PaparazziUAV - User contributions [en]

User:MarcusWolschon

2009-01-27T10:45:41Z

MarcusWolschon:

Homepage: [http://wolschon.biz http://wolschon.biz]

Drones: see [https://ccc-fr.de/index.php/Donenbau CCC-Freiburg Wiki]

using Paparazzi for: Experimenting with advanced telemetry.

Users

2009-01-27T10:45:12Z

MarcusWolschon:

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

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}
----
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Europe
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV.
|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.
|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny 2.11, EeePC as GCS, Multiplex FunJet ||| 2008 || Many successful flights.
|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.
|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}
----
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ North America
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
|Vancouver, WA [http://maps.google.com/maps?f=q&source=s_q&hl=en&geocode=&q=98663&sll=37.0625,-95.677068&sspn=64.664844,101.953125&ie=UTF8&ll=45.606112,-122.643471&spn=0.222411,0.398254&z=12 98663]
| Tiny v2.11 || Nov. 2008 || Getting geared up for a maiden flight soon hopefully. Skype: pauldanielcox Gtalk: [use email]
|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] || Portland, Oregon || Tiny v2.11 from PPZUAV, Multiplex Cularis, 9Xtend modems, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Debugging Tiny-GCS interface. Possibly first test flights in late Jan 09.
|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}
----
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Australia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

Talk:Infrared Sensors

2008-02-05T05:53:36Z

MarcusWolschon: FMA and resistors

== List of parts ==

Can someone post a bill of materials and a pcb-layout?
That is the name of the thermopiles and amps to look for?
: I added the part-numbers for the thermopiles as given in IRC. --[[User:MarcusWolschon|MarcusWolschon]] 12:54, 14 January 2008 (CET)

== FMA and resistors ==

Dean Goedde in his [http://diydrones.com/profiles/blog/show?id=705844%3ABlogPost%3A23171 interview] on DIYDrones "All about IR sensing vs. gyros" states that the unit is not in fact designed for 5V but for 3V already.

Downloads

2008-02-03T09:02:55Z

MarcusWolschon: /* Paparazzi Boot CD */

== Paparazzi Boot CD ==
* Burn this to a CD and boot from it to try Paparazzi without any software changes to your PC! Includes Debian, Paparazzi, and all required libraries.
*: [http://www.recherche.enac.fr/paparazzi/paparazzix/ Download Page]

(Note: The boot-cd is fine for playing around but the paparazzi-version of it is heavily outdated. A new dvd-image is being tested right now.)

== Paparazzi Binary Package ==
* Install this package to your Debian system
*: [http://www.recherche.enac.fr/paparazzi/debian/ Http Download Page] and [ftp://www.recherche.enac.fr/pub/paparazzix/ Ftp Download Page]

== Paparazzi Source Code ==
* Browse the current code tree here:
*: http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/
* Download a recent archive
*: http://www.recherche.enac.fr/paparazzi/tarball/
* Download the current source tree using our anonymous CVS server by running this command from your home directory
cvs -z3 -d:pserver:anonymous@cvs.sv.gnu.org:/sources/paparazzi co paparazzi3

== Paparazzi Hardware Plans ==
* Download Eagle files for all current and past autopilot, sensor, and miscellaneous hardware.
*: http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/
* Be sure to download both *.brd and *.sch files and use Cadsoft Eagle to view them. [http://www.cadsoft.de/freeware.htm Eagle (free version)]

== User Submitted Files ==
* Upload your patches, scripts, etc. here. Please sign your entry!

=== Matlab Files ===

=== Other Files ===

Theory of Operation

2008-01-14T12:07:36Z

MarcusWolschon: /* Infrared Sensors */

== Formal Methods ==
The critical core of the Paparazzi code has been proven by [http://en.wikipedia.org/wiki/Formal_methods formal methods] to ensure absolute reliability of the servo, R/C, and manual control portions of the code using the same tools and methods used for full-scale autopilots, nuclear power plants, and other critical control systems. See our page on [[Lustre|formally proving critical Paparazzi code using Lustre]].

== PID ==
Paparazzi uses common Proportional Integral Derivative (PID) control for stability and navigation. PID is probably the most commonly used feedback control design as it is simple to implement and intuitive to operate. PID controllers use three terms operating on the measured error to produce a control output. If ''u(t)'' is the control signal sent to the system, ''y(t)'' is the measured output and ''r(t)'' is the desired output, and tracking error <math>e(t)=r(t)- y(t)</math>, a PID controller has the general form

:<math>u(t) = K_P e(t) + K_I \int e(t)dt + K_D \dot{e}(t)</math>

The desired closed loop dynamics are obtained by adjusting the three parameters <math> K_P</math>, <math> K_I</math> and <math> K_D</math>, often iteratively by "tuning" and without specific knowledge of a plant model. Stability can often be ensured using only the proportional term in well damped systems. The integral term compensates for steady long-term errors, and the derivative term is used to provide damping to reduce oscillation.

See more on Wikipedia: [http://en.wikipedia.org/wiki/PID_controller PID Controller]

Paparazzi uses PID controllers on all loops but many of the I and D terms are not fully implemented as they are often unnecessary or difficult to tune. Below are some examples of the PID implementations in Paparazzi.

=== Roll Rate ===
{{Box Code|In sw/airborne/fw_h_ctl.c we define the roll rate loop:|
float cmd <nowiki>=</nowiki> throttle_dep_pgain * ( err + h_ctl_roll_rate_igain * roll_rate_sum_err / H_CTL_ROLL_RATE_SUM_NB_SAMPLES + h_ctl_roll_rate_dgain * d_err);
}}
Note that the roll Pgain is variable with throttle and multiplies through the entire equation affecting the I and D terms as well for ease of tuning.

=== Pitch Angle ===
{{Box Code|In sw/airborne/fw_h_ctl.c we define the pitch angle loop:|
float err <nowiki>=</nowiki> estimator_theta - h_ctl_pitch_setpoint;
float d_err <nowiki>=</nowiki> err - last_err;
last_err <nowiki>=</nowiki> err;
float cmd <nowiki>=</nowiki> h_ctl_pitch_pgain * (err + h_ctl_pitch_dgain * d_err) + h_ctl_elevator_of_roll * fabs(estimator_phi);
}}

Here we use only Proportional as the Derivative is always set to zero. An integral term could prove useful here. Aircraft pitch response is normally very well damped. Those with "plank" style aircraft or other pitch-sensitive designs may benefit from implementing a gyro-based D term.

=== Navigation ===
{{Box Code|In sw/airborne/fw_h_ctl.c we define the navigation loop:|
float err <nowiki>=</nowiki> estimator_hspeed_dir - h_ctl_course_setpoint;
NormRadAngle(err);
float speed_depend_nav <nowiki>=</nowiki> estimator_hspeed_mod/NOMINAL_AIRSPEED;
Bound(speed_depend_nav, 0.66, 1.5);
float cmd <nowiki>=</nowiki> h_ctl_course_pgain * err * speed