing file to be written for NMEA or other proprietary protocols.

==GPS Receivers==

===u-Blox LEA Series Receivers===
[[Image:Lea big.jpg|100px|thumb|right|u-blox LEA]]
The '''[TWOG_v1|TWOG]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4 and 5 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-aquisition. Any of the LEA-4 and LEA-5 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S models as the special boot configuration code required for these models is already written.

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position [http://paparazzi.enac.fr/wiki_images/Gps_rx_noise.pdf noise] figure
[[Image:TINY_1.3_MCU_BOTTOM.JPG|thumb|center|250px|LEA-4P installed on the Tiny]]
<br style="clear:both">

===Paparazzi Stand-alone GPS Receivers===
[[Image:Ppzgps13_800.jpg|100px|thumb|left|Paparazzi GPS13]]
[[Image:LEA5HExternalModulePinout.jpg|250px|thumb|right|LEA-5H Full Board Pinout]]
There are currently two (LEA-based) stand-alone, GPS receiver + antenna, prototype boards in development; the first one is based on the Sangshin 13mm patch antenna.<br>
The second is based on the Sarantel helix antenna. Drawings for both are available from the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/ CVS]
Version 1 (V1) BOM is here.. Please post any pics you might have and check this for accuracy<br>
[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls]<br>
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt]<br>

If this needs fixing don't be shy, fix away.

<br style="clear:both;" />

===NAVILOCK NL-507TTL===
[[Image:21NpGLqoP6L._SL500_AA200_.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 is available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
<br style="clear:both;" />

===SPK GS406===
[[Image:GS406.jpg|thumb|left|SPK GS406 with LEA-5]]
[http://www.sparkfun.com/commerce/product_info.php?products_id=8889 Sparkfun] sells a nice small module featuring the newer 5-series receiver and the highly rated Sarantel antenna for about $90. The design is based around the active version of the Sarantel instead of the more appropriate passive model and there's some potentially tricky soldering involved to get around the ribbon cable but the price is great for this hardware.
<br style="clear:both;" />

===u-Blox C04-5H Reference Design===
[[Image:abavimage.jpg|100px|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.u-blox.com/products/c04_5h.html http://www.u-blox.com/products/c04_5h.html] for more info.
<br style="clear:both;" />

====Connecting external receivers to Classix, 1.2.1, Lite, and RoboStix boards====

The u-blox receivers require 3.3v power and all current models have 5V tolerant data lines. The best way to connect to the SAM-LS is to remove the bottom case and solder the 4 wires directly to the TIM-LL module (GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) check the TIM-LL datasheet for pinout diagrams. The Classix and Lite boards feature a 3.3V regulator to power the GPS.

===Sourcing from u-blox===

u-blox keeps tight control over the distribution of their products. They must be obtained DIRECTLY from their own reseller offices. These offices may not be available in your area, for example Canada does not have a reseller. Sample quantities can be obtained from uBlox but overnight or 2 day shipping is required which drives the cost up considerably. While it is a large hassle obtaining these devices, it is undoubtedly worth it.

Talking with ublox sale for two years, Confirmed, that Order is possiable Directly from ublox, by knowing what project it was for & how was it to be use. After long reply waiting time, the answer was: - YES, but at least 2K-3K in volume, otherwise they're not interested. Like to share the order ? It is 500pcs/Roll.

===Other potential source of u-blox GPS===

There seems to be a few alternative source of u-blox GPS out there. They are considerably cheaper then the samples u-blox offers (at least in america). We didn't buy from these sources yet. Do not take this as a recommandation, we do not know the level of service they offer, etc.

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error )
*http://www.expedienttech.com/product.htm ( Singapore )
*http://shop.halfbase.com/index.php/cPath/22?osCsid=414472d5a544b080f9ae153fdc323798 ( B2B- min.10pcs @ $38 )

==GPS configuration using U-Center==

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/products/u_center.html Download u-center]

* Note: You must [[Compiling#USB_flashing|install the UART tunnel]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].
* Note: You can run u-center on Linux by installing "wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and setting up com1 as /dev/ttyUSB0 See Info on wine for "dosdevices" setup. Just download the u-setup.exe and run it with wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.
* Note: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].
The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with the $20 [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun] or [http://shop.halfbase.com/product_info.php/products_id/54 Halfbase]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accomodate the 4Hz update rate.
<br>[[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
<br style="clear:both">

===Uploading the Configuration File===
Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [http://paparazzi.enac.fr/wiki_images/Tiny_LEA-5H-v5.zip LEA-5H (For Use w/ Firmware V5 ONLY!)]

===Manual Configuration===
If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
6. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
7. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
8. UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
9. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

1. Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
2. Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction.
Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
3. UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 38400bps if the connection is lost at this point
5. UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
6. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
7. UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
(add the flag -DGPS_USE_LATLONG in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]]) also make sure you set tiny_2_1_1.h if you have the latest boards Tiny/TinyWOG)
8. UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH. Additionally, add the flag -DGPS_USE_LATLONG in the makefile section of the airframe xml file.

===Reset to Default Settings===
The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===DGPS (Differential GPS)===
Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio reciever. SBAS is currently available in 3 regions, [http://www.environmental-studies.de/Precision_Farming/EGNOS_WAAS__E/3E.html WAAS, EGNOS, and MSAS] though only WAAS is officially operational. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

====WAAS issues====
WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to completely disable WAAS.

====EGNOS issues====
EGNOS is officially in "testing mode" and no claims of reliability are made. The [http://www.u-blox.com/customersupport/faq_antaris u-blox FAQ] states the following:
* "Do you see issues with EGNOS?"
*:"Yes. Although the data transmitted by the EGNOS satellites are usually good and valuable (e.g. during the solar storms in autumn 2003), they can sometimes be very unreliable, for example when system tests are performed. As an example, u-blox has noticed erroneous range information (up to three hundred kilometers) on various EGNOS satellite over the last few months [2006]."

===Further Reading===

The u-blox [http://www.u-blox.com/customersupport/antaris4_doc.html System Integration Manual] covers a lot of GPS theory as well as product specific topics.

== Antenna options for the Tiny and Paparazzi GPS units ==

The '''[[Tiny|Tiny 1.1]]''' features a 28mm square ground plane intended to be centered below the [[#Sangshin_13mm_Patch|Sangshin 13mm patch antenna]]. Much better performance has been seen with the 18mm antennas and an augmented ground plane. The ground plane is a critical part of the antenna affecting not only the gain and polarization characteristics but also the center frequency of the system. Users are advised to expand the ground plane to approximately 36mm square, centered on the ceramic portion of the antenna (not the pin). This can be done with copper foil soldered to the vias of the existing ground plane.
[[image:gps_antenna_comparison.jpg|thumb|500px|left|SAM-LS 25mm / Emtac 20mm / Emtac 18mm / Sangshin 18mm / Sangshin 13mm / Sarantel P2]]
<br style="clear:both">

=== Sangshin 18mm Patch ===
[[image:Sangshin_18mm.jpg|thumb|Sangshin 18mm x 4mm 1580Mhz]]
The Sangshin KSA-ST1580MS18 antenna has proven to offer the best performance of the currently available options. These are available from any Sanshin distributor such as [http://www.rfmw.com rfmw] ([http://www.rfmw.com/PortalProductDetail.aspx?ProdId=232436&fmt=1 here]) and cost approximately $6.50/ea. in small quantities.

<br style="clear:both">

=== EMTAC 18mm Patch ===
[[image:Emtac_18mm.jpg|thumb|Emtac 18mm x 4mm 1580Mhz]]
Offering identical performance to the Sangshin in a less attractive package is the Emtac 18mm antenna. The part number for the standard 1580MHz 18x18x4mm is ANA1580T18D40 and is not listed on their website. Other frequencies are available on a special order basis and the 1584Mhz has proven to outperform all other frequencies when used with a 36mm ground plane and no radome. The use of a radome (any material covering the antenna) or a larger ground plane should theoretically favor even higher frequencies.

'''Availability'''

* [http://www.transplantgps.com/modules.html TransplantGPS] in MN, USA. The 1580Mhz models are usually available at a cost of $3.55ea but there may be a minimum order requirement of ~$50 USD.
* [http://www.onefastdaddy.com/catalog/product_info.php?products_id=43 PPZUAV] ~$10.00 USD (no min. order requirement)
<br style="clear:both">

=== Sangshin 13mm Patch ===

[[image:Sangshin_13mm_onboard.jpg|thumb|Sangshin 13mm x 4mm 1580Mhz]]
Part of interest: '''[http://www.sangshinec.com/eng/patch_spec.htm KSA-ST1580MS13]'''

The Tiny 0.99 (not 0.9) and 1.1 were designed around this antenna but users are advised to install 18mm units for better performance.

Size: 13 x 13 mm<br/>
Center Frequency: 1580 MHz<br/>
Bandwidth: 5 MHz<br/>
@Fo: -15 dB<br/>
GAIN (dBi): 0 dBi<br/>
Ground Plane: 50 x 50 mm<br/>

'''Available From'''

[http://www.systroninc.com/ Systronic INC.] - Alberta, Canada
<br style="clear:both">

=== Emtac 20mm Patch ===

[[image:Salvaged_20mm_onboard.jpg|thumb|Emtac 20mm x 4mm]]
The Tiny 0.9 was designed around this 1583Mhz antenna and performed extremely well. Emtac has replaced this with an 18mm model that they claim offers even better performance.

* Obsolete
<br style="clear:both">

=== Sarantel GeoHelix-P2 ===

[[image:Geohelix-p2.jpg|thumb|Sarantel Geohelix P-2 1575Mhz]]

This antenna is popular among UAV designers due to it's natural rejection of other radio frequencies such as those originating from the modem or video system as well as it's improved rejection of signals reflected from the ground. U-blox recommends this antenna and features it in their [http://www.u-blox.com/news/sarantel.html reference design]. Frequency and polarization are not dependent upon ground plane geometry so this antenna is sold only in the true GPS frequency of 1575Mhz.
The geometry makes this antenna very inconvenient to mount, especially in an airplane. Some very non-scientific testing has been done with one of these antennas connected to a Tiny with a short length of 50 Ohm coax above a 120mm square of ungrounded aluminum foil and performance was adequate. The helical design should theoretically outperform a patch in the air, but not on the ground, so any organized comparison will be difficult. Possibly the most important aspect of this antenna is it's natural RFI filtering, which should be evaluated further.

* [http://www.sarantel.com/products/geohelix-p2 GeoHelix-P2] Passive GPS Antenna [[http://www.sarantel.com/downloads/specifications/geohelix-p2.pdf datasheet]]

'''Availability'''

* Sarantel @ cost of approx $18 USD each (active versions available for ~$40)
<br style="clear:both">
* [http://www.onefastdaddy.com/catalog/product_info.php?products_id=40&osCsid=709e839698120c5cd324072b77d67cc1 PPZUAV]

File:GS406.jpg

2008-10-04T03:11:22Z

Jeremy: SPK GS406 GPS reciever

SPK GS406 GPS reciever

File:Abavimage.jpg

2008-10-04T03:08:22Z

Jeremy: u-blox C04-5H

u-blox C04-5H

Overview

2008-09-08T06:02:07Z

Jeremy:

[[image:Paparazzi_System_overview.jpg|right|Paparazzi System Overview]]
Paparazzi is a complete system of hardware and software for autonomous aircraft as well as complete ground station mission planning and monitoring software utilizing a bi-directional datalink for telemetry and control.

== System Architecture ==

The following figure shows the main agents of the system: one (or several) aircraft and the distributed ground architecture (usually distributed on a single computer):

[[Image:Pprz_communication_agents.gif]]

The UAV (in blue) is navigating autonomously and is monitored and controlled from the ground (in brown). The [[GCS|ground control station (GCS)]] provides a graphical user interface with telemetry data received by the ''link agent'' which manages the ground-based radio modem. The ''link agent'' distributes telemetry data across the network (a single computer, a local network or the internet) where it can be used locally or remotely by the:
* '''messages''' - a real-time display of all telemetry data
* '''server''' - an agent that logs, distributes, and preprocesses these messages for the GCS.
All of these processes run simultaneously and each module is independently controled and configured from [[Paparazzi_Center]].

Your first experiments with the system should be with the simulator where everything runs on your local machine. The configuration is then slightly different:

[[Image:comm_sitl.gif]]

Here the aircarft and its radio link are replaced by the simulator. An optional ''gaia'' agent is also available to introduce some environmental parameters such as wind, infrared constrast, GPS quality, and time scale reference.

== Aircraft ==
{|
|-
| [[image:Paparazzi_Equiped_Aircraft.jpg|Paparazzi Equiped Aircraft]]
|
* '''A'''utopilot Control Board
* '''B'''attery
* '''D'''atalink Radio-Modem & Antenna
* '''G'''PS Receiver
* '''I'''R Sensor Board
* '''M'''otor & Controller
* '''R'''C Receiver & Antenna
* '''S'''ervos
* '''P'''ayload = Camera & Video Transmitter
|}

=== The Airframe ===

The Paparazzi airborne system is highly configurable and can be used to autonomously operate almost any airframe. It is currently in use on airframes ranging from 30cm to 1.4m, and 180g to several kg. In the early days of the project, slow and stable airframes such as the venerable Twinstar and Microjet were favored, but today the system is employed in a wide variety of high performance aircraft, many with little or no natural stability, and many designed specifically around the Paparazzi system.

The [[Gallery|User's Gallery]] shows some of the many Paparazzi aircraft.

=== Airborne Electronics ===

===== Controller Board =====

[[image:tiny_proto1_top_small.jpg|frame|Tiny Controller Board]]
Several controller boards have been designed to run the Paparazzi autopilot software, using either Atmel AVR or Philips ARM7 LPC micro-controllers. These boards include one or two micro-controllers and the required connectors to handle the servos, motor controllers, sensors, RC receiver, radio modem, and a variety of payloads. All of the [http://cvs.savannah.nongnu.org/viewcvs/paparazzi3/hw/?root=paparazzi schematics and PCB files] are available under the GPL licence.
<br>
More details on the controller boards are available on the [[Hardware|Hardware Pages]].
<br style="clear:both;"/>

===== Sensors =====

[[image:ir_sensor_bot_small.jpg|frame|2 Axis IR Sensor Board]]
Paparazzi autopilots can interface with virtually any type of sensor but the vast majority of applications rely on a set of 6 orthogonal infrared temperature sensors to estimate the orientation of the aircraft relative to the warm earth and cold sky. The IR system provides a robust and absolute attitude estimate that is immune to vibration and disorienting launches, wind gusts, or stalls that may confuse inertial-based autopilots. Paparazzi also uses conventional inertial systems on hovering aircraft such as quadrotors and helicopters with freely available [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/ software and hardware sources]. <br><br> Fixed wing airborne hardware typically includes infrared sensors, GPS & occasionally a gyroscope for roll or pitch rate damping on more agile aircraft.
A standard GPS receiver from u-blox is used, either as a stand-alone unit for the [[Classix]] or [[Twog_v1|TWOG]] autopilots, or as a fully integrated package in the [[Tiny_v2|Tiny]] autopilot.

More details on the sensors are available on the [[Sensors|Sensors page]].
<br style="clear:both;"/>
===== Communications =====

[[image:ac4868_transceiver.jpg|frame|Aerocomm AC4868 Radio-Modem]]
Airborne hardware also includes communications devices : Radio Modem (Datalink) & RC Receiver (Safety Link).
Any wireless device providing a serial link can be used for the telemetry and the telecontrol (Datalink).

More details on communications hardware are available on the [[Modems|Modems page]].
<br style="clear:both;"/>
=== Airborne Software ===

The Paparazzi autopilot provides the following features:
* RC receiver (PPM signal) decoding
* Servos and motor controller (PPM signal) control
* Manual control with the RC
* Control with augmented stability (named '''AUTO1''')
* Autonomous navigation (named '''AUTO2''') in 3D, including
** Waypoint navigation
** Segment and circle navigation
** Altitude hold, glide following
** High level flight plan language execution (sequence, loops, goto, ...)
* Telemetry to the ground station
* Telecontrol (datalink) from the ground station (navigation control, waypoint modifications, tuning)

The autopilot code is written in C while all the configuration code is translated from XML files at compile time.
Code is segregated into two processes respectively handling the ''fly by wire'' (manual control) and the ''autopilot'' itself (stabilization and navigation). These processes are segregated on two-processor controllers such as the [[Classix|Classix]].

== Ground Control Station (GCS) ==

=== Ground Computer ===

The software is developped to be run on a i386 architecture with the [http://www.debian.org Debian GNU/linux] operating system. However a Live CD including all the software is provided: it should be able to boot any standard laptop.

=== Ground Software ===

The software mainly provides
* compiling tools to produce the airborne code from the configuration;
* a GUI to control and interact with the UAV(s) during flight;
* a basic simulator to ease the development of flight plans.

