PaparazziUAV - User contributions [en]

TU Delft - Lasergame with Autonomous AR Drone

2013-01-14T10:10:22Z

JeroenB: /* AR.Drone 2 internal communication */

[[File:Robotics_Minor_Group_2.png|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 2]]__TOC__

== Introduction ==
Our focus in the development of the autonomous AR.Drone is focused on the lasergaming industry. In this field our goal is to implement the AR.drone as a observing and later on in the project participating member of the game. We feel that there is quite a lot of potential for an implementation of the quad rotor, because we believe that using it we can create a new dimension in laser gaming. With its manoeuvrability it will be able to easily get around the laser game obstacle course and its futuristic looks will integrate perfectly with the laser game environment.

In our project we have chosen to work with the Standard Development Kit (SDK), which is already present on the AR.Drone. To get this done we needed to combine Paparazzi with the programs JSBSim and FlightGear.

=== Github ===
For this project we used a repository, Github. Developers often use a repository for developing their software projects. When using a repository, developers can upload and download the code developed for the project. This allows multiple people to work on the same project at the same time without getting in eachother's way. It is in this case very useful and we will use Github, a populair open source repository site. For beginners, please read the manual to setup Github for Ubuntu:
* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor2" branch. You can change to this branch bij executing the following command "git checkout minor2". Because most of the work inside paparazzi between our implementation and the one from "minor1" is the same, it can be possible that some parts aren't merged between the two branches.

== The Laser Gaming Setup ==

The exact way in which we are going to implement the AR.Drone in the laser gaming industry will be decided later on in the process. We currently have four options, varying in difficulty and achievability:
* Enemy: The AR.Drone will be used as an interactive, shooting player that can be shot as well, possibly working in teams of multiple quad rotors
* Scout: The AR.Drone will survey a certain area streaming back its video, allowing players to know where enemies are
* Mine-deployer: To allow for a more fast-paced game the AR.Drone will find a player and hover around its position. It will then begin counting down, which means the player needs to move or risk getting hit by the virtual explosion of the AR.Drone
* Observer: As there are nearly always people waiting while other people are playing, the AR.Drone can be used as a tool to live-stream the current game to a beamer for everyone to see. Games could also be taped and watched by the players after the game is over, and could even be sold

===Implementation===
During the test phase we want to have an adjustable system that we can tweak while working. This is the reason that we made a PIC based design. For testing we are going to use a system based on the RC-5 protocol by Phillips. The RC-5 protocol is used for remote controls. We are going to use it for sending and receiving information about the players.

== Simulation ==

=== Model ===

*Setting up FlightGear such that it loads your model. See [[AR_Drone_2/Flightgear]].
=== Combining Paparazzi with FlightGear and JSBSim ===

To get the AR.Drone to fly autonomously a model of the system is required. This can be created using paparazzi combined with JSBSim and FlightGear. The following steps will guide you through the process of setting up an environment to simulate the AR.Drone 2 controlled by Paparazzi. This will describe how to set up the simulation environment in Linux. It has been tested using Ubuntu, but it should work under any recent distro.
*Install the ground station. See [[Installation]].
*Install JSBSim. See [[JSBSim]].
*Install FlightGear and link it to Paparazzi. See [[Simulation#View_the_simulation_in_Flight_Gear]].

== Getting information ==

=== Getting Started ===
This project is developed by using Linux, ubuntu. We don't support information for other linux distributions, but feel free to try it out.
* Follow the instructions described in the "Getting the cross-compiler".
* Get the source from our github which is explained in the section above.
* Build the paparazzi source (for more information: [http://paparazzi.enac.fr/wiki/Installation/FromScratch])
* You are ready to develop with our project.

=== The cross-compiler ===
# Download the cross-compiler from [http://taghof.github.com/Navigation-for-Robots-with-WIFI-and-CV/downloads/codesetup.sh]
# Open the terminal and direct to your home directory.
# Type the following commands (without the $):

$ sudo chmod +x codesetup.sh
$ sudo ./codesetup.sh

Wait a few minutes and you're done!