=== Datalink ===

Paparazzi offers several possibilities to supervise the UAV flight from the ground. The default one uses a bidirectionnal wireless modem which supports both telemetry (downlink) and telecontrol (uplink). Thanks to this datalink, flight parameters are available in real time and full control of the navigation and tuning of one or several aircraft is possible from the ground station.

=== Safety Link ===

The airborne hardware and software support the connection to a standard (patched) radio-control receiver. While this link is not required for actual autonomous flights, it may help during the tuning of a new aircraft and is usually considered as an important safety control redundancy.

== Payloads ==

Paparazzi is designed to interface with a wide variety of payloads. The airborne board can control many servos for autonomous and/or manual [[Pan_Tilt_Camera|Pan/Tilt camera systems]] or other mechanical payloads, SPI, I<sup>2</sup>C, and GPIO connections are available to connect digital devices (i.e. lights or digital camera shutter), and analog inputs are available to interface with just about any sensor imaginable. The associated software is easily integrated into the open-source code. The [[Classix]] board can also be connected to a [http://www.gumstix.com Gumstix Computer] for highly sophisticated payload software applications.

== Disclaimers ==

It should be understood that smooth, reliable autonomous flight is a great feat and will require significant time and effort to achieve, even with a highly evolved open system like Paparazzi. The time required will vary based on experience, aircraft, and luck. From experience however, users can expect to spend a similar amount of time learning and configuring Paparazzi as they may with any of the commercially available systems.

Linux itself can pose quite a challenge to install, configure, and learn. To help ease the transition for those not already running Linux, the LiveCD option is available to help get you started. The LiveCD allows the user to save all configuration files as well as any user-modified source code on a pen drive or as a compressed file on your hard drive without affecting your existing OS. We strongly urge new users to [[Contact|Contact]] someone from the Paparazzi team before beginning any hardware invenstment as we can help you get the most out of the system.

Infrared Sensors

2008-09-08T04:56:55Z

Jeremy:

__NOTOC__
__NOEDITSECTION__

{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
|-valign="top"
|
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] Infrared Sensors
</h3>
<div style="padding:6px;">
{{Infrared_Sensors}}
</div>

| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5fffa;vertical-align:top"|
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"
|-valign="top"
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Hardware support for previous, currently in use and future infrared boards.</h2>
|-
|[[Image:Ppzirsensors.jpg]]‎ Paparazzi x-y IR sensor board
|}
|}

== Infrared Stabilization Principle ==
The paparazzi autopilot uses infrared thermopiles for primary attitude sensing. The theory is that at zero bank or pitch angle, the difference in the heat between the two sensors should be zero, and at 90 degrees it should be maximum. From this relationship a linear regression is made and angles are calculated during flight.

[[Image:Infrared_Stabilisation_Principle_tilted.png|400px|Two axis infrared attitude measurement]]

Each pair of sensors measures one axis, a minimum of 2 pairs must be used to measure pitch and roll but best results are obtained thru the use of a 3<sup>rd</sup> pair on the vertical axis. Since the output signal from each sensor pair is proportional to both the attitude and the weather/terrain, systems with only x-y sensors require a ground calibration and may not provide accurate angle calculations as the aircraft travels over terrain with different IR radiation.

[[Image:Infrared_Stabilisation_Principle_tilted_with_Z.png|400px|Three axis infrared attitude measurement]]

== Hardware Architecture ==

=== Horizontal Board ===

[[Image:IR_Sensor_Board_Architecture_dual.jpg]]

=== Vertical Board ===

[[Image:IR_Sensor_Board_Architecture_single.jpg]]

== Thermopiles ==

The Thermopiles are:

Manufacturer Part Number: MLX90247-ESF-DSA (Digi-Key: [http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail?name=MLX90247-ESF-DSA-ND MLX90247-ESF-DSA-ND])

Description: IC SENS THERMOPILE W/THERM TO-39

Get Hardware

2008-09-08T04:52:15Z

Jeremy:

As an open-source project, all source code and hardware plans are [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/hw/ freely available on the CVS Server] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

We encourage the distribution of hardware for profit or otherwise and invite any users with paparazzi-related hardware to post links and purchasing information on this page. Please use the [[Talk:Get_Hardware&action=edit|Discussion Tab]] to describe your experiences with any of these vendors.

<hr>

<br style="clear:both">
<br style="clear:both">
= [http://www.fmadirect.com FMA Direct] =
[[image:1888.gif|thumb|400px|FMA Direct]]
FMA is a good source of low cost IR sensors.
* [http://www.fmadirect.com/Detail.htm?item=1778&section=20 X-Y Sensor]
* [http://www.fmadirect.com/Detail.htm?item=1888&section=47 Z-Sensor]

<br style="clear:both">
= [http://shop.halfbase.com Halfbase] Mass Produce - Your Benefit! =
Some people have had problems with Halfbase. '''PLEASE READ BEFORE ORDERING'''. For more information see [http://lists.gnu.org/archive/cgi-bin/namazu.cgi?query=%22Order+from+HALFBASE%22&submit=Search&idxname=paparazzi-devel this thread] in the mailing list.

[[image:P1030449.jpg|thumb|400px|Halfbase]]

Whats Aviation required? A Calm & experienced Pilot! As for UAV, Realtime & Reliable System is essential!<br><br>
Each '''Tiny is handmade''' by '''SMT master''', '''to withstand the most extreme environment in mind!'''<br>
Each connection is very strong, with extra solder on every Grounding & connector! Whole available!

'''All Assembled Tiny v2.11 / TWOG, Now come standard 'ARTF'!'''

* '''FREE Pre-programming''',
# Pre-load the bootloader + USB Tunnel
# Pre-configure latest GPS module ( LEA-5H )
# Programming using Paparazzi
# Testing if, Tiny v2.11 Running is OK
# Testing if, GPS success Locating in (4Hz)

*'''FREE Cables''',

# miniUSB- USB, Programming Cable ( Sending 'Paparrazi Airframe setting' )
# miniUSB- Download, Programming Cable ( Reflash 'Bootcode/GPS config' )
# Power Cable, (Male + Female + Cable) Detachable
# 3,4pins IR Cable, Molex Picoblade type connector Cable, for your 1-asix & 2-asix IR sensor Boards.

*'''FREE 14pcs Pre-crimped both end 1.25mm Pico-blade 'Male connector Cables with 30cm long'''

# 6pcs x 3 pins Cable
# 4pcs x 5 pins Cable
# 2pcs x 7 pins Cable
# 2psc x 8 pins Cable

*'''FREE Programming Adaptor:'''
# 1pcs x '''FTDI-chip FT232R 3.3v USB''' to Serial (Manual Jumper available to 3.3v/5v setting)
<br>
'''Status: All PCB, Kits & Assembled ready to ship - Next day! [http://shop.halfbase.com/index.php Live Stock available Now!]'''<br>
<br>
* '''[http://shop.halfbase.com/product_info.php/products_id/37 Tiny v2.11 whole Kits: included "GPS LEA-5H + PicoBlade + USB Cable "$185"]'''
* '''[http://shop.halfbase.com/index.php/cPath/32 Tiny V.2.11 Fully Assembled: GPS + PicoBlade + USB Cable: USD $285]'''
* '''Now! All Kit included "USB Programming Cable"!! ~ Class 3 Standard ! Wholesale availiable'''<br><br>
* 1-Axis IR board with IR sensors: $35 ~ [http://shop.halfbase.com/product_info.php/products_id/46 1-Axis IR bare PCB: $0.50]
* 2-Axis IR board with IR sensors: $55 ~ [http://shop.halfbase.com/product_info.php/products_id/47 2-Axis IR bare PCB: $0.60]
* MLX90247 IR sensors: $8, Nippon, Japan IR sensors: $5
* UltraSonic Senor Module: $60
* UltraSonic Sensor (Transmitter/receiver) $10/pair"
* u-blox LEA-4P / LEA-5H GPS [http://shop.halfbase.com/index.php/cPath/22 Module:] $55
* [http://shop.halfbase.com/product_info.php/products_id/38 GPS Ceramic Antenna - 25mm/18mm] $5.00
* USB Programming Cable $10
* '''Picoblade 1.25mm (3/4/5/7/8)Pins, Male/Famale x 10 ~~ "$1 Only!" ~~'''

<br>
Airframes:
* [http://shop.halfbase.com/product_info.php/products_id/42 Discus 4m] Fiberglass + air-brake $360
* Scorpio 2.6m $168
* [http://shop.halfbase.com/product_info.php/products_id/40 Predator] - body only $120

<br>
Our intention is fully on Education Institute, we provide great discount offer to Research & institute!
<br>

Send your require order to sale@halfbase.com
or
Visit [http://uav.halfbase.com uav.halfbase.com]
<br>
<br>
''''All profit we made, fully goes into a Project base charity we currently establishing.''''<br>
'''Aims to provide learning platform for school & institute, recruit interesting voluntary party to take parts, <br>
in assisting & directing, Lecture & Engineer those project ideas into reality, wisely & openly. <br>
We're working toward to a successful & sustainable establishment, and smooth project invention growing!''' evolve together!

<br style="clear:both">
= [http://mantiselec.com/paparazzi.html Mantis Electronics] =
[[image:lot1.jpg|thumb|400px|Mantis Electronics]]
Mantis Electronics is pleased to offer assembled Tiny 2.11, IR boards, GPS modules, USB-TTL interface boards, 3-Axis I2C/SPI accelerometer boards, and accessories for immediate order.
Our boards are solder paste stencilled, reflow soldered and 100% tested.
<h3>Our Items:</h3>
<ul>
<li>Tiny 2.11 assembled with LEA-4P and GPS antenna: <b>$250</b> ($260 with Molex Picoblade connectors)
<li>2-Axis IR board with IR sensors: <b>$75</b>
<li>1-Axis IR board with IR sensors: <b>$55</b>
<li>u-blox LEA-4P GPS module: <b>$75</b>
<li>USB<->TTL Serial board: <b>$15</b> (useful for programming and telemetry)
<li>3-Axis I2C/SPI accelerometer board: <b>$35</b>
<li>MLX90247 IR sensors: <b>$12</b>
<li>Tiny 2.11 bare PCB: <b>$10</b>
<li>2-Axis IR bare PCB: <b>$5</b>
<li>1-Axis IR bare PCB: <b>$5</b>
</ul>
Current lead time for orders is 3 weeks. USA shipping is $6. International shipping is $15.
<br>Please see our website [http://mantiselec.com/paparazzi.html http://mantiselec.com/paparazzi.html] to order.

<br style="clear:both">
= [http://www.olimex.com/pcb/ Olimex] =
[[image:pcb-green.jpg|thumb|400px|Olimex PCBs]]
Fast PCB Prototypes
[http://www.olimex.com/pcb/ www.olimex.com/pcb]

<br style="clear:both">
= [http://www.ppzuav.com/ PPZUAV] Get it now without issues. =
[[image:BUNDLE2BASIC.jpg|thumb|400px|PPZUAV]]

<p>NEW: '''''Tiny2.11/TWOG now available now in stock ready to ship.'''''<br>
NEW: '''''[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=67 Bundles] that include the parts you need are now available.'''''</p>
<p>We know it can be daunting to discover Paparazzi and wonder what to do first. So we take care of the basics for you before shipping. Each [http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=35 Fully Assembled Tiny2.11] ready to program another feature the competition is just now starting to offer. How we do this: <br>
<ol>
<li>We load the bootloader
<li>configure the GPS module (LEA-5H Tiny2.11 we also update the GPS Firmware to the latest from u-blox)
<li>We load a sample tiny2.11 program into it.
<li>We verify it runs the program (LED1/RED flashes)
<li>Then acquires a 3D fix (LED2/GREEN flashes).
</ol>
</p>
<p>For TWOG orders we load the USB Boot Loader for you before shipping. This means you can use the USB programming cable as soon as you receive your TWOG to program it.</p>
<p>This means when you order a TWOG or Tiny Autopilot you receive a tested, working, ready to configure for your aircraft Paparazzi Autopilot Assembly. Quite often new users will wonder if the Autopilot working so knowing it was configured and tested will help you focus on the real issue(s) and get flying faster.</p>
<p>
Please eMail '''sales@ppzuav.com''' with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.
</p>
<p>'''''Coming Soon: Paparazzi Designed (CVS) GPS external assembly (v1.3) for TWOG'''''</p>
<p>
[http://www.ppzuav.com/osc/catalog Visit the PPZUAV WebStore]
<ul>
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=72 TWOG Bundle5]
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=67 Tiny2.11 Bundle1]
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=59 Assembled Tiny2.11 "LEA-5H GPS"] ('''latest u-blox GPS module''')
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=7 GPS Antenna]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=4_2 Autopilots] '''TWOG''', '''Tiny2.11 (In Stock Now)'''
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=6 Cables]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=8 GPS modules]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=5 IR Sensors]
<li>[http://ppzuav.com/osc/catalog/product_info.php?products_id=29 Tiny2.11 bare PCB]
<li>...and more...visit site for latest items added
</ul>
</p>
<p>'''''ABOUT US:'''''</p>
<p>We are Paparazzi Project users ourselves. However we are also business people and know how to take care of our customers. You could buy all these components yourself and save money. We are providing a service to do that work for you. Since our customers are University Faculty, students and Paparazzi Members our pricing includes an Academic discount. Since we do charge for the service we make sure you get the best service possible. How we do that:
<ol>
<li>We reply to all emails promptly. You can call us if you need to. We return all phone calls the same day.
<li>We keep most items in stock. If not it's something we can get in only a day or two.
<li>We spend a lot of time making sure your order is filled and shipped quickly
<li>Ask us questions, we will gladly either answer it or help you to contact the right people to get that answer
</ol>
For the latest product offerings please visit the Web Store [http://www.ppzuav.com/osc/catalog PPZUAV]</p>

Important Information about [[PPZUAV_SHIPPING]]

<br style="clear:both">
= [http://www.sparkfun.com Sparkfun] =
[[image:P1030095.jpg|thumb|400px|Sparkfun]]
Sparkfun is a great source of miscelaneous electronics like:
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.

Get Hardware

2008-09-08T04:50:10Z

Jeremy:

As an open-source project, all source code and hardware plans are freely available on the internet for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

We encourage the distribution of hardware for profit or otherwise and invite any users with paparazzi-related hardware to post links and purchasing information on this page. Please use the [[Talk:Get_Hardware&action=edit|Discussion Tab]] to describe your experiences with any of these vendors.

<hr>

<br style="clear:both">
<br style="clear:both">
= [http://www.fmadirect.com FMA Direct] =
[[image:1888.gif|thumb|400px|FMA Direct]]
FMA is a good source of low cost IR sensors.
* [http://www.fmadirect.com/Detail.htm?item=1778&section=20 X-Y Sensor]
* [http://www.fmadirect.com/Detail.htm?item=1888&section=47 Z-Sensor]

<br style="clear:both">
= [http://shop.halfbase.com Halfbase] Mass Produce - Your Benefit! =
Some people have had problems with Halfbase. '''PLEASE READ BEFORE ORDERING'''. For more information see [http://lists.gnu.org/archive/cgi-bin/namazu.cgi?query=%22Order+from+HALFBASE%22&submit=Search&idxname=paparazzi-devel this thread] in the mailing list.

[[image:P1030449.jpg|thumb|400px|Halfbase]]

Whats Aviation required? A Calm & experienced Pilot! As for UAV, Realtime & Reliable System is essential!<br><br>
Each '''Tiny is handmade''' by '''SMT master''', '''to withstand the most extreme environment in mind!'''<br>
Each connection is very strong, with extra solder on every Grounding & connector! Whole available!

'''All Assembled Tiny v2.11 / TWOG, Now come standard 'ARTF'!'''

* '''FREE Pre-programming''',
# Pre-load the bootloader + USB Tunnel
# Pre-configure latest GPS module ( LEA-5H )
# Programming using Paparazzi
# Testing if, Tiny v2.11 Running is OK
# Testing if, GPS success Locating in (4Hz)

*'''FREE Cables''',

# miniUSB- USB, Programming Cable ( Sending 'Paparrazi Airframe setting' )
# miniUSB- Download, Programming Cable ( Reflash 'Bootcode/GPS config' )
# Power Cable, (Male + Female + Cable) Detachable
# 3,4pins IR Cable, Molex Picoblade type connector Cable, for your 1-asix & 2-asix IR sensor Boards.