=== AT Commands ===
The AR.Drone 2 has a self made protocol for controlling the AR.Drone 2 remotly over wifi. More information can be found at [[AR_Drone_2/AT Commands]].

=== Navdata ===
The AR.Drone 2 also has a self made protocol for sending navdata to the client over wifi. More information can be found at [[AR_Drone_2/Navdata]].

=== GPS signals ===
To let our AR.Drone 2 communicate with Paparazzi an external [[BU 353 specifications|BU-353 GPS]] is used. For the implementation see [[AR_Drone_2/GPS Driver]].

=== Telnet ===
The AR.Drone 2 has a telnet interface that opens a root shell on the AR.Drone 2, which is needed to test and install software. More information can be found at [[AR_Drone_2/Telnet]].

=== FTP ===
The AR.Drone 2 also has a FTP server running, which makes it possible to upload files like programs to the AR.Drone 2. More information can be found at [[AR_Drone_2/FTP]].

== Programming ==

=== AR.Drone 2 internal communication ===
We use internal communcation to control the AR.Drone 2 and receive the navigation data from the AR.Drone 2. This is done by using the AT commands and the navdata with a socket connection to "localhost". The control and navigation data run in seperate threads inside paparazzi, to make sure that both connections are kept alive. The navigation data thread sends all the information is has to paparazzi each update. The control thread waits for paparazzi to send commands and keeps the connection alive by sending a dummy command every second(because the timeout is 2 seconds).

=== Using the GPS signals ===
We will use an external GPS reciever which will be connected to the AR.Drone 2 usb or telnet usb port. We still have to figure out if it is possible to adjust the default driver for the USB port on the AR.Drone 2, because this is configured as an external disk which is accesable with FTP.
When we have figured out if this is possible, the default usb-connector of the GPS reciever doesn't need to be modified to fit the telnet usb port at the bottom of the AR. Drone 2.

Because of the great support of GPS modules inside paparaazi, we don't have to implement the GPS module inside paparazzi ourself.

=== Wifi implementation inside paparazzi ===
Paparazzi doesn't support wifi connection with the base station by default. We are implementing this by creating a socket connection between the AR.Drone 2 and the base station and send the communication packets using a self-created protocol.

=== AR.Drone 2 Sign convention ===
* [[AR_Drone_2/sign_convention]]

== Manuals and guides ==
* [[Step by step guide for beginners]]
* [[Developers Manual]]

[[Category: TU Delft - Autonomous Quadrotor]] [[Category: AR Drone 2]]

TU Delft - Lasergame with Autonomous AR Drone

2012-12-06T14:42:04Z

JeroenB: /* Wifi implementation inside paparazzi */

[[File:Robotics_Minor_Group_2.png|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 2]]__TOC__

== Introduction ==
Our focus in the development of the autonomous AR.Drone is focused on the lasergaming industry. In this field our goal is to implement the AR.drone as a observing and later on in the project participating member of the game. We feel that there is quite a lot of potential for an implementation of the quad rotor, because we believe that using it we can create a new dimension in laser gaming. With its manoeuvrability it will be able to easily get around the laser game obstacle course and its futuristic looks will integrate perfectly with the laser game environment.

In our project we have chosen to work with the Standard Development Kit (SDK), which is already present on the AR.Drone. To get this done we needed to combine Paparazzi with the programs JSBSim and FlightGear.

=== Github ===
For this project we used a repository, Github. Developers often use a repository for developing their software projects. When using a repository, developers can upload and download the code developed for the project. This allows multiple people to work on the same project at the same time without getting in eachother's way. It is in this case very useful and we will use Github, a populair open source repository site. For beginners, please read the manual to setup Github for Ubuntu:
* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor2" branch. You can change to this branch bij executing the following command "git checkout minor2". Because most of the work inside paparazzi between our implementation and the one from "minor1" is the same, it can be possible that some parts aren't merged between the two branches.