*'''FREE 14pcs Pre-crimped both end 1.25mm Pico-blade 'Male connector Cables with 30cm long'''

# 6pcs x 3 pins Cable
# 4pcs x 5 pins Cable
# 2pcs x 7 pins Cable
# 2psc x 8 pins Cable

*'''FREE Programming Adaptor:'''
# 1pcs x '''FTDI-chip FT232R 3.3v USB''' to Serial (Manual Jumper available to 3.3v/5v setting)
<br>
'''Status: All PCB, Kits & Assembled ready to ship - Next day! [http://shop.halfbase.com/index.php Live Stock available Now!]'''<br>
<br>
* '''[http://shop.halfbase.com/product_info.php/products_id/37 Tiny v2.11 whole Kits: included "GPS LEA-5H + PicoBlade + USB Cable "$185"]'''
* '''[http://shop.halfbase.com/index.php/cPath/32 Tiny V.2.11 Fully Assembled: GPS + PicoBlade + USB Cable: USD $285]'''
* '''Now! All Kit included "USB Programming Cable"!! ~ Class 3 Standard ! Wholesale availiable'''<br><br>
* 1-Axis IR board with IR sensors: $35 ~ [http://shop.halfbase.com/product_info.php/products_id/46 1-Axis IR bare PCB: $0.50]
* 2-Axis IR board with IR sensors: $55 ~ [http://shop.halfbase.com/product_info.php/products_id/47 2-Axis IR bare PCB: $0.60]
* MLX90247 IR sensors: $8, Nippon, Japan IR sensors: $5
* UltraSonic Senor Module: $60
* UltraSonic Sensor (Transmitter/receiver) $10/pair"
* u-blox LEA-4P / LEA-5H GPS [http://shop.halfbase.com/index.php/cPath/22 Module:] $55
* [http://shop.halfbase.com/product_info.php/products_id/38 GPS Ceramic Antenna - 25mm/18mm] $5.00
* USB Programming Cable $10
* '''Picoblade 1.25mm (3/4/5/7/8)Pins, Male/Famale x 10 ~~ "$1 Only!" ~~'''

<br>
Airframes:
* [http://shop.halfbase.com/product_info.php/products_id/42 Discus 4m] Fiberglass + air-brake $360
* Scorpio 2.6m $168
* [http://shop.halfbase.com/product_info.php/products_id/40 Predator] - body only $120

<br>
Our intention is fully on Education Institute, we provide great discount offer to Research & institute!
<br>

Send your require order to sale@halfbase.com
or
Visit [http://uav.halfbase.com uav.halfbase.com]
<br>
<br>
''''All profit we made, fully goes into a Project base charity we currently establishing.''''<br>
'''Aims to provide learning platform for school & institute, recruit interesting voluntary party to take parts, <br>
in assisting & directing, Lecture & Engineer those project ideas into reality, wisely & openly. <br>
We're working toward to a successful & sustainable establishment, and smooth project invention growing!''' evolve together!

<br style="clear:both">
= [http://mantiselec.com/paparazzi.html Mantis Electronics] =
[[image:lot1.jpg|thumb|400px|Mantis Electronics]]
Mantis Electronics is pleased to offer assembled Tiny 2.11, IR boards, GPS modules, USB-TTL interface boards, 3-Axis I2C/SPI accelerometer boards, and accessories for immediate order.
Our boards are solder paste stencilled, reflow soldered and 100% tested.
<h3>Our Items:</h3>
<ul>
<li>Tiny 2.11 assembled with LEA-4P and GPS antenna: <b>$250</b> ($260 with Molex Picoblade connectors)
<li>2-Axis IR board with IR sensors: <b>$75</b>
<li>1-Axis IR board with IR sensors: <b>$55</b>
<li>u-blox LEA-4P GPS module: <b>$75</b>
<li>USB<->TTL Serial board: <b>$15</b> (useful for programming and telemetry)
<li>3-Axis I2C/SPI accelerometer board: <b>$35</b>
<li>MLX90247 IR sensors: <b>$12</b>
<li>Tiny 2.11 bare PCB: <b>$10</b>
<li>2-Axis IR bare PCB: <b>$5</b>
<li>1-Axis IR bare PCB: <b>$5</b>
</ul>
Current lead time for orders is 3 weeks. USA shipping is $6. International shipping is $15.
<br>Please see our website [http://mantiselec.com/paparazzi.html http://mantiselec.com/paparazzi.html] to order.

<br style="clear:both">
= [http://www.olimex.com/pcb/ Olimex] =
[[image:pcb-green.jpg|thumb|400px|Olimex PCBs]]
Fast PCB Prototypes
[http://www.olimex.com/pcb/ www.olimex.com/pcb]

<br style="clear:both">
= [http://www.ppzuav.com/ PPZUAV] Get it now without issues. =
[[image:BUNDLE2BASIC.jpg|thumb|400px|PPZUAV]]

<p>NEW: '''''Tiny2.11/TWOG now available now in stock ready to ship.'''''<br>
NEW: '''''[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=67 Bundles] that include the parts you need are now available.'''''</p>
<p>We know it can be daunting to discover Paparazzi and wonder what to do first. So we take care of the basics for you before shipping. Each [http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=35 Fully Assembled Tiny2.11] ready to program another feature the competition is just now starting to offer. How we do this: <br>
<ol>
<li>We load the bootloader
<li>configure the GPS module (LEA-5H Tiny2.11 we also update the GPS Firmware to the latest from u-blox)
<li>We load a sample tiny2.11 program into it.
<li>We verify it runs the program (LED1/RED flashes)
<li>Then acquires a 3D fix (LED2/GREEN flashes).
</ol>
</p>
<p>For TWOG orders we load the USB Boot Loader for you before shipping. This means you can use the USB programming cable as soon as you receive your TWOG to program it.</p>
<p>This means when you order a TWOG or Tiny Autopilot you receive a tested, working, ready to configure for your aircraft Paparazzi Autopilot Assembly. Quite often new users will wonder if the Autopilot working so knowing it was configured and tested will help you focus on the real issue(s) and get flying faster.</p>
<p>
Please eMail '''sales@ppzuav.com''' with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.
</p>
<p>'''''Coming Soon: Paparazzi Designed (CVS) GPS external assembly (v1.3) for TWOG'''''</p>
<p>
[http://www.ppzuav.com/osc/catalog Visit the PPZUAV WebStore]
<ul>
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=72 TWOG Bundle5]
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=67 Tiny2.11 Bundle1]
<li>[http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=59 Assembled Tiny2.11 "LEA-5H GPS"] ('''latest u-blox GPS module''')
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=7 GPS Antenna]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=4_2 Autopilots] '''TWOG''', '''Tiny2.11 (In Stock Now)'''
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=6 Cables]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=8 GPS modules]
<li>[http://ppzuav.com/osc/catalog/index.php?cPath=5 IR Sensors]
<li>[http://ppzuav.com/osc/catalog/product_info.php?products_id=29 Tiny2.11 bare PCB]
<li>...and more...visit site for latest items added
</ul>
</p>
<p>'''''ABOUT US:'''''</p>
<p>We are Paparazzi Project users ourselves. However we are also business people and know how to take care of our customers. You could buy all these components yourself and save money. We are providing a service to do that work for you. Since our customers are University Faculty, students and Paparazzi Members our pricing includes an Academic discount. Since we do charge for the service we make sure you get the best service possible. How we do that:
<ol>
<li>We reply to all emails promptly. You can call us if you need to. We return all phone calls the same day.
<li>We keep most items in stock. If not it's something we can get in only a day or two.
<li>We spend a lot of time making sure your order is filled and shipped quickly
<li>Ask us questions, we will gladly either answer it or help you to contact the right people to get that answer
</ol>
For the latest product offerings please visit the Web Store [http://www.ppzuav.com/osc/catalog PPZUAV]</p>

Important Information about [[PPZUAV_SHIPPING]]

<br style="clear:both">
= [http://www.sparkfun.com Sparkfun] =
[[image:P1030095.jpg|thumb|400px|Sparkfun]]
Sparkfun is a great source of miscelaneous electronics like:
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.

File:Pcb-green.jpg

2008-09-08T04:37:16Z

Jeremy: Olimex PCBs

Olimex PCBs

File:BUNDLE2BASIC.jpg

2008-09-08T04:34:32Z

Jeremy: PPZUAV Bundles

PPZUAV Bundles

File:Lot1.jpg

2008-09-08T04:33:28Z

Jeremy: Mantis Electronics PCBAs

Mantis Electronics PCBAs

File:P1030449.jpg

2008-09-08T04:32:07Z

Jeremy: Halfbase PCBs

Halfbase PCBs

File:1888.gif

2008-09-08T04:17:02Z

Jeremy: FMA Z-Sensor

FMA Z-Sensor

File:P1030095.jpg

2008-09-08T04:13:34Z

Jeremy: Sparkfun

Sparkfun

FAQ

2008-08-21T20:24:20Z

Jeremy: /* What equipment and components are suggested */

<noinclude>
{| width="100%" style="border: solid 2px #A3B1BF; background: #F5FAFF" |
|-
|
<h2 style="background-color:#cedff2; border-bottom:0px; border: 1px solid #a3b0bf; text-align:center; padding-top:4px;">Paparazzi FAQ
</h2></noinclude>
<br/>
__NOTOC__ __TOC__

==Is it possible to __________?==
:Yes, of course! That's the beauty of an open-source system - virtually any feature or function you want can be added to the hardware and/or software.

==What equipment and components are suggested==
:Linux (Debian or Ubuntu) compatible notebook computer, preferably with a very bright screen for outdoor use.
:Most any airframe that will accommodate IR sensors and some extra weight and wiring - ''brushless motors are strongly suggested.'' See the [[Gallery|User's Gallery]] for some airframe examples.
:[[Autopilots|Tiny]] autopilot from one of the [[Get_Hardware|Paparazzi vendors]] or build your own from the downloadable plans/gerbers
:[[Infrared_Sensors|IR sensor (x-y)]] board from one of the [[Get_Hardware|Paparazzi vendors]] or [http://www.fmadirect.com/detail.htm?item=1778&section=20 FMA Direct P/N: CPD4SENUNIT]
:[[Infrared_Sensors|IR sensor (z)]] board from one of the [[Get_Hardware|Paparazzi vendors]] or [http://www.fmadirect.com/Detail.htm?item=1888&section=49 FMA Direct P/N:FS8ZS]
:R/C Transmitter with a 3-position switch for selecting Manual/Stabilized/Auto. Some common models are listed in [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios]
:R/C Receiver with an accessible PPM signal to tap. See: [[Other_Hardware#R.2FC_Receiver|Suggested R/C receivers]]
:A pair of [[Modems]] along with any enclosures and antennas
:[http://www.mouser.com/search/ProductDetail.aspx?R=TTL-232R-3V3virtualkey62620000virtualkey626-DLP-TTL-232R-3V3 FTDI USB-TTL] cable for connecting the modem to your USB port and/or for serial flashing of bootloader code or tunnel access to the GPS receiver
:A standard [http://www.mouser.com/search/ProductDetail.aspx?R=68806-0019virtualkey53830000virtualkey538-68806-0019 Mini-B USB cable] and [http://www.mouser.com/search/productdetail.aspx?R=500075-0517virtualkey53810000virtualkey538-500075-0517 receptacle] for uploading firmware to the autopilot
:Lots of [[Other_Hardware#Wiring|very durable wire, crimpers, and molex pins or pre-crimped wire.]]

==Are internal combustion engines supported?==
:Yes, not relying solely on inertial measurement, the Paparazzi system is very well suited for aircraft with high vibration levels. Care must be taken to prevent oily exhaust residue buildup on the IR sensors and a simple variable must be added to properly address the special idle/kill needs of an IC engine.

==Can Paparazzi fly a glider?==
:Sure. Paparazzi uses throttle and pitch to control climb rate but you could easily fit an airspeed sensor and modify the pitch code to maintain airspeed instead.

==Will the autopilot provide enough 5V power for many/large/digital servos as well as a modem, video TX, etc.?==
:The [[Tiny]] includes a very high capacity and high efficiency switching voltage regulator intended to power servos, modems, video systems and other payloads. Users are strongly urged to use this regulator to power their servos rather than the linear regulator included with most motor controllers. While a linear regulator may be rated for several amps, they require a great deal of cooling and can easily overheat with only a few hundred milliamps of continuous current without cooling. By comparison, the switching regulator included on the Tiny can work continuously at 2A with little or no cooling. It is very important to realize that the servos in any stabilized aircraft will operate continuously and therefore a linear regulator that powers the servos reliably in manual flight may easily overheat in autonomous flight.

==Do I need a separate battery or regulator to isolate the autopilot, servos, video, modem, etc. from one another?==
:The autopilot processor and sensors are powered by a 3.3V regulator and therefore are rather isolated from voltage fluctuations on the battery or 5V bus.

==Can I use a Sirf, Trimble, etc. instead of the u-Blox GPS receiver?==
:Yes, but it would require a tremendous amount of work as some of the navigation code is dependent on some of the UBX messages. NMEA does not provide messages in the desired form and substantial calculation would be required for conversion. Any of the other proprietary protocols would work but you would need to write your own protocol handler. u-Blox is one of the most expensive receivers on the market but offers great performance, size, and speed as well as the ability to easily configure the internal Kalman filter parameters to expect significant acceleration in 3-D space - a very important feature. If you find a more capable receiver, let the group know about it, but this is not the place to save $40.

==Does Paparazzi use DGPS, WAAS, EGNOS, or MSAS?==
:Most modern GPS receivers have the ability to process serial data sent from an external DGPS receiver, but the advent of WAAS/EGNOS has made the early ground-based DGPS transmitters nearly obsolete. The u-Blox GPS receiver supports all common SBAS systems (WAAS, EGNOS, and MSAS), as well as any standard form of external DGPS. It's important to understand that DGPS merely improves the ''accuracy'' of the position estimate by subtracting any static error. The only way to improve the ''precision'' of the GPS is by improving the antenna or the GPS module itself. See [http://en.wikipedia.org/wiki/Accuracy_and_precision Wikipedia:Accuracy and Precsion] for a detailed explanation of these terms.

==How does the R/C receiver interface with the autopilot?==
:Standard hobby R/C transmitters multiplex up to 9 channels of PWM servo data into a single PPM signal which is encoded onto an FM wave for transmission, this signal is then decoded by the RF section of the R/C receiver back into the original PPM signal containing 9 servo position PWM values. This signal is normally then sent to a demultiplexer (i.e. 4017) where it is separated into 9 individual servo signals on 9 individual pins. The Paparazzi autopilot intercepts the signal between the RF section and the demultiplexer and does its own demultiplexing, filtering, and processing before multiplexing the manual or autonomous servo commands back into a single signal and passing them to the 4017 to be distributed to the servos.

==Why does Paparazzi tap directly into the R/C receiver instead of using individual servo signals?==
:By connecting directly to the RF section of the R/C receiver we are able to obtain up to 9 channels of R/C servo data from a small, lightweight inexpensive 4 channel receiver with only 3 wires needed to connect the components. Furthermore, the autopilot then has direct access to the raw R/C signal where it can be filtered, evaluated, and assessed for quality. The autopilot can then alert the user of any loss of R/C signal as well as perform any pre-configured autonomous commands in response to a loss of signal.

==Are PCM or 2.4GHz R/C systems compatible with Paparazzi?==
:Not that we know of. Even if these systems use the same type of multiplexed signal at some point in the data path, it is highly likely that this signal is handled entirely within the confines of a single IC and is not externally accessible. A general rule of thumb is that if you see any type of demultiplexer on your R/C receiver, you can look up the data sheet for it and likely tap into the input pin with success. Some information on compatible R/C receivers and how to find the PPM signal of your own receiver is given in the [[Other_Hardware#R.2FC_Receiver|RC receiver]] section.

==What R/C transmitters are compatible?==
:No mixing or programming is done in the transmitter so even the simplest models will suffice but one important requirement is a 3-position switch to select among the three autopilot modes: manual, stabilized, and auto. Those handy with electronics can replace a dial with a switch and resistor if needed. The transmitter's PPM values need to be recorded and the channel used to control the autopilot mode must be stated. Some commonly used transmitter configuration files are provided in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios] folder and the syntax of these files is easy to follow for those using other brands or models.

==Can a gamepad/joystick be used to control the aircraft through the modem?==
:Yes, the code to do this was written some time ago though it was not tested in flight due to latency concerns with the primitive [[Modems#Coronis_WaveCard|Coronis]] modems used at the time. Any of the [[modems]] currently recommended should work well in this manner but the theoretical reliability is still questionable due to the fact that no interrupt or prioritization structure exists for the telemetry data so any manual control inputs would be lumped in with the rest of the data to be lost or delayed as needed.

==What Motor Controllers (ESC) are compatible?==
:Any controller can be used, the exact PWM value that is sent to the controller for 0-100% throttle is completely configurable in the airframe file so all controllers are compatible and any controller will arm properly with or without the use of an R/C transmitter. Upon each boot, the autopilot immediately sends whatever you have defined as 0% throttle (typically around 1200ms) and maintains that signal until a manual or autonomous command is given. Most modern controllers are "auto calibrating" which is an undesirable feature for R/C pilots and even more so for autonomous systems but can be dealt with. The calibration is done by defining the PWM value at boot to be 0% power and then defining some initial arbitrary mid-range value such as 1500ms to be 100% until a higher value is seen. The net result of this behavior is that the motor is given full power at any command above 50% throttle until 100% throttle has actually been commanded at least once. This is not an issue for planes that routinely take off at 100% throttle but can disrupt the throttle tuning and altitude control on any flights where 100% throttle has never been commanded. Castle Creations controllers can be configured for "fixed endpoints" which permanently sets the range to 1250-1850ms providing a consistent and predictable throttle response.

==Can traditional throttle stick programming be done on the ESC once connected to the autopilot?==
:Yes. If the transmitter is on with the throttle at full or whatever is required for your ESC when the autopilot is first booted, the autopilot will immediately see the manual control signal and the throttle position and pass that along to the ESC as the first value, triggering the programming mode.

==Does Paparazzi support digital servos?==
:Of course. Digital servos use exactly the same electrical interface as their analog counterparts, the only difference being in the way they control the motor. Analog servos use a '''P'''roportional feedback loop, meaning the voltage sent to the motor is proportional to the difference between the measured and intended position of the arm. Digital servos use a '''P'''roportional + '''D'''erivative ('''PD''') feedback loop. The derivative term considers the current speed and direction of the servo as well as the speed and direction of the pilot's stick command. The derivative term will increase power to the motor if the servo is moving the wrong direction (providing faster direction changes) and will reduce/reverse power if the servo is near it's desired position but moving too fast (reducing overshoot). The net effect of this is that a digital servo can use a much stronger '''P''' term without risk of oscillation and overshoot because the '''D''' term is there to intelligently dampen it as needed and boost it whenever it can.
:How does the inclusion of a '''D''' term make an analog servo become digital? Analog servos use a simple opamp to linearly relate the motor voltage to the difference between the potentiometer reading and PWM signal, whereas digital servos use a microprocessor to analyze the potentiometer position and velocity as well as the current and recent PWM signals to calculate the optimum voltage to send to the motor.
:'''Important:''' Please be aware that autonomous flight involves ''continuous'' movement of all servos. Make sure your power supply is capable of handling this and that your servos are capable of continuous operation without overheating - especially if you use digital servos.

==Can I solder wires directly to the autopilot instead of using the molex connectors?==
:Yes. All of the molex headers are thru-hole and you can easily solder small gauge wire directly to the pins that protrude from these headers on the back of the board. It's important to note that '''standard servo wire cannot be soldered reliably''' in this fashion - you must use only high-grade wire intended for soldering (no vinyl insulation!). Direct soldering is not recommended and has never been attempted by any users, but it is possible in theory. See the [[Other_Hardware#Wiring|Wiring]] section for suggested wire types and sources and please don't attempt this without excellent soldering skills and high quality wiring.

|}

Compiling

2008-08-17T01:47:15Z

Jeremy: /* USB flashing */

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

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

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

sudo adduser <your login> plugdev

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

newgrp plugdev

== USB flashing ==

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

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

sudo apt-get remove brltty

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

This command erases any compiled autopilot code from the PC, recompiles everything from scratch, and then sends it to the autopilot.
Variations include:
* make AIRCRAFT=''myplane'' sim
*: Compiles your code for use in the simulator - note that "clean_ac" will remove this code, so the simulator code must be rebuilt each time a clean has been performed.
* make AIRCRAFT=''myplane'' fbw.upload
*: This is needed when configuring the separate "fly by wire" MCU on the [[Classix]] autopilot.
* make AIRCRAFT=''myplane'' ap
*: This will simply build the portions of autopilot code that have changed since the last compile without attempting to flash. Note: this method may not detect certain changes (i.e. changes to the airframe makefile section or CVS updated code).
* make AIRCRAFT=''myplane'' ap.upload FLASH_MODE=IAP
*: Specifies USB flashing. This should be specified at the top of the makefile section of your airframe file but can be overridden here. Use FLASH_MODE=IAS for serial flashing.
=== Installing the UART tunnel for direct access to the GPS ===
Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the usb cable and power on the autopilot to receive the code.
* This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port. You will have no LED indicators or other autopilot functionality with this code. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.
* This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifing ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). Installing tunnel code with the ISP method will erase any USB bootloader code.

=== Installing the USB Bootloader ===

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

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

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

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

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

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

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

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

'''In Windows'''

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

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

Compiling

2008-08-17T01:11:15Z

Jeremy: /* Installing the UART tunnel for direct access to the GPS */

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

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

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

sudo adduser <your login> plugdev

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

newgrp plugdev

== USB flashing ==

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

sudo apt-get remove brltty

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

This command erases any compiled autopilot code from the PC, recompiles everything from scratch, and then sends it to the autopilot.
Variations include:
* make AIRCRAFT=''myplane'' sim
*: Compiles your code for use in the simulator - note that "clean_ac" will remove this code, so the simulator code must be rebuilt each time a clean has been performed.
* make AIRCRAFT=''myplane'' fbw.upload
*: This is needed when configuring the separate "fly by wire" MCU on the [[Classix]] autopilot.
* make AIRCRAFT=''myplane'' ap
*: This will simply build the portions of autopilot code that have changed since the last compile without attempting to flash. Note: this method may not detect certain changes (i.e. changes to the airframe makefile section or CVS updated code).
* make AIRCRAFT=''myplane'' ap.upload FLASH_MODE=IAP
*: Specifies USB flashing. This should be specified at the top of the makefile section of your airframe file but can be overridden here. Use FLASH_MODE=IAS for serial flashing.
=== Installing the UART tunnel for direct access to the GPS ===
Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the usb cable and power on the autopilot to receive the code.
* This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-thru that essentially connects the GPS serial port directly to the modem serial port. You will have no LED indicators or other autopilot functionality with this code. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.
* This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifing ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). Installing tunnel code with the ISP method will erase any USB bootloader code.

=== Installing the USB Bootloader ===

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

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

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

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

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

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

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

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

'''In Windows'''

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

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

News Archives

2008-08-12T06:09:20Z

Jeremy:

__NOTOC__
{|
| class="MainPageBG" border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|
{|width="80%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#FAF8CC"

|-
|<h3>December 27, 2007</h3>
|-
| style="color:#000"| [[Image:Ricou.jpg|thumb|left|Paparazzi Control Station next to Toulouse, France]] From the [http://events.ccc.de/congress/2007/Fahrplan/events/2225.en.html 24C3 conference], Paparazzi aircraft operated in Hildesheim, Germany and in Castagnac, France (the station in Istanbul, Turkey was lacking a security pilot) were remote controlled in real time by Martin and Antoine. The three local ground control stations and the remote one in Berlin were connected to a central server (located in Germany). Video from the 2 aircraft was also visible from the conference room in real-time. A great team work and ... a lot of fun. See [http://www.recherche.enac.fr/wiki/index.php/Media media section] for some press coverage. The session video is available as torrent here in [http://outpost.h3q.com/fnord/24c3-torrents/24c3-2225-en-paparazzi.mkv.torrent Matroska] or [http://outpost.h3q.com/fnord/24c3-torrents/24c3-2225-en-paparazzi.mp4.torrent MPEG-4] format and this are the presentation [http://events.ccc.de/congress/2007/Fahrplan/attachments/1033_paparazzi.pdf slides].

|-
|<h3>December 13, 2007</h3>
|-
| style="color:#000"| [[Image:Tiny_v2_1_Funjet.jpg|thumb|left|Tiny v2.1 in a Funjet]] The new [[Tiny_v2|Tiny 2.1 autopilot]] nicely flew in a Funjet for the first time.
|-
|<h3>September 21<sup>st</sup>, 2007</h3>
|-
| style="color:#000"| [[Image:Antoine-Storm1.jpg|thumb|left|Antoine launching the Storm1]]
[http://www.mav07.org/ MAV 07] was yet another great success for the project! Paparazzi teams took 1<sup>st</sup>, 3<sup>rd</sup>, 4<sup>th</sup>, and 5<sup>th</sup> places in the outdoor autonomous surveillance competition and were honored to share the 1<sup>st</sup> place award with the very well designed Micropilot-equipped 48cm Ping Wing from [http://www.ida.liu.se/~patdo/linklabsite/uavactivities/index.html Linköping University] in Sweden. <br>
The first Paparazzi helicopter, [[Gallery#MAV07|Twisted Logic]] proved that a passively stable helicopter could operate well in mild outdoor winds and also took 2<sup>nd</sup> place in the indoor competition, surpassed only by the "Father of passively stable helicopters", world famous Petter Muren of [http://www.proxflyer.com/ Proxflyer] and [http://www.rctoys.com/rc-toys-and-parts/BR/RC-HELICOPTERS-BLADERUNNER.html BladeRunner] fame.<br>[http://pfump.org The team] of Christian Lindenberg and (fake) Martin Müller also won the special award from the jury for it general performance and fair spirit.
|-
|<h3>September 17th, 2007</h3>
|-
| style="color:#000"| [[Image:yarasa.jpg|thumb|left|[http://www.mav07.org/ MAV 07]]][http://www.mav07.org/ MAV 07] will be held in Toulouse, France (of course!) September 17-21, 2007. Expect to see lots of great Paparazzi systems kicking ass and taking names!

|-
|<h3>August 28, 2007</h3>
|-
| style="color:#000"| [[Image:Paul_MacCready.jpg|thumb|left|Paul MacCready<br>1925-2007]][http://www.avinc.com/dr.maccready.asp Dr. Paul MacCready], legendary aeronautical engineer and founder of [http://www.avinc.com Aerovironment], died in his sleep at the age of 81. Many of us met him met him in 2005 at [[Gallery#MAV05|MAV05]] in Germany but all of us are familiar with his incredible body of work ranging from the [http://www.donaldmonroe.com/gossamer_condor_photography first human powered aircraft], to the [http://americanhistory.si.edu/onthemove/collection/object_362.html GM Sunraycer] electric car, and the world altitude record holding [http://www.space.com/businesstechnology/technology/helios_launch_010814.html Helios]. MacCready was a world champion sailplane pilot, holds a Cal Tech Ph.D. in aeronautics, has been granted 7 honorary degrees, and has contributed a total of 4 aircraft and one car to the permanent collection of the [http://invention.smithsonian.org/resources/online_articles_detail.aspx?id=349 Smithsonian Institution]. He founded Aerovironment in 1971, the world's largest supplier of hand-launched UAVs.

|-
|<h3>August 21th, 2007</h3>
|-
| style="color:#000"| [[Image:kerlingafjoll.jpg|thumb|left|Flying south west of the Hofsjökull glacier]]Three Paparazzi equipped Funjets were part of the [http://www.flohof.uib.no/ Flohof] measurement campaign around the Hofsjökull glacier on Iceland. We were able to measure temperature, humidity, pressure and estimate the wind. The authorities issued a NOTAM, clearing the airspace up to 12.000 feet which allowed us to set a new Paparazzi altitude record.

|-
|<h3>March 1st, 2007</h3>
|-
| style="color:#000"| [[Image:jet_family.jpg|thumb|left|Part of the ENAC multiplex foamy fleet]]Sun is finally back. We took all those babies for a multiple aircrafts flight. From left to right : 600g minimag, 900g twinjet, 600g funjet and 350g microjet. It's such a shame that multiplex stoped producing microjets..... they didn't even ask us :(

|-
|<h3>February 5th, 2007</h3>
|-
| style="color:#000"|
[[Image:ant_tracker.jpg|thumb|left|[http://www.recherche.enac.fr/~poine/video/ant_tracker.mpeg Download the video]]]Jeremie Vacher, a student at ENAC, has developed a tracker for antennas. It is functionnal but still needs a little bit of polishing. Anybody interrested ?

|-
|<h3>December 7th, 2006</h3>
|-
| style="color:#000"|
[[Image:ahrs2fg.jpg|thumb|left|[http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg Download the video]]]Antoine continues to make great progress toward the holy grail of 17 state inertial navigation and releases a [http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg video] showing the performance of the 7-state [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtered] IMU providing the attitude-heading reference system [http://en.wikipedia.org/wiki/Attitude_and_Heading_Reference_Systems (AHRS)] on his quadrotor. Note how much coffee was consumed in preparation for this video. More info on the IMU is available on the [[Sensors|sensors]] page. Also, be sure to admire the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/sensors/ schematics] and [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/sw/airborne/ source code]!

|-
|<h3>November 28th, 2006</h3>
|-
| style="color:#000"| [[Image:Launch-20282.jpg|thumb|right|Michel Gorraz launches the ''Dragon Slayer'' for the ENAC team]]
Two Paparazzi teams, [http://www.enac.fr ENAC]/[http://www.miraterre.com Miraterre] and [http://pfump.org Martin Mueller/Christian Lindeberg] won 2nd and 3rd place at the [http://www.us-euro-mav.com MAV06 competition]. Unfortunately, both teams had insufficient video resolution to identify the 1.5m ground target required for high-scoring and the winning prize went to Bringham Young University who was able to identify 2 of the 3 targets with a Panasonic KX-141 camera and an unusually narrow 30 degree FOV lens. The Bringham Young team used the Procerus Kestrel autopilot (originally developed at the university) and obviously practiced video target recognition much more than the rest of us. <br />Flight performance and navigation for both ''Dragon Slayers'' and the ''Black One'' was exceptional as usual. All planes performed flawless autonomous takeoffs and landings and the ''Slayer'' performed an autonomous paintball drop with wind-corrected precision that put the ball within 3 meters of the designated target from an altitude of 40 meters in a 5 m/s wind. As luck would have it, the stress of managing two aircraft from a single ground station during an intense competition, aggravated by a misbehaving GPS in one of the planes that required a power and flight-plan reset just prior to launch resulted in us neglecting to re-input the target coordinates and the ball was dropped accurately on the ''default'' target location, not the actual target location provided by the judges just prior to flight.
|-
|See the complete [http://www.project240.net/photo/mav06/general.html MAV06 Photo Gallery]
|-
|See you next year in [http://www.mav07.org Toulouse] for [http://www.mav07.org MAV07].

|-
|<h3>2003 - 2006</h3>
|-
| style="color:#000"| [[Image:ctl_brd_v1_2_overall.jpg|thumb|left|Paparazzi 1.2.1, the first complete, presentable version of the now famous autopilot]]Paparazzi has come a long way since it's creation in 2003. For a bit of nostalgia [http://www.nongnu.org/paparazzi/gallery_v0.html browse the original website]
|-

|}
|}

Main Page

2008-08-12T06:06:16Z

Jeremy:

__NOTOC__
__NOEDITSECTION__

{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
|-
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:1px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2>
|-valign="top"
|
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[General|General]]
</h3>
<div style="padding:6px;">
{{General}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Hardware|Hardware]]
</h3>
<div style="padding:6px;">
{{Hardware}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Software|Software]]
</h3>
<div style="padding:6px;">
{{Software}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]]
</h3>
<div style="padding:6px;">
{{Miscellaneous}}
</div>

| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"
|-valign="top"
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2>
|-
|style="color:#000"|[http://www.nongnu.org/paparazzi Paparazzi] is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.
|-
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.
|-
|The key feature of the paparazzi autopilot is its unique combination of infrared thermopiles and inertial measurement for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.
|-
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2>
|-
|The Paparazzi mini UAV project is now being used and developed at [http://www.enac.fr/ ENAC University].
|-
|style="color:#000"|herald journal
* A [http://www.debian.org debian] [http://www.recherche.enac.fr/paparazzi/debian repository] containing some packages not in the official distribution and required to run Paparazzi.
* PaparazziX Knoppix based live CD is available from the [http://www.recherche.enac.fr/paparazzi/paparazzix paparazzix directory].
* Nightly and release [http://www.recherche.enac.fr/paparazzi/tarball tarballs].
|-
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2>
|-
|<h3>June 23, 2008</h3>
|-
| style="color:#000"| [[Image:Targets auvsi 08.JPG|thumb|left]]
The [http://www.engr.usu.edu/wiki/index.php/OSAM OSAM] Paparazzi team took 2nd place in the Sixth Annual Student Unmanned Aerial Systems Competition! The event is sponsored by AUVSI (Association for Unmanned Vehicle Systems International) and was held at Webster Field, St. Inigoes, Maryland. It should also be noted that this was Paparazzi's and the OSAM Paparazzi team's first time at the competition.<br>
[http://www.navair.navy.mil/pma263/seafarers/default.htm Link to competition]
<br>
[http://hjnews.townnews.com/articles/2008/07/12/news/news01.txt News Story]

|-
|<h3>June 13, 2008</h3>
|-
| style="color:#000"| [[Image:Twog_v1-00_top_side_3.jpg|thumb|left|'''T'''iny '''W'''ith'''O'''ut '''G'''ps]]
The new baby autopilot is born.<br>
His name is TWOG, he weighs 8 grams and is 40.2 x 30.5mm long. He' in good health and looks a lot like his mother Tiny v2, except for the GPS receiver.<br>
The proud parents invite you to visit the [[Twog_v1|pictures and technical information album]]...

|-
|<h3>March 26, 2008</h3>
|-
| style="color:#000"| [[Image:Heli_deck.jpg|thumb|left|Funjet on the helicopter deck]]
Scientists from the [http://web.gfi.uib.no/index_e.html Geophysical Institute of the University of Bergen/Norway] flew Paparazzi controlled [[media:Funjet_spitsbergen.jpg|Funjet]] aircrafts equipped with meteorological sensors in the Arctic sea around Spitsbergen only with the help of a RC safety pilot and no Paparazzi team member nearby. They took off and landed on the helicopter deck of the Norwegian icebreaking coast guard vessel [http://www.jtashipphoto.dk/JTA-W303%20Svalbard.htm KV Svalbard] for one week and set a new Paparazzi low temperature record by flying at around -20°C and 15m/s wind in altitudes up to 1500m. For another two weeks they also collected data on Spitsbergen near Longyearbyen. See pictures in the gallery and a [http://www.youtube.com/watch?v=VWEa_4Hlm2s video].

|-
|<h3>March 15, 2008</h3>
|-
| style="color:#000"| [[Image:Tiny_v2-1_3D_top.jpg|thumb|left|Tiny 2.11]]
A number of vendors are now offering assembled and unassembled autopilots, sensors and accessories. The software is written, the hardware is built, what are you waiting for? Getting started has never been easier! More details on the [[Get_Hardware|Get Hardware]] page.

|-
|<h3>February 6, 2008</h3>
|-
| style="color:#000"| [[Image:eeePC.jpg|thumb|left|Paparazzi running on eeePC]]
Looking for a small, light and cheap ground station ? Paparazzi runs on the [http://eeepc.asus.com ASUS eeePC] out of the box (after installing the Debian Paparazzi packages). Tested on the pre-installed Xandros distribution, on a standard Ubuntu and on the preconfigured [http://wiki.eeeuser.com/ubuntu:eeexubuntu:home eeeXubuntu].

|-
|<h3>January 27, 2008</h3>
|-
| style="color:#000"| [[Image:StormTV.jpg|thumb|left|Paparazzi's Storm on TV in Turkey]] [http://www.showtvnet.com/haber/playerd.asp?ptype=haber&product=/270108/ucak.wmv Storm on TV], A Paparazzi aircraft is featured on the biggest Television station in Turkey. (Sorry, the audio is only in Turkish...)

|-
|<h3>[[News Archives]]</h3>
|-
| style="color:#000"|
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.
|-

|}
|}
|}

File:One Small Step.jpg

2008-08-12T05:56:52Z

Jeremy: One giant leap

One giant leap

Other Infrared Sensors

2008-08-09T20:16:40Z

Jeremy:

= FMA Direct Co Pilot Sensor Boards =
The [http://www.fmadirect.com FMA Direct] horizontal (X-Y) and vertical (Z) sensors are inexpensive, readily available, and perfectly suited for use with all versions of the Paparazzi autopilot. These sensors are only available direct from FMA ''Direct''. <br>
Purchase both the X-Y sensor: [http://www.fmadirect.com/detail.htm?item=1778&section=20 CPD4SENUNIT] and Z sensor: [http://www.fmadirect.com/Detail.htm?item=1888&section=49 FS8ZS] for optimum performance. The sensor boards are coated with a very thick lacquer that is difficult to penetrate while soldering. Do not remove more coating than necessary as it prevents the very high value resistors from drifting with humidity changes.

{|
|-
|[[Image:fmairsensor.jpg|thumb|right|FMA X-Y Sensor [http://www.fmadirect.com/detail.htm?item=1778&section=20 CPD4SENUNIT]]]
|[[Image:fmavertsensor.gif|thumb|right|FMA Z-sensor [http://www.fmadirect.com/Detail.htm?item=1888&section=49 FS8ZS]]]
|}

== Pinouts and Optional Gain Adjustment ==

The FMA sensors were designed to operate from a 5V source but are typically powered in Paparazzi installations with 3.3V, ensuring that the sensor's analog output does not exceed the 3.3V limit of the ADC inputs on the ARM7 microprocessor. The sensors work well at 3.3V but their amplifier gain is effectively increased by a factor of 5/3.3.
* If the gain is too high and/or the airfield contrast is also too high, the sensor could saturate (reach it's maximum possible reading) well before the aircraft has pitched/rolled 90 degrees, resulting in a tendency for the plane to underbank/underpitch and drift off course.
* If the gain is too low and/or the contrast is too low, the noise and neutral-offset of the sensor can become dominant, resulting in a tendency for the aircraft to be out of trim and potentially overbank/overpitch in one direction and crash.

Either extreme is bad, of course, but it should be noted that these are only extremes. For reference, a stock FMA sensor run on 3.3V will saturate when flying over black asphalt on a very hot, dry Arizona day, a modified sensor will not. Similarly, a modified sensor will show more signs of neutral-offset when operated in cloudy weather or other low contrast situations. It is suggested that sensors only be modified if needed for very high contrast locales.

=== Horizontal Sensor Modification ===
{|
|[[Image:FMA_IR_OPAMP_OVR.jpg|thumb|left|300px|IR Sensor Board Bottom]]
|[[Image:FMA_IR_TOP_OVR.jpg|thumb|left|290px|IR Sensor Board Top]]
|}

The stock FMA resistors R2/R3 and R5/R6 (0603 0.8 Mohm/0603 510 ohm) set the op amp gain to approximately 1600. Since this unit is designed to run on 5V and we are running it on 3.3V, we can change R3 and R6 from 510 ohm to 1K ohm to reduce the gain to around 800. Another option is to replace R2 and R5 with 560 Kohm resistors, generating an output gain of approximately 1100; a gain which is practically identical to that of the Paparazzi board.

''a suitable resistor from mouser is [http://www.mouser.com/search/productdetail.aspx?R=RK73H1JTTD5623Fvirtualkey66000000virtualkey660-RK73H1JTTD5623F here]''

{|
|R1
|200 ohm
|-
|R2
|0.8 Mohm
|-
|R3
|510 ohm
|-
|R4
|200 ohm
|-
|R5
|0.8 Mohm
|-
|R6
|510 ohm
|-
|R7
|600 ohm
|-
|R8
|600 ohm
|-
|C1
|0.026 uF
|-
|C2
|0.026 uF
|-
|C3
|0.026 uF
|-
|C4
|0.026 uF
|-
|C5
|0.01 uF
|-
|C6
|0.026 uF
|}

=== Vertical Sensor Modification ===

{|
|[[Image:Fma_ir_single_bottom.jpg|thumb|left|300px|IR Vertical Sensor Board Bottom]]
|[[Image:Fma_ir_single_up.jpg|thumb|left|290px|IR Vertical Sensor Board Top]]
|}

The same operation can be done with the vertical sensor by changing R3 from 510 ohm to a 1K ohm.

''a suitable resistor from mouser is [http://www.mouser.com/search/productdetail.aspx?R=RK73H1JTTD1001Fvirtualkey66000000virtualkey660-RK73H1JTTD1001F here]''

Installation/Linux

2008-05-20T17:08:00Z

Jeremy: /* Setting access rights for USB download */

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

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

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

== Installation on Debian based distributions ==

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

=== Installation from the Command Line===
Just add the following line to your repository list (<b>/etc/apt/sources.list</b>). Replace etch by sarge (oldstable distribution) or sid (unstable distribution) if needed. Note: It is no longer required to specify both sarge and etch.
{{Box Code|/etc/apt/sources.list|
deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> etch main
}}
or for Ubuntu (replace <tt>gutsy</tt> by <tt>hardy</tt> if needed):
{{Box Code|/etc/apt/sources.list|
deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> gutsy main
}}

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

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

==== Extra for Ubuntu ====

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

sudo apt-get remove brltty

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

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

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

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

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

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

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

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

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

== Launching the Software ==

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

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

make

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

./paparazzi

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

If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]), without using the Paparazzi Center, you must have the Paparazzi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:
{{Box Code|/home/your_username/.bashrc|
export PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi3 directory''
export PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi3 directory''
}}
If you wish to manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:
export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`
Verify that your variables are set correctly with the following command:
env | grep PAPARAZZI
which should return the following:
PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi3 directory''
PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi3 directory''

== Setting access rights for USB download ==

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

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

sudo adduser <your login> plugdev

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

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

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

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

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

After any CVS update or source code modification the code can be recompiled from ''your paparazzi3 directory'' with the following command:

make

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

make clean
make

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

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

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

== LiveCd ==

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

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

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

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

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

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

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

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

Telemetry

2008-05-16T23:13:13Z

Jeremy:

== Messages ==
The set of periodic messages sent over the downlink channel by an aircraft to the ground station is configurable
with the help of one XML file, located in the <tt>conf/telemetry</tt> directory. This file is called by <tt>conf/conf.xml</tt> and must follow the
<tt>telemetry.dtd</tt> syntax. The <tt>default.xml</tt> is provided as an example and should be suitable for most users:

<tt><!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Ap">
<mode name="default">
<message name="ATTITUDE" period="0.5"/>
<message name="PPRZ_MODE" period="5"/>
...
</mode>
<mode name="fast attitude">
<message name="ATTITUDE" period="0.1"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">
<message name="COMMANDS" period="1"/>
...
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
</mode>
</process>
</telemetry></tt>

===Configuring the Downlink Data Rate===

The limited throughput of our RF modems results in a need to carefully choose which data to send, as well as the frequency at which to send it. A sophisticated set of files and parameters have been developed in order to tailor the data downlink behavior automatically, manually, temporarily, or permanently according to any desired parameter. This allows the user to create an almost unlimited possibility of downlink configurations. For example:
* Tailor the data rate to work with very slow modems (9600 baud or slower)
* Reduce the data rate of some messages so that others can be increased:
*: Automatically send GPS data at a very high rate by sacrificing navigation data when not flying (to help GPS/RFI troubleshooting) then automatically reduce the GPS data rate and send normal navigation data when the launch is initiated.
*: Automatically switch to sending only position data upon landing to conserve power and increase the chance of the operator receiving a position packet when recovering a distant aircraft.
*: Manually send selected sensor data at very high speeds (60Hz) for real time tuning.
* Maintain independent telemetry configurations for aircraft with different modems, sensors, or mission profiles.

Any number of configuration files can be created in the <tt>conf/telemetry</tt> directory and selected from the <tt>conf/conf.xml</tt> file. The telemetry downlink is divided into two processes, '''Ap''' and '''Fbw''' each with a possible <tt>mode</tt> option. Any number of modes could be created, the default is the first in the sequence. A mode contains the list of messages to be sent as well as the period of each message in seconds. In this example, the '''ATTITUDE''' message will be sent by the '''Ap''' process at 2Hz in the default mode and at 10Hz in the '''fast attitude''' mode. The maximum allowed frequency is 60Hz (0.017s) and the maximum period is 1092s.

The mode can be chosen in the airframe file by setting the '''TELEMETRY_MODE_FBW''' constant:
<tt><define name="TELEMETRY_MODE_FBW" value="1"/></tt>
where the (default) first mode is numbered '''0'''.

This mode can also be changed dynamically with a datalink [[#Settings|setting]] or with a [[Flight_Plans#set|set]] stage in the flight plan.

Note that an (undocumented!) subset of the messages is required to be able to use ground station properly. So it is not advisable to completely remove messages for the '''Ap''' process listed in the default mode.

== Settings ==

The <tt>settings</tt> attribute in the description of the aircraft in <tt>conf.xml</tt> allows the user to specify a list of variables for which values can be changed in-flight:
<tt><aircraft
name="Microjet"
...
settings="settings/basic.xml"
...
/></tt>

with the <tt>basic.xml</tt> file located in <tt>conf/settings/</tt>. A <tt>dl_setting</tt> element in this file associates [[GCS#Settings|buttons or sliders in the GCS interface]] to autopilot variables:
<tt><!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="1000" MIN="-50" STEP="10" VAR="altitude_shift"/>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode">
<strip_button name="AUTO2" value="2"/>
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
<strip_button name="Launch" value="1"/>
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
</dl_settings>
</dl_settings>
</settings></tt>
where <tt>dl_settings</tt> elements can be nested at any depth. A <tt>dl_setting</tt> element just specifies the name of the variable, the allowed range for the setting (<tt>min</tt> and <tt>max</tt> attributes) and the minimal <tt>step</tt>.

A notebook page will be associated in the GUI to each <tt>dl_settings</tt> element. A slider will be associated to each <tt>dl_setting</tt> entry except if the range is small (typically less than 3) and discrete (step=1): in the latter case, a set of radio buttons will be displayed.

The <tt>strip_button</tt> element adds a button to the [[GCS#Strip|GCS strip]] for commonly used tasks like "Launch" or "Circle". Multiple buttons can be used to assign different values to the same variable.

== R/C Transmitter Data Uplink (Obsolete) ==

With the advent of small modems such as the popular Zigbee-based models, the value of the R/C transmitter based data-link is substantially reduced and the audio-based downlink has also been removed from current hardware designs. Nevertheless, this feature may still prove useful for extremely minimal hardware configurations.
The <tt>tuning_rc.xml</tt> file is located in <tt>conf/settings</tt>.
<tt><aircraft
name="Microjet"
...
settings="settings/tuning_rc.xml"
...
/></tt>
A <tt>rc_settings</tt> element in this file associates switches and sliders of the RC to airborne variables:
<tt><!DOCTYPE settings SYSTEM "settings.dtd">

<settings>
<rc_settings>
<rc_mode NAME="AUTO1">
<rc_setting VAR="ir_pitch_neutral" RANGE="2" RC="gain_1_up" TYPE="float"/>
<rc_setting VAR="ir_roll_neutral" RANGE="-2" RC="gain_1_down" TYPE="float"/>
</rc_mode>
<rc_mode NAME="AUTO2">
<rc_setting VAR="course_pgain" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
<rc_setting VAR="pitch_of_roll" RANGE=".2" RC="gain_1_down" TYPE="float"/>
</rc_mode>
</rc_settings>
</settings></tt>
First, settings are sorted by mode (<tt>AUTO1</tt> or <tt>AUTO2</tt>). Then a setting is composed of a <tt>var</tt>iable name, a <tt>range</tt> (corresponding to the range of the RC slider) and a <tt>RC</tt> name. The RC name prefix can be ''gain_1'' or ''gain_2'', which corresponds to the <tt>GAIN1</tt> and <tt>GAIN2</tt> channels of your RC transmitter [[Radio_Control|configuration]]. The RC name suffix can be ''up'' or ''down'', which is related to the position of the <tt>CALIB</tt> switch on the RC transmitter.

File:Xbeeproxsc-rpsma.jpg

2008-04-11T22:37:32Z

Jeremy:

Modems

2008-04-11T22:37:09Z

Jeremy:

The Paparazzi autopilot features a 5V tolerant 3V TTL serial port to interface with any common radio modem. The bidirectional link provides real-time telemetry and in-flight tuning and navigation commands. The system is also capable overlaying the appropriate protocols to communicate thru non-transparent devices such as the Coronis Wavecard or Maxstream API-enabled products, allowing for hardware addressing for multiple aircraft or future enhancements such as data-relaying, inter-aircraft communication, RSSI signal monitoring and automatic in-flight modem power adjustment. Below is a list of some of the common modems used with Paparazzi, for details on configuring your modem see the [[Airframe_Configuration#Modem|Airframe Configuration]] page.

== Maxstream XBee Pro 2.4Ghz ==

These relatively cheap and light modules implement the [http://www.zigbee.org/en/index.asp ZigBee/IEEE 802.15.4] norm. They allow up to 1 mile range(Paparazzi tested to 2.5km). The main drawback of using such 2.4Ghz modules for datalink is that it will interfere with the 2.4Ghz analog video transmitters and a inevitable decrease in range when in proximity to any wifi devices.

{|
|-valign="top"
|[[Image:Xbee_Pro_USB_RF_Modem.jpg|thumb|left|XBee Pro USB Stand-alone Modem (XBP24-PKC-001-UA)]]
|
* Frequency Band 2.4Ghz
* Output Power 100mW (Xbee Pro)
* Sensitivity -100 dBm
* RF Data Rate Up to 250 Kbps
* Interface data rate Up to 115.2 Kbps
* Power Draw (typical) 214 mA TX / 55 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) Up to 1500m line-of-sight
* Dimensions 24 x 33mm
* Weight 4 grams
* Interface 20-pin mini connector
* Chip antenna, ¼ monopole integrated whip antenna or a U.FL antenna connector (3 versions)
* price : ~32$
|
[[Image:XBee_pro.jpg|thumb|left|XBee Pro OEM Modem]]
|}

=== Pinout ===

[[Image:Maxstream_Xbee_pinout.jpg|left|thumb|Maxstream XBee pinout]]
<br style="clear:both">

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

=== Documentation ===

* [http://www.maxstream.net/products/xbee/xbee-pro-oem-rf-module-zigbee.php product page]
* [http://www.maxstream.net/products/xbee/datasheet_XBee_OEM_RF-Modules.pdf datasheet]
* [http://www.maxstream.net/products/xbee/product-manual_XBee_OEM_RF-Modules.pdf user manual]

== Maxstream XBee Pro XSC 900Mhz ==

Maxstream has recently announced a promising new line of modems combining the small size and low cost of their popular Xbee line with the long range and 2.4Ghz video compatibility of their high end 900Mhz models. Sounds like the perfect modem for anyone who can use 900Mhz. Give them a try and post your results here!
{|
|-valign="top"
|[[Image:xbeeproxsc-rpsma.jpg|thumb|left|Maxstream XBee Pro XSC]]
|
* Frequency Band 900Mhz
* Output Power 100mW
* Sensitivity -100 dBm
* Data Rate: 9600 bps
* Range (typical, depends on antenna & environment) Up to 15 miles line-of-sight
* Interface 20-pin mini connector (Xbee compatible pinout)
* RPSMA, integrated whip antenna or U.FL antenna connector (3 versions)
* price : ~75$
|
|}
=== Documentation ===
* [http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp http://www.digi.com/products/wireless/point-multipoint/xbee-pro-xsc.jsp]

== Maxstream 9XTend ==

These larger units have been tested on the 900Mhz band, but are also available in 2.4Ghz. They are a bit on the heavy side(~20grams) but give good performance at range. They have adjustable power settings from 100mW to 1W. Testing has shown range up to 2 miles with 100mW.

{|
|-valign="top"
|
[[Image:XTend_USB_RF_Modem.jpg|frame|left|9XTend USB Modem]]
|
* Frequency Band 900Mhz and 2.4Ghz (2 versions)
* Output Power 1mW to 1W software selectable
* Sensitivity -110 dBm (@ 9600 bps)
* RF Data Rate 9.6 or 115.2 Kbps
* Interface data rate up to 230.4 Kbps
* Power Draw (typical) 730 mA TX / 80 mA RX
* Supply Voltage 2.8 to 5.5v
* Range (typical, depends on antenna & environment) Up to 64km line-of-sight
* Dimensions 36 x 60 x 5mm
* Weight 18 grams
* Interface 20-pin mini connector
* RF connector RPSMA (Reverse-polarity SMA) or MMCX (2 versions)
* price : ~179$
|
[[Image:Xtend_module.jpg|frame|left|9XTend OEM Modem]]
|}

=== Pinout ===

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

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

=== Documentation ===

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

== Aerocomm ==
Aerocomm's API mode is not yet implemented. Therefore they are used in transparent mode. Users are reporting these modems cause more interference with GPS reception then the Maxstream modem.

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

{|
|
=== AC4868-250 ===
* Frequency Band 868MHz (For Europe).
* Output Power (w/ 2dBi antenna) 250 mW
* Sensitivity (@ full RF data rate) -103 dB
* RF Data Rate Up to 28.8 Kbps
* INterface Data Rate Up to 57.6 Kbps
* Power Draw (typical) 240 mA TX / 36 mA RX
* Supply Voltage 3.3v & 5V or 3.3v only
* Range (typical, depends on antenna & environment) Up to 15 kilometers line-of-sight
* Dimensions 49 x 42 x 5mm
* Weight < 21 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : ~80$
|
[[Image:ConnexLink_USB_RF_Modem.jpg|thumb|Aerocomm USB Stand-alone Modem]]
|-
|

=== AC4790-200 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-200mW
* Sensitivity (@ full RF data rate) -110dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 68 mA
* Supply Voltage 3.3v & 5.5V
* Range (typical, depends on antenna & environment) Up to 6.4 kilometers line-of-sight
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector or internal
* price : ~80$
|
[[Image:ac4868_transceiver.jpg|thumb|left|AC4868 OEM Modem]]
|
|-
|

=== AC4790-1000 ===
* Frequency 902-928MHz (North America, Australia, etc).
* Output Power 5-1000mW
* Sensitivity (@ full RF data rate) -99dB
* RF Data Rate up to 76.8 Kbps
* INterface Data Rate Up to Up to 115.2 Kbps
* Power Draw (typical) 650 mA
* Supply Voltage 3.3V only
* Range (typical, depends on antenna & environment) Up to 32 kilometers with high-gain antenna
* Dimensions 42 x 48 x 5mm
* Weight < 20 grams
* Interface 20-pin mini connector
* Antenna MMCX jack Connector
* price : ~80$
|}

=== Pinout ===

[[Image:Aerocomm_AC4868_pinout.jpg|thumb|left|Aerocomm AC4868 modem pinout]]
[[Image:Aerocomm_AC4490-200_wired.jpg|thumb|left|Aerocomm AC4490 wiring example]]
<br style="clear:both">

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

=== Documentation ===
* [http://www.aerocomm.com/rf_transceiver_modules/ac4790_mesh-ready_transceiver.htm AC4790 product page]
* [http://www.aerocomm.com/docs/Datasheet_AC4790_HI.pdf AC4790 Datasheet]
* [http://www.aerocomm.com/docs/User_Manual_AC4790.pdf AC4790 Manual]
* [http://www.aerocomm.com/rf_transceiver_modules/ac4868_868mhz_rf_transceiver.htm AC4848 product page]
* [http://www.aerocomm.com/docs/Datasheet_AC4868_HI.pdf AC4868 Datasheet]
* [http://www.aerocomm.com/docs/User_Manual_AC4868.pdf AC4868 user manual]

== Radiotronix ==
These Radiotronix modems are used in transparent mode. Use the WI232EUR Evaluation Software for configuring the modems for the set speed. Connect /CMD and CTS for programming. The DTS version for the US market might cause severe interference with GPS reception, it is not recommended. For a nice ground station modem just add a FTDI232 USB->serial cable, a 3.3V regulator with 100nF capacitors from supplies to ground, solder a SMA cable/connector and put it in a nice case. Make sure you only connect RTS to /CMD if you want to reprogram the modem with the Evaluation software (see the open jumper connection in the picture, green wire).
{|
|
=== WI232EUR ===
* Frequency Band 868MHz (for Europe)
* Output Power 32 mW
* RF Data Rate Up to 76.8 kbps
* Interface Data Rate up to 115.2 kbps
* Power Draw (typical) 65 mA TX / 20 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 500 meters line-of-sight
* Dimensions 24 x 21 x 4mm
* Weight ~2 grams
* Interface solder connector
* Antenna solder connector
* price : ~25$
|
[[Image:Wi232eur_wiring.jpg|thumb|WI232EUR Modem]]
|-
|

=== Pinout ===

<br style="clear:both">

{| border="1"
|+ Wiring the WI232EUR to the Tiny
|-valign="top"
||'''''WI232 pins'''''||'''''Name'''''||'''''Tiny Serial-1'''''||'''''Notes'''''
|-
||6||TxD||7||''(Note 1)''
|-
||5||RxD||8||''(Note 1)''
|-
||15-18||GND||1|| -
|-
||19||VCC||2||+3.3v
|-
||4||/CMD||-||''(Note 2)''
|-
||7||CTS||-||''(Note 3)''
|}
''Note 1 : names are specified with respect to the Radiotronix module''

''Note 2 : connect to RTS to program device with Evaluation software''

''Note 3 : connect to CTS to program device with Evaluation software''

|
[[Image:Wi232eur_bopla.jpg|thumb|WI232EUR Modem in BOPLA case]]
|-
|
|}
=== Documentation ===
* [http://www.radiotronix.com/datasheets/new/eur_um.pdf WI232EUR data sheet]
* [http://www.radiotronix.com/datasheets/new/rk-eur_um.pdf WI232EUR user's manual]
* [http://www.radiotronix.com/downloads/software/EUR/setup.exe Evaluation software]

== Bluetooth ==
These modems do not give you a great range but Bluetooth can be found in a lot of recent laptops built-in. Maybe not useful for fixed wing aircrafts it might be used for in-the-shop testing or quadcopters. Make sure you get a recent Class 1 EDR 2.0 stick if you buy one for your computer.
{|
|
=== "Sparkfun" Roving Networks (WRL-08497) ===
* Frequency Band 2.4GHz
* Output Power 32 mW
* RF Data Rate up to ~300 kbps in SPP
* Interface Data Rate up to 921 kbps
* Power Draw (typical) 50 mA TX / 40 mA RX
* Supply Voltage 3.3v
* Range (typical, depends on antenna & environment) 100 meters line-of-sight
* Dimensions 26 x 13 x 2mm
* Weight ~1.5 grams
* Interface solder connector
* price : ~45$
|
[[Image:roving_nw_wiring.jpg|thumb|Roving Networks modem wiring]]
|-
|

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

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

and make a virtual connection to a Bluetooth serial port

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

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

== Coronis WaveCard ==

These relatively inexpensive and light modules implement a Coronis proprietary protocol. Low power consumption - high latency - I would not recommend these modules mostly because of the low quality of the distribution and support. The documentation is rather poor and not easily available.

'''Suport for these modems has been removed from the airborne code on Dec 10th, 2007.'''
{|
|-valign="top"
|
* Frequency Band 400MHz, 868Mhz and 915MHz (3 versions)
* Output Power 25mW and 500mW (2 versions)
* Sensitivity -110 dBm (@ 9600 bps)
* Data Rate 100 Kbps
* Power Draw (typical) 45mA (25mW), 450mA (500mW) TX / 15 mA RX
* Supply Voltage ...
* Range (typical, depends on antenna & environment) Up to 1km (25mW) , 5km (500mW) line-of-sight
* Dimensions 30 x 28 x 7mm (25mW), 37 x 30 x 7mm (500mW)
* 50 ohm RF port for antenna connection
|
[[Image:wavecard.jpg|Coronis Wavecard]]
|}

=== Documentation ===

* [http://www.coronis-systems.com/produit.php?lang=EN&id=WCA www.coronis-systems.com]
* [[Media:CS-COM-SPRD-WAVECARD-E03B.pdf|Wavecard datasheet]]

== Video Transmitter Telemetry ==

[[Image:video_tx_small.jpg|thumb|2.4GHz Video Transmitter]]
In order for the UAV to transmit video from an onboard camera, a video transmitter is needed. The paparazzi AP sends all telemetry data down with the video on the audio channel portion of the transmitter. This means that the transmitter must have an audio channel. These vary in power, and thus range, and run normally on 2.4Ghz. Small UAVs can get about 600m of range from the 50mW version, and extended range can be achieved using units up to 1W. Weight for these units varies from a couple grams to about 30 for the 1W with shielding. Please check for your countries regulations on 2.4Ghz transmission, as each is different.
<br style="clear:both">

== Antennas ==

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

News Archives

2007-09-23T22:39:00Z

Jeremy:

{|
| class="MainPageBG" border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|
{|width="80%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#FAF8CC"

|-
|<h3>December 7th, 2006</h3>
|-
| style="color:#000"|
[[Image:ahrs2fg.jpg|thumb|left|[http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg Download the video]]]Antoine continues to make great progress toward the holy grail of 17 state inertial navigation and releases a [http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg video] showing the performance of the 7-state [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtered] IMU providing the attitude-heading reference system [http://en.wikipedia.org/wiki/Attitude_and_Heading_Reference_Systems (AHRS)] on his quadrotor. Note how much coffee was consumed in preparation for this video. More info on the IMU is available on the [[Sensors|sensors]] page. Also, be sure to admire the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/sensors/ schematics] and [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/sw/airborne/ source code]!

|-
|<h3>November 28th, 2006</h3>
|-
| style="color:#000"| [[Image:Launch-20282.jpg|thumb|right|Michel Gorraz launches the ''Dragon Slayer'' for the ENAC team]]
Two Paparazzi teams, [http://www.enac.fr ENAC]/[http://www.miraterre.com Miraterre] and [http://pfump.org Martin Mueller/Christian Lindeberg] won 2nd and 3rd place at the [http://www.us-euro-mav.com MAV06 competition]. Unfortunately, both teams had insufficient video resolution to identify the 1.5m ground target required for high-scoring and the winning prize went to Bringham Young University who was able to identify 2 of the 3 targets with a Panasonic KX-141 camera and an unusually narrow 30 degree FOV lens. The Bringham Young team used the Procerus Kestrel autopilot (originally developed at the university) and obviously practiced video target recognition much more than the rest of us. <br />Flight performance and navigation for both ''Dragon Slayers'' and the ''Black One'' was exceptional as usual. All planes performed flawless autonomous takeoffs and landings and the ''Slayer'' performed an autonomous paintball drop with wind-corrected precision that put the ball within 3 meters of the designated target from an altitude of 40 meters in a 5 m/s wind. As luck would have it, the stress of managing two aircraft from a single ground station during an intense competition, aggravated by a misbehaving GPS in one of the planes that required a power and flight-plan reset just prior to launch resulted in us neglecting to re-input the target coordinates and the ball was dropped accurately on the ''default'' target location, not the actual target location provided by the judges just prior to flight.
|-
|See the complete [http://www.project240.net/photo/mav06/general.html MAV06 Photo Gallery]
|-
|See you next year in [http://www.mav07.org Toulouse] for [http://www.mav07.org MAV07].

|-
|<h3>2003 - 2006</h3>
|-
| style="color:#000"| [[Image:ctl_brd_v1_2_overall.jpg|thumb|left|Paparazzi 1.2.1, the first complete, presentable version of the now famous autopilot]]Paparazzi has come a long way since it's creation in 2003. For a bit of nostalgia [http://www.nongnu.org/paparazzi/gallery_v0.html browse the original website]
|-

|}
|}

File:Twisted 1413sm.jpg

2007-09-23T12:19:09Z

Jeremy: Twisted Logic

Twisted Logic

File:Slayer-105416sm.jpg

2007-09-23T12:18:33Z

Jeremy: Dragon Slayer on the scales

Dragon Slayer on the scales

Gallery

2007-09-23T12:18:02Z

Jeremy:

== User's Gallery ==
=== User's Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|<b>Early Twinstar</b><br>Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|<b>Glotzer</b><br>Martin Mueller and Christian Lindberg
Image:Dragonfly_0626.jpg|<b>Dragonfly</b><br>University of Arizona<br>Span 30cm, mass 220g
Image:DragonSlayer_0948sm.jpg|<b>Dragon Slayer</b><br>Miraterre Flight Systems<br>Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|<b>Night-equipped Twinstar and Twinjet</b><br>Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|<b>M.A.C. Orange One</b><br>Martin Mueller and Christian Lindberg
Image:slayer_twinstar_ii.jpg|<b>Slayer and Twinstar</b><br>The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|<b>Sephiroth</b><br>P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|<b>Triple-X Prototype</b><br>Miraterre Flight Systems<br>Span 90cm, mass 1400g
Image:Cybereye.jpg|<b>CyberEye</b><br>Miraterre Flight Systems<br>Span 130cm, mass 2kg
</gallery>
|

|}

== Flight competitions ==
=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Muller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|<b>Dragon Slayer</b><br>Miraterre Flight Systems
Image:Twisted_1413sm.jpg|<b>Twisted Logic</b><br>Miraterre Flight Systems
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Muller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|<b>Orange One</b><br>Martin Mueller and Christian Lindberg
Image:MAC-BlackOne-MAV06.jpg|<b>Black One</b><br>Martin Mueller and Christian Lindberg
Image:ENAC-Planning-MAV06.jpg|<b>ENAC Team</b>
Image:Slayers-MAV06.jpg|<b>Dragon Slayers</b><br>Slayers acquiring GPS fix<br>
Image:Michel_vs_Slayer-MAV06.jpg|<b>Catch!</b><br>Michel bravely catching the Slayer in an autonomous landing<br>
Image:BYU-MAV06.jpg|<b>BYU's Winning Design</b><br>BYU used the Procerus Kestrel autopilot<br>
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
<br style="clear:both">
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|<b>The Paparazzi teams in Garmisch</b>
Image:mav05_dragonfly.jpg|<b>Dragonfly</b><br>''University of Arizona''
Image:mav05_depronazzi.jpg|<b>Glotzer</b><br>''Martin Mueller and Christian Lindberg''
Image:mav05_ladybug.jpg|<b>Ladybug</b><br>''ENAC''
Image:mav05_enac.jpg|<b>ENAC Team</b>
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] <br style="clear:both">
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|<b>The Paparazzi team</b>
Image:emav04_02.jpg|<b>Spectators</b>
Image:emav04_03.jpg|<b>Automatic tracking antenna</b>
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|<b>Twinstar ready for flight</b>
Image:emav03_02.jpg|<b>Paparazzi team</b>
</gallery>
|
|}

File:Antoine-Storm1.jpg

2007-09-23T11:24:31Z

Jeremy: Antoine launching the Storm1

Antoine launching the Storm1

Main Page

2007-09-23T11:23:50Z

Jeremy:

__NOTOC__
__NOEDITSECTION__

{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
|-
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:1px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2>
|-valign="top"
|
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[General|General]]
</h3>
<div style="padding:6px;">
{{General}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Hardware|Hardware]]
</h3>
<div style="padding:6px;">
{{Hardware}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Software|Software]]
</h3>
<div style="padding:6px;">
{{Software}}
</div>
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]]
</h3>
<div style="padding:6px;">
{{Miscellaneous}}
</div>

| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"
|-valign="top"
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2>
|-
|style="color:#000"|[http://www.nongnu.org/paparazzi Paparazzi] is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.
|-
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. Efforts are currently underway to organize production and retail sales of the autopilot and popular accessories, making the system much easier and more affordable for all.
|-
|The key feature of the paparazzi autopilot is its unique combination of infrared thermopiles and inertial measurement for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.
|-
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2>
|-
|The Paparazzi mini UAV project is now being used and developed at [http://www.enac.fr/ ENAC University].
|-
|style="color:#000"|
* A [http://www.debian.org debian] [http://www.recherche.enac.fr/paparazzi/debian repository] containing some packages not in the official distribution and required to run Paparazzi.
* PaparazziX Knoppix based live CD is available from the [http://www.recherche.enac.fr/paparazzi/paparazzix paparazzix directory].
* Nightly and release [http://www.recherche.enac.fr/paparazzi/tarball tarballs].
|-
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2>

|-
|<h3>September 21<sup>st</sup>, 2007</h3>
|-
| style="color:#000"|
[[Image:Antoine-Storm1.jpg|thumb|left|Antoine launching the Storm1]]
[http://www.mav07.org/ MAV 07] was yet another great success for the project! Paparazzi teams took 1<sup>st</sup>, 3<sup>rd</sup>, 4<sup>th</sup>, and 5<sup>th</sup> places in the outdoor autonomous surveillance competition and were honored to share the 1<sup>st</sup> place award with the very well designed Micropilot-equipped 48cm Ping Wing from [http://www.ida.liu.se/~patdo/linklabsite/uavactivities/index.html Linköping University] in Sweden. <br>
The first Paparazzi helicopter, [[Gallery#MAV07|Twisted Logic]] proved that a passively stable helicopter could operate well in mild outdoor winds and also took 2<sup>nd</sup> place in the indoor competition, surpassed only by the "Father of passively stable helicopters", world famous Petter Muren of [http://www.proxflyer.com/ Proxflyer] and [http://www.rctoys.com/rc-toys-and-parts/BR/RC-HELICOPTERS-BLADERUNNER.html BladeRunner] fame.

|-
|<h3>September 17th, 2007</h3>
|-
| style="color:#000"|
[[Image:yarasa.jpg|thumb|left|[http://www.mav07.org/ MAV 07]]][http://www.mav07.org/ MAV 07] will be held in Toulouse, France (of course!) September 17-21, 2007. Expect to see lots of great Paparazzi systems kicking ass and taking names!

|-
|<h3>August 28, 2007</h3>
|-
| style="color:#000"| [[Image:Paul_MacCready.jpg|thumb|left|Paul MacCready<br>1925-2007]][http://www.avinc.com/dr.maccready.asp Dr. Paul MacCready], legendary aeronautical engineer and founder of [http://www.avinc.com Aerovironment], died in his sleep at the age of 81. Many of us met him met him in 2005 at [[Gallery#MAV05|MAV05]] in Germany but all of us are familiar with his incredible body of work ranging from the [http://www.donaldmonroe.com/gossamer_condor_photography first human powered aircraft], to the [http://americanhistory.si.edu/onthemove/collection/object_362.html GM Sunraycer] electric car, and the world altitude record holding [http://www.space.com/businesstechnology/technology/helios_launch_010814.html Helios]. MacCready was a world champion sailplane pilot, holds a Cal Tech Ph.D. in aeronautics, has been granted 7 honorary degrees, and has contributed a total of 4 aircraft and one car to the permanent collection of the [http://invention.smithsonian.org/resources/online_articles_detail.aspx?id=349 Smithsonian Institution]. He founded Aerovironment in 1971, the world's largest supplier of hand-launched UAVs.

|-
|<h3>August 21th, 2007</h3>
|-
| style="color:#000"| [[Image:kerlingafjoll.jpg|thumb|left|Flying south west of the Hofsjökull glacier]]Three Paparazzi equipped Funjets were part of the [http://www.flohof.uib.no/ Flohof] measurement campaign around the Hofsjökull glacier on Iceland. We were able to measure temperature, humidity, pressure and estimate the wind. The authorities issued a NOTAM, clearing the airspace up to 12.000 feet which allowed us to set a new Paparazzi altitude record.

|-
|<h3>March 1st, 2007</h3>
|-
| style="color:#000"| [[Image:jet_family.jpg|thumb|left|Part of the ENAC multiplex foamy fleet]]Sun is finally back. We took all those babies for a multiple aircrafts flight. From left to right : 600g minimag, 900g twinjet, 600g funjet and 350g microjet. It's such a shame that multiplex stoped producing microjets..... they didn't even ask us :(

|-
|<h3>February 5th, 2007</h3>
|-
| style="color:#000"|
[[Image:ant_tracker.jpg|thumb|left|[http://www.recherche.enac.fr/~poine/video/ant_tracker.mpeg Download the video]]]Jeremie Vacher, a student at ENAC, has developed a tracker for antennas. It is functionnal but still needs a little bit of polishing. Anybody interrested ?

|-
|[[News Archives]]
|-

|}
|}
|}

User:Martinmm

2007-09-15T14:00:48Z

Jeremy: Reverted edits by Jeremy (Talk); changed back to last version by Martinmm

http://pfump.org

FAQ

2007-09-07T20:21:59Z

Jeremy:

<noinclude>
{| width="100%" style="border: solid 2px #A3B1BF; background: #F5FAFF" |
|-
|
<h2 style="background-color:#cedff2; border-bottom:0px; border: 1px solid #a3b0bf; text-align:center; padding-top:4px;">Paparazzi FAQ
</h2></noinclude>
<br/>
__NOTOC__ __TOC__

==Is it possible to __________?==
:Yes, of course! That's the beauty of an open-source system - virtually any feature or function you want can be added to the hardware and/or software.

==What equipment and components are suggested==
:Linux (Debian) compatible notebook computer, preferably with a very bright screen for outdoor use.
:Most any airframe that will accommodate IR sensors and some extra circuitry - ''brushless motors are strongly suggested'' See the [[Gallery|User's Gallery]] for examples.
:[[Tiny]] autopilot
:X-Y IR sensor board from [http://www.fmadirect.com/detail.htm?item=1778&section=20 FMA Direct P/N: CPD4SENUNIT]
:Z IR sensor board from [http://www.fmadirect.com/Detail.htm?item=1888&section=49 FMA Direct P/N:FS8ZS]
:R/C Transmitter with a 3-position switch for selecting Manual/Stabilized/Auto. Some common models are listed in [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios]
:R/C Receiver with an accessible PPM signal to tap. See: [[Other_Hardware#R.2FC_Receiver|Suggested R/C receivers]]
:A pair of [[Modems]] along with any enclosures and antennas
:[http://www.mouser.com/search/ProductDetail.aspx?R=TTL-232R-3V3virtualkey62620000virtualkey626-DLP-TTL-232R-3V3 FTDI USB-TTL] cable for connecting the modem to your USB port and/or for serial flashing of bootloader code or tunnel access to the GPS receiver
:A standard [http://www.mouser.com/search/ProductDetail.aspx?R=68806-0019virtualkey53830000virtualkey538-68806-0019 Mini-B USB cable] and [http://www.mouser.com/search/productdetail.aspx?R=500075-0517virtualkey53810000virtualkey538-500075-0517 receptacle] for uploading firmware to the autopilot
:Lots of [[Other_Hardware#Wiring|very durable wire, crimpers, and molex pins]] or pre-crimped wire.

==Are internal combustion engines supported?==
:Yes, not relying solely on inertial measurement, the Paparazzi system is very well suited for aircraft with high vibration levels. Care must be taken to prevent oily exhaust residue buildup on the IR sensors and a simple variable must be added to properly address the special idle/kill needs of an IC engine.

==Can Paparazzi fly a glider?==
:Sure. Paparazzi uses throttle and pitch to control climb rate but you could easily fit an airspeed sensor and modify the pitch code to maintain airspeed instead.

==Will the autopilot provide enough 5V power for many/large/digital servos as well as a modem, video TX, etc.?==
:The [[Tiny]] includes a very high capacity and high efficiency switching voltage regulator intended to power servos, modems, video systems and other payloads. Users are strongly urged to use this regulator to power their servos rather than the linear regulator included with most motor controllers. While a linear regulator may be rated for several amps, they require a great deal of cooling and can easily overheat with only a few hundred milliamps of continuous current without cooling. By comparison, the switching regulator included on the Tiny can work continuously at 2A with little or no cooling. It is very important to realize that the servos in any stabilized aircraft will operate continuously and therefore a linear regulator that powers the servos reliably in manual flight may easily overheat in autonomous flight.

==Do I need a separate battery or regulator to isolate the autopilot, servos, video, modem, etc. from one another?==
:The autopilot processor and sensors are powered by a 3.3V regulator and therefore are rather isolated from voltage fluctuations on the battery or 5V bus.

==Can I use a Sirf, Trimble, etc. instead of the u-Blox GPS receiver?==
:Yes, but it would require a tremendous amount of work as some of the navigation code is dependent on some of the UBX messages. NMEA does not provide messages in the desired form and substantial calculation would be required for conversion. Any of the other proprietary protocols would work but you would need to write your own protocol handler. u-Blox is one of the most expensive receivers on the market but offers great performance, size, and speed as well as the ability to easily configure the internal Kalman filter parameters to expect significant acceleration in 3-D space - a very important feature. If you find a more capable receiver, let the group know about it, but this is not the place to save $40.

==Does Paparazzi use DGPS, WAAS, EGNOS, or MSAS?==
:Most modern GPS receivers have the ability to process serial data sent from an external DGPS receiver, but the advent of WAAS/EGNOS has made the early ground-based DGPS transmitters nearly obsolete. The u-Blox GPS receiver supports all common SBAS systems (WAAS, EGNOS, and MSAS), as well as any standard form of external DGPS. It's important to understand that DGPS merely improves the ''accuracy'' of the position estimate by subtracting any static error. The only way to improve the ''precision'' of the GPS is by improving the antenna or the GPS module itself. See [http://en.wikipedia.org/wiki/Accuracy_and_precision Wikipedia:Accuracy and Precsion] for a detailed explanation of these terms.

==How does the R/C receiver interface with the autopilot?==
:Standard hobby R/C transmitters multiplex up to 9 channels of PWM servo data into a single PPM signal which is encoded onto an FM wave for transmission, this signal is then decoded by the RF section of the R/C receiver back into the original PPM signal containing 9 servo position PWM values. This signal is normally then sent to a demultiplexer (i.e. 4017) where it is separated into 9 individual servo signals on 9 individual pins. The Paparazzi autopilot intercepts the signal between the RF section and the demultiplexer and does its own demultiplexing, filtering, and processing before multiplexing the manual or autonomous servo commands back into a single signal and passing them to the 4017 to be distributed to the servos.

==Why does Paparazzi tap directly into the R/C receiver instead of using individual servo signals?==
:By connecting directly to the RF section of the R/C receiver we are able to obtain up to 9 channels of R/C servo data from a small, lightweight inexpensive 4 channel receiver with only 3 wires needed to connect the components. Furthermore, the autopilot then has direct access to the raw R/C signal where it can be filtered, evaluated, and assessed for quality. The autopilot can then alert the user of any loss of R/C signal as well as perform any pre-configured autonomous commands in response to a loss of signal.

==Are PCM or 2.4GHz R/C systems compatible with Paparazzi?==
:Not that we know of. Even if these systems use the same type of multiplexed signal at some point in the data path, it is highly likely that this signal is handled entirely within the confines of a single IC and is not externally accessible. A general rule of thumb is that if you see any type of demultiplexer on your R/C receiver, you can look up the data sheet for it and likely tap into the input pin with success. Some information on compatible R/C receivers and how to find the PPM signal of your own receiver is given in the [[Other_Hardware#R.2FC_Receiver|RC receiver]] section.

==What R/C transmitters are compatible?==
:No mixing or programming is done in the transmitter so even the simplest models will suffice but one important requirement is a 3-position switch to select among the three autopilot modes: manual, stabilized, and auto. Those handy with electronics can replace a dial with a switch and resistor if needed. The transmitter's PPM values need to be recorded and the channel used to control the autopilot mode must be stated. Some commonly used transmitter configuration files are provided in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios] folder and the syntax of these files is easy to follow for those using other brands or models.

==Can a gamepad/joystick be used to control the aircraft through the modem?==
:Yes, the code to do this was written some time ago though it was not tested in flight due to latency concerns with the primitive [[Modems#Coronis_WaveCard|Coronis]] modems used at the time. Any of the [[modems]] currently recommended should work well in this manner but the theoretical reliability is still questionable due to the fact that no interrupt or prioritization structure exists for the telemetry data so any manual control inputs would be lumped in with the rest of the data to be lost or delayed as needed.

==What Motor Controllers (ESC) are compatible?==
:Any controller can be used, the exact PWM value that is sent to the controller for 0-100% throttle is completely configurable in the airframe file so all controllers are compatible and any controller will arm properly with or without the use of an R/C transmitter. Upon each boot, the autopilot immediately sends whatever you have defined as 0% throttle (typically around 1200ms) and maintains that signal until a manual or autonomous command is given. Most modern controllers are "auto calibrating" which is an undesirable feature for R/C pilots and even more so for autonomous systems but can be dealt with. The calibration is done by defining the PWM value at boot to be 0% power and then defining some initial arbitrary mid-range value such as 1500ms to be 100% until a higher value is seen. The net result of this behavior is that the motor is given full power at any command above 50% throttle until 100% throttle has actually been commanded at least once. This is not an issue for planes that routinely take off at 100% throttle but can disrupt the throttle tuning and altitude control on any flights where 100% throttle has never been commanded. Castle Creations controllers can be configured for "fixed endpoints" which permanently sets the range to 1250-1850ms providing a consistent and predictable throttle response.

==Can traditional throttle stick programming be done on the ESC once connected to the autopilot?==
:Yes. If the transmitter is on with the throttle at full or whatever is required for your ESC when the autopilot is first booted, the autopilot will immediately see the manual control signal and the throttle position and pass that along to the ESC as the first value, triggering the programming mode.

==Does Paparazzi support digital servos?==
:Of course. Digital servos use exactly the same electrical interface as their analog counterparts, the only difference being in the way they control the motor. Analog servos use a '''P'''roportional feedback loop, meaning the voltage sent to the motor is proportional to the difference between the measured and intended position of the arm. Digital servos use a '''P'''roportional + '''D'''erivative ('''PD''') feedback loop. The derivative term considers the current speed and direction of the servo as well as the speed and direction of the pilot's stick command. The derivative term will increase power to the motor if the servo is moving the wrong direction (providing faster direction changes) and will reduce/reverse power if the servo is near it's desired position but moving too fast (reducing overshoot). The net effect of this is that a digital servo can use a much stronger '''P''' term without risk of oscillation and overshoot because the '''D''' term is there to intelligently dampen it as needed and boost it whenever it can.
:How does the inclusion of a '''D''' term make an analog servo become digital? Analog servos use a simple opamp to linearly relate the motor voltage to the difference between the potentiometer reading and PWM signal, whereas digital servos use a microprocessor to analyze the potentiometer position and velocity as well as the current and recent PWM signals to calculate the optimum voltage to send to the motor.
:'''Important:''' Please be aware that autonomous flight involves ''continuous'' movement of all servos. Make sure your power supply is capable of handling this and that your servos are capable of continuous operation without overheating - especially if you use digital servos.

==Can I solder wires directly to the autopilot instead of using the molex connectors?==
:Yes. All of the molex headers are thru-hole and you can easily solder small gauge wire directly to the pins that protrude from these headers on the back of the board. It's important to note that '''standard servo wire cannot be soldered reliably''' in this fashion - you must use only high-grade wire intended for soldering (no vinyl insulation!). Direct soldering is not recommended and has never been attempted by any users, but it is possible in theory. See the [[Other_Hardware#Wiring|Wiring]] section for suggested wire types and sources and please don't attempt this without excellent soldering skills and high quality wiring.

|}

FAQ

2007-09-07T20:08:08Z

Jeremy:

<noinclude>
{| width="100%" style="border: solid 2px #A3B1BF; background: #F5FAFF" |
|-
|
<h2 style="background-color:#cedff2; border-bottom:0px; border: 1px solid #a3b0bf; text-align:center; padding-top:4px;">Paparazzi FAQ
</h2></noinclude>
<br/>
__NOTOC__ __TOC__

==Is it possible to __________?==
:Yes, of course! That's the beauty of an open-source system - virtually any feature or function you want can be added to the hardware and/or software.

==What equipment and components are suggested==
:Linux (Debian) compatible notebook computer, preferably with a very bright screen for outdoor use.
:Most any airframe that will accommodate IR sensors and some extra circuitry - ''brushless motors are strongly suggested'' See the [[Gallery|User's Gallery]] for examples.
:[[Tiny]] autopilot
:X-Y IR sensor board from [http://www.fmadirect.com/detail.htm?item=1778&section=20 FMA Direct P/N: CPD4SENUNIT]
:Z IR sensor board from [http://www.fmadirect.com/Detail.htm?item=1888&section=49 FMA Direct P/N:FS8ZS]
:R/C Transmitter with a 3-position switch for selecting Manual/Stabilized/Auto. Some common models are listed in [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios]
:R/C Receiver with an accessible PPM signal to tap. See: [[Other_Hardware#R.2FC_Receiver|Suggested R/C receivers]]
:A pair of [[Modems]] along with any enclosures and antennas
:[http://www.mouser.com/search/ProductDetail.aspx?R=TTL-232R-3V3virtualkey62620000virtualkey626-DLP-TTL-232R-3V3 FTDI USB-TTL] cable for connecting the modem to your USB port and/or for serial flashing of bootloader code or tunnel access to the GPS receiver
:A standard [http://www.mouser.com/search/ProductDetail.aspx?R=68806-0019virtualkey53830000virtualkey538-68806-0019 Mini-B USB cable] and [http://www.mouser.com/search/productdetail.aspx?R=500075-0517virtualkey53810000virtualkey538-500075-0517 receptacle] for uploading firmware to the autopilot
:Lots of [[Other_Hardware#Wiring|very durable wire, crimpers, and molex pins]] or pre-crimped wire.

==Are internal combustion engines supported?==
:Yes, not relying solely on inertial measurement, the Paparazzi system is very well suited for aircraft with high vibration levels. Care must be taken to prevent oily exhaust residue buildup on the IR sensors and a simple variable must be added to properly address the special idle/kill needs of an IC engine.

==Can Paparazzi fly a glider?==
:Sure. Paparazzi uses throttle and pitch to control climb rate but you could easily fit an airspeed sensor and modify the pitch code to maintain airspeed instead.

==Will the autopilot provide enough 5V power for many/large/digital servos as well as a modem, video TX, etc.?==
:The [[Tiny]] includes a very high capacity and high efficiency switching voltage regulator intended to power servos, modems, video systems and other payloads. Users are strongly urged to use this regulator to power their servos rather than the linear regulator included with most motor controllers. While a linear regulator may be rated for several amps, they require a great deal of cooling and can easily overheat with only a few hundred milliamps of continuous current without cooling. By comparison, the switching regulator included on the Tiny can work continuously at 2A with little or no cooling. It is very important to realize that the servos in any stabilized aircraft will operate continuously and therefore a linear regulator that powers the servos reliably in manual flight may easily overheat in autonomous flight.

==Do I need a separate battery or regulator to isolate the autopilot, servos, video, modem, etc. from one another?==
:The autopilot processor and sensors are powered by a 3.3V regulator and therefore are rather isolated from voltage fluctuations on the battery or 5V bus.

==Can I use a Sirf, Trimble, etc. instead of the u-Blox GPS receiver?==
:Yes, but it would require a tremendous amount of work as some of the navigation code is dependent on some of the UBX messages. NMEA does not provide messages in the desired form and substantial calculation would be required for conversion. Any of the other proprietary protocols would work but you would need to write your own protocol handler. u-Blox is one of the most expensive receivers on the market but offers great performance, size, and speed as well as the ability to easily configure the internal Kalman filter parameters to expect significant acceleration in 3-D space - a very important feature. If you find a more capable receiver, let the group know about it, but this is not the place to save $40.

==Does Paparazzi use DGPS, WAAS, EGNOS, or MSAS?==
:Most modern GPS receivers have the ability to process serial data sent from an external DGPS receiver, but the advent of WAAS/EGNOS has made the early ground-based DGPS transmitters nearly obsolete. The u-Blox GPS receiver supports all common SBAS systems (WAAS, EGNOS, and MSAS), as well as any standard form of external DGPS. It's important to understand that DGPS merely improves the ''accuracy'' of the position estimate by subtracting any static error. The only way to improve the ''precision'' of the GPS is by improving the antenna or the GPS module itself. See [http://en.wikipedia.org/wiki/Accuracy_and_precision Wikipedia:Accuracy and Precsion] for a detailed explanation of these terms.

==How does the R/C receiver interface with the autopilot?==
:Standard hobby R/C transmitters multiplex up to 9 channels of PWM servo data into a single PPM signal which is encoded onto an FM wave for transmission, this signal is then decoded by the RF section of the R/C receiver back into the original PPM signal containing 9 servo position PWM values. This signal is normally then sent to a demultiplexer (i.e. 4017) where it is separated into 9 individual servo signals on 9 individual pins. The Paparazzi autopilot intercepts the signal between the RF section and the demultiplexer and does its own demultiplexing, filtering, and processing before multiplexing the manual or autonomous servo commands back into a single signal and passing them to the 4017 to be distributed to the servos.

==Why does Paparazzi tap directly into the R/C receiver instead of using individual servo signals?==
:By connecting directly to the RF section of the R/C receiver we are able to obtain up to 9 channels of R/C servo data from a small, lightweight inexpensive 4 channel receiver with only 3 wires needed to connect the components. Furthermore, the autopilot then has direct access to the raw R/C signal where it can be filtered, evaluated, and assessed for quality. The autopilot can then alert the user of any loss of R/C signal as well as perform any pre-configured autonomous commands in response to a loss of signal.

==Are PCM or 2.4GHz R/C systems compatible with Paparazzi?==
:Not that we know of. Even if these systems use the same type of multiplexed signal at some point in the data path, it is highly likely that this signal is handled entirely within the confines of a single IC and is not externally accessible. A general rule of thumb is that if you see any type of demultiplexer on your R/C receiver, you can look up the data sheet for it and likely tap into the input pin with success. Some information on compatible R/C receivers and how to find the PPM signal of your own receiver is given in the [[Other_Hardware#R.2FC_Receiver|RC receiver]] section.

==What R/C transmitters are compatible?==
:No mixing or programming is done in the transmitter so even the simplest models will suffice but one important requirement is a 3-position switch to select among the three autopilot modes: manual, stabilized, and auto. Those handy with electronics can replace a dial with a switch and resistor if needed. The transmitter's PPM values need to be recorded and the channel used to control the autopilot mode must be stated. Some commonly used transmitter configuration files are provided in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios] folder and the syntax of these files is easy to follow for those using other brands or models.

==Can a gamepad/joystick be used to control the aircraft through the modem?==
:Yes, the code to do this was written some time ago though it was not tested in flight due to latency concerns with the primitive [[Modems#Coronis_WaveCard Coronis]] modems used at the time. Any of the [[modems]] currently recommended should work well in this manner but the theoretical reliability is still questionable due to the fact that no interrupt or prioritization structure exists for the telemetry data so any manual control inputs would be lumped in with the rest of the data to be lost or delayed as needed.

==What Motor Controllers (ESC) are compatible?==
:Any controller can be used, the exact PWM value that is sent to the controller for 0-100% throttle is completely configurable in the airframe file so all controllers are compatible and any controller will arm properly with or without the use of an R/C transmitter. Upon each boot, the autopilot immediately sends whatever you have defined as 0% throttle (typically around 1200ms) and maintains that signal until a manual or autonomous command is given. Most modern controllers are "auto calibrating" which is an undesirable feature for R/C pilots and even more so for autonomous systems but can be dealt with. The calibration is done by defining the PWM value at boot to be 0% power and then defining some initial arbitrary mid-range value such as 1500ms to be 100% until a higher value is seen. The net result of this behavior is that the motor is given full power at any command above 50% throttle until 100% throttle has actually been commanded at least once. This is not an issue for planes that routinely take off at 100% throttle but can disrupt the throttle tuning and altitude control on any flights where 100% throttle has never been commanded. Castle Creations controllers can be configured for "fixed endpoints" which permanently sets the range to 1250-1850ms providing a consistent and predictable throttle response.

==Can traditional throttle stick programming be done on the ESC once connected to the autopilot?==
:Yes. If the transmitter is on with the throttle at full or whatever is required for your ESC when the autopilot is first booted, the autopilot will immediately see the manual control signal and the throttle position and pass that along to the ESC as the first value, triggering the programming mode.

==Does Paparazzi support digital servos?==
:Of course. Digital servos use exactly the same electrical interface as their analog counterparts, the only difference being in the way they control the motor. Analog servos use a '''P'''roportional feedback loop, meaning the voltage sent to the motor is proportional to the difference between the measured and intended position of the arm. Digital servos use a '''P'''roportional + '''D'''erivative ('''PD''') feedback loop. The derivative term considers the current speed and direction of the servo as well as the speed and direction of the pilot's stick command. The derivative term will increase power to the motor if the servo is moving the wrong direction (providing faster direction changes) and will reduce/reverse power if the servo is near it's desired position but moving too fast (reducing overshoot). The net effect of this is that a digital servo can use a much stronger '''P''' term without risk of oscillation and overshoot because the '''D''' term is there to intelligently dampen it as needed and boost it whenever it can.
:How does the inclusion of a '''D''' term make an analog servo become digital? Analog servos use a simple opamp to linearly relate the motor voltage to the difference between the potentiometer reading and PWM signal, whereas digital servos use a microprocessor to analyze the potentiometer position and velocity as well as the current and recent PWM signals to calculate the optimum voltage to send to the motor.
:'''Important:''' Please be aware that autonomous flight involves ''continuous'' movement of all servos. Make sure your power supply is capable of handling this and that your servos are capable of continuous operation without overheating - especially if you use digital servos.

==Can I solder wires directly to the autopilot instead of using the molex connectors?==
:Yes. All of the molex headers are thru-hole and you can easily solder small gauge wire directly to the pins that protrude from these headers on the back of the board. It's important to note that '''standard servo wire cannot be soldered reliably''' in this fashion - you must use only high-grade wire intended for soldering (no vinyl insulation!). See the [[Other_Hardware#Wiring|Wiring]] section for suggested wire types and sources.

|}

File:Micro clr cmos 02.jpg

2007-09-02T02:15:50Z

Jeremy: Misumi CMOS camera

Misumi CMOS camera

File:Rx act micro-6.jpg

2007-09-02T01:59:53Z

Jeremy: ACT Micro-6 receiver PPM signal tap

ACT Micro-6 receiver PPM signal tap

File:Rx futaba136.jpg

2007-09-02T01:59:01Z

Jeremy: Futaba R136F receiver PPM signal tap

Futaba R136F receiver PPM signal tap

Hardware

2007-09-02T01:30:56Z

Jeremy:

__NOTOC__
__NOEDITSECTION__

{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
|-valign="top"
|
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] Hardware
</h3>
<div style="padding:6px;">
{{Hardware}}
</div>

| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5fffa;vertical-align:top"|
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"
|-valign="top"
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Paparazzi Hardware</h2>
|-
|The open-source Paparazzi hardware suite includes several versions of the autopilot, IR sensors, inertial sensors, complete IMU heads, voltage regulators, GPS receivers, converters, adapters, and programmers of all sorts. All CAD files, schematics, gerbers, and BOMs are freely downloadable from the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/ CVS]
|-
|[[Image:tiny13_family_top_sm.jpg|center|400px|Tiny 1.1 autopilots on the "assembly line"]]

|}
|}

File:Pprz rx115.jpg

2007-09-02T01:26:31Z

Jeremy: Modified Futaba R115F receiver. White wire connects to the PPM signal.

Modified Futaba R115F receiver. White wire connects to the PPM signal.

News Archives

2007-09-02T01:15:26Z

Jeremy:

{|
| class="MainPageBG" border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|
{|width="80%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#FAF8CC"
|-
|<h3>November 28th, 2006</h3>
|-
| style="color:#000"| [[Image:Launch-20282.jpg|thumb|right|Michel Gorraz launches the ''Dragon Slayer'' for the ENAC team]]
Two Paparazzi teams, [http://www.enac.fr ENAC]/[http://www.miraterre.com Miraterre] and [http://pfump.org Martin Mueller/Christian Lindeberg] won 2nd and 3rd place at the [http://www.us-euro-mav.com MAV06 competition]. Unfortunately, both teams had insufficient video resolution to identify the 1.5m ground target required for high-scoring and the winning prize went to Bringham Young University who was able to identify 2 of the 3 targets with a Panasonic KX-141 camera and an unusually narrow 30 degree FOV lens. The Bringham Young team used the Procerus Kestrel autopilot (originally developed at the university) and obviously practiced video target recognition much more than the rest of us. <br />Flight performance and navigation for both ''Dragon Slayers'' and the ''Black One'' was exceptional as usual. All planes performed flawless autonomous takeoffs and landings and the ''Slayer'' performed an autonomous paintball drop with wind-corrected precision that put the ball within 3 meters of the designated target from an altitude of 40 meters in a 5 m/s wind. As luck would have it, the stress of managing two aircraft from a single ground station during an intense competition, aggravated by a misbehaving GPS in one of the planes that required a power and flight-plan reset just prior to launch resulted in us neglecting to re-input the target coordinates and the ball was dropped accurately on the ''default'' target location, not the actual target location provided by the judges just prior to flight.
|-
|See the complete [http://www.project240.net/photo/mav06/general.html MAV06 Photo Gallery]
|-
|See you next year in [http://www.mav07.org Toulouse] for [http://www.mav07.org MAV07].

|-
|<h3>2003 - 2006</h3>
|-
| style="color:#000"| [[Image:ctl_brd_v1_2_overall.jpg|thumb|left|Paparazzi 1.2.1, the first complete, presentable version of the now famous autopilot]]Paparazzi has come a long way since it's creation in 2003. For a bit of nostalgia [http://www.nongnu.org/paparazzi/gallery_v0.html browse the original website]
|-

|}
|}

File:Ctl brd v1 2 overall.jpg

2007-09-02T01:13:03Z

Jeremy: Early AVR-based Paparazzi 1.2.1 autopilot

Early AVR-based Paparazzi 1.2.1 autopilot

News Archives

2007-09-02T01:12:11Z

Jeremy:

{|
| class="MainPageBG" border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|
{|width="80%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#FAF8CC"
|-
|<h3>November 28th, 2006</h3>
|-
| style="color:#000"| [[Image:Launch-20282.jpg|thumb|right|Michel Gorraz launches the ''Dragon Slayer'' for the ENAC team]]
Two Paparazzi teams, [http://www.enac.fr ENAC]/[http://www.miraterre.com Miraterre] and [http://pfump.org Martin Mueller/Christian Lindeberg] won 2nd and 3rd place at the [http://www.us-euro-mav.com MAV06 competition]. Unfortunately, both teams had insufficient video resolution to identify the 1.5m ground target required for high-scoring and the winning prize went to Bringham Young University who was able to identify 2 of the 3 targets with a Panasonic KX-141 camera and an unusually narrow 30 degree FOV lens. The Bringham Young team used the Procerus Kestrel autopilot (originally developed at the university) and obviously practiced video target recognition much more than the rest of us. <br />Flight performance and navigation for both ''Dragon Slayers'' and the ''Black One'' was exceptional as usual. All planes performed flawless autonomous takeoffs and landings and the ''Slayer'' performed an autonomous paintball drop with wind-corrected precision that put the ball within 3 meters of the designated target from an altitude of 40 meters in a 5 m/s wind. As luck would have it, the stress of managing two aircraft from a single ground station during an intense competition, aggravated by a misbehaving GPS in one of the planes that required a power and flight-plan reset just prior to launch resulted in us neglecting to re-input the target coordinates and the ball was dropped accurately on the ''default'' target location, not the actual target location provided by the judges just prior to flight.
|-
|See the complete [http://www.project240.net/photo/mav06/general.html MAV06 Photo Gallery]
|-
|See you next year in [http://www.mav07.org Toulouse] for [http://www.mav07.org MAV07].

|-
|<h3>2003 - 2006</h3>
|-
| style="color:#000"| [[Image:ctl_brd_v1_2_overall.jpg|thumb|left|Paparazzi 1.2.1, the first complete, presentable version of the now famous autopilot]]Paparazzi has come a long way since it's creation in 2003. For a bit of nostalgia [http://www.nongnu.org/paparazzi/gallery_v1_2.html browse the original website]
|-

|}
|}