== The Laser Gaming Setup ==

The exact way in which we are going to implement the AR.Drone in the laser gaming industry will be decided later on in the process. We currently have four options, varying in difficulty and achievability:
* Enemy: The AR.Drone will be used as an interactive, shooting player that can be shot as well, possibly working in teams of multiple quad rotors
* Scout: The AR.Drone will survey a certain area streaming back its video, allowing players to know where enemies are
* Mine-deployer: To allow for a more fast-paced game the AR.Drone will find a player and hover around its position. It will then begin counting down, which means the player needs to move or risk getting hit by the virtual explosion of the AR.Drone
* Observer: As there are nearly always people waiting while other people are playing, the AR.Drone can be used as a tool to live-stream the current game to a beamer for everyone to see. Games could also be taped and watched by the players after the game is over, and could even be sold

===Implementation===
During the test phase we want to have an adjustable system that we can tweak while working. This is the reason that we made a PIC based design. For testing we are going to use a system based on the RC-5 protocol by Phillips. The RC-5 protocol is used for remote controls. We are going to use it for sending and receiving information about the players.

== Simulation ==

=== Model ===

*Setting up FlightGear such that it loads your model. See [[AR.Drone_2_-_Flightgear]].
=== Combining Paparazzi with FlightGear and JSBSim ===

To get the AR.Drone to fly autonomously a model of the system is required. This can be created using paparazzi combined with JSBSim and FlightGear. The following steps will guide you through the process of setting up an environment to simulate the AR.Drone 2 controlled by Paparazzi. This will describe how to set up the simulation environment in Linux. It has been tested using Ubuntu, but it should work under any recent distro.
*Install the ground station. See [[Installation]].
*Install JSBSim. See [[JSBSim]].
*Install FlightGear and link it to Paparazzi. See [[Simulation#View_the_simulation_in_Flight_Gear]].

== Getting information ==

=== Getting Started ===
This project is developed by using Linux, ubuntu. We don't support information for other linux distributions, but feel free to try it out.
* Follow the instructions described in the "Getting the cross-compiler".
* Get the source from our github which is explained in the section above.
* Build the paparazzi source (for more information: [http://paparazzi.enac.fr/wiki/Installation/FromScratch])
* You are ready to develop with our project.

=== The cross-compiler ===
# Download the cross-compiler from [http://taghof.github.com/Navigation-for-Robots-with-WIFI-and-CV/downloads/codesetup.sh]
# Open the terminal and direct to your home directory.
# Type the following commands (without the $):

$ sudo chmod +x codesetup.sh
$ sudo ./codesetup.sh

Wait a few minutes and you're done!

=== AT Commands ===
The AR.Drone 2 has a self made protocol for controlling the AR.Drone 2 remotly over wifi. More information can be found at [[AT Commands AR.Drone 2]].

=== Navdata ===
The AR.Drone 2 also has a self made protocol for sending navdata to the client over wifi. More information can be found at [[Navdata AR.Drone 2]].

=== GPS signals ===
To let our AR.Drone 2 communicate with Paparazzi an external [[GPS_specification | BU-353 GPS]] is used. For the implementation see [[GPS Driver AR.Drone2]].

=== Telnet ===
The AR.Drone 2 has a telnet interface that opens a root shell on the AR.Drone 2, which is needed to test and install software. More information can be found at [[Telnet AR.Drone2]].

=== FTP ===
The AR.Drone 2 also has a FTP server running, which makes it possible to upload files like programs to the AR.Drone 2. More information can be found at [[FTP AR.Drone2]].

== Programming ==

=== AR.Drone 2 internal communication ===
We use internal communcation to control the AR.Drone 2 and recieve the navigation data from the AR.Drone 2. This is done by using the AT commands and the navdata with a socket connection to "localhost". The control and navigation data run in seperate threads inside paparazzi, to make sure that both connections are kept alive. The navigation data thread sends all the information is has to paparazzi each update. The control thread waits for paparazzi to send commands and keeps the connection alive by sending a dummy command every second(because the timeout is 2 seconds).

=== Using the GPS signals ===
We will use an external GPS reciever which will be connected to the AR.Drone 2 usb or telnet usb port. We still have to figure out if it is possible to adjust the default driver for the USB port on the AR.Drone 2, because this is configured as an external disk which is accesable with FTP.
When we have figured out if this is possible, the default usb-connector of the GPS reciever doesn't need to be modified to fit the telnet usb port at the bottom of the AR. Drone 2.

Because of the great support of GPS modules inside paparaazi, we don't have to implement the GPS module inside paparazzi ourself.

=== Wifi implementation inside paparazzi ===
Paparazzi doesn't support wifi connection with the base station by default. We are implementing this by creating a socket connection between the AR.Drone 2 and the base station and send the communication packets using a self-created protocol.

== Manuals and guides ==
* [[Step by step guide for beginners]]
* [[Developers Manual]]

Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS

2012-11-27T09:38:48Z

JeroenB: /* Installing Vritual Box */

== Requirements==

*Download Virtualbox 4.1.22 for Windows Hosts
*Download Ubuntu 12.04 LTS (I recommend 32 bit)

== Installing Virtual Box==

*After downloading the latest VirtualBox (VirtualBox-4.1.22-80657-Win.exe) installer run it
*Press next
*Press next
*Choose which options you would like and press next
*Your network connection will temporarily go down, press yes
*Press install
*You now installed Oracle VM VirtualBox, press finish

== Creating New Virtual Machine==

*Start Vrtual Box
*Press new
*Fill in a name, select Linux as operating system and Ubuntu as version. Press next
*Select the amount of RAM you'd like to use, press next
*Press next
*Select VDI and press next
*If you are lazy choose dynamically allocated. If you want speed choose fixed size. The second option takes more time to complete.
*Give al least 20GB
*Press Construct

== Install Ubuntu on your Virtual Machine==

*Start your previously created VM by selecting it in the lsit and then press the Start button.
*Press next
*Select the Ubuntu ISO you downloaded(vb. ubuntu-12.04.1-desktop-i386.iso) and press next
*Press Start
*Select your language and press Install Ubuntu
*Select Download updates while installing and Install third-party software. Press continue
*Select Erase Disk and install Ubuntu and press continue
*Press Install now
*Tell ubuntu where you live, press continue
*Select your keyboard and press continue
*Fill in your credentials and press continue
*Press restart now

TU Delft - Lasergame with Autonomous AR Drone

2012-11-16T10:02:33Z

JeroenB: /* Introduction */

TU Delft - Lasergame with Autonomous AR Drone

2012-11-16T10:00:21Z

JeroenB: /* Introduction */

TU Delft - Lasergame with Autonomous AR Drone

2012-11-16T09:59:43Z

JeroenB: /* Introduction */

TU Delft - Lasergame with Autonomous AR Drone

2012-11-16T09:58:55Z

JeroenB: /* Components */

TU Delft - Lasergame with Autonomous AR Drone

2012-11-16T09:57:09Z

JeroenB: /* components */

TU Delft - Lasergame with Autonomous AR Drone

2012-11-16T09:56:45Z

JeroenB: /* The Laser Gaming Setup */

TU Delft - Autonomous Quadrotor

2012-11-15T13:07:23Z

JeroenB: /* Project Contents */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of M. Wisse and Ir. B. D. W. Remes. Each team would have a slightly different initial objective. After completing this objective each team will be free to set its own objectives for the next phase of this project.

=== Objectives ===
Our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software.
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by parrot. They will need to interpret the data as provided by the program and determine what data to send back.

Furthermore each team has to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose.

=== Teams ===
* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR.Drone 2 - Specifications]]
** [[Motor specifcations]]
** [[Sensor specifications]]
** [[GPS specifications]]

=== Installing Paparazzi on AR.Drone 2 ===
* [[Beginner page]]
* [[Developer page]]

TU Delft - Autonomous Quadrotor

2012-11-15T13:07:07Z

JeroenB: /* Project Contents */

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of M. Wisse and Ir. B. D. W. Remes. Each team would have a slightly different initial objective. After completing this objective each team will be free to set its own objectives for the next phase of this project.

=== Objectives ===
Our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software.
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by parrot. They will need to interpret the data as provided by the program and determine what data to send back.

Furthermore each team has to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose.

=== Teams ===
* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR.Drone 2 - Specifications]]
** [[Motor specifcations]]
** [[Sensor specifications]]
** [[GPS specification]]

=== Installing Paparazzi on AR.Drone 2 ===
* [[Beginner page]]
* [[Developer page]]

Setting up simulation environment

2012-11-15T10:47:31Z

JeroenB:

This page will guide you step-by-step through the process of setting up an environment to simulate the AR.Drone 2 controlled by Paparazzi.

==Linux==
This section will describe how to set up the simulation environment in Linux. It has been tested using Ubuntu, but it should work under any recent distro.
*Install the ground station. See [[Installation]].
*Install JSBSim. See [[JSBSim]].
*Install Flightgear and link it to Paparazzi. See [[Simulation#View_the_simulation_in_Flight_Gear]].

==Windows==

Setting up simulation environment

2012-11-15T10:45:19Z

JeroenB:

Setting up simulation environment

2012-11-15T10:22:06Z

JeroenB: moved Setting up simulation enviroment to Setting up simulation environment: Spelling error

This page will guide you step-by-step through the process of setting up an environment to simulate the AR.Drone 2.

TU Delft - Lasergame with Autonomous AR Drone

2012-11-15T10:19:12Z

JeroenB: /* Manuals and guides */

== Introduction ==
This page will guide you through the development of an autonomous quadrotor, the AR Drone 2.0 from Parrot, which will be eventually used in an application. In this case, in combination with lasergaming.

=== About the AR Drone 2.0 ===
Specifications[http://paparazzi.enac.fr/wiki/AR.Drone_2_-_Specifications]

=== Getting Started ===
This project is developed by using Linux, ubuntu. Following these steps are at your own risk. You can only perform these steps if you use ubuntu. Before the developing part will start, the following installations are required:
* Download the SDK from [http://www.ARdrone.org Ardrone.org]
* Download and install Paparazzi, see the installation guide for help: [http://paparazzi.enac.fr/wiki/Installation/FromScratch] '''Do not follow the instructions from 4), we use another cross-compiler for this project.'''
* Follow the instructions described in the "Getting the cross-compiler".

=== Getting the cross-compiler ===
# Download the cross-compiler from [http://taghof.github.com/Navigation-for-Robots-with-WIFI-and-CV/downloads/codesetup.sh]
# Open the terminal and direct to your home directory.
# Type the following commands (without the $):

$ sudo chmod +x codesetup.sh
$ sudo ./codesetup.sh

Wait a few minutes and you're done!

=== The Repository ===
Developers often use a repository for developing their software projects. When using a repository, developers can upload and download the code developed for the project. It is in this case very usefull and we will use Github, a populair open source repository site. For beginners, please read the manual to setup Github for Ubuntu:
* [[Github manual for Ubuntu]]

== Manuals and guides ==
* [[Step by step guide for beginners]]
* [[Developers Manual]]
* [[AR Drone Model]]
* [[Setting up simulation environment]]

Setting up simulation environment

2012-11-15T10:18:55Z

JeroenB: Created page with "This page will guide you step-by-step through the process of setting up an environment to simulate the AR.Drone 2."

This page will guide you step-by-step through the process of setting up an environment to simulate the AR.Drone 2.

TU Delft - Lasergame with Autonomous AR Drone

2012-11-15T09:57:31Z

JeroenB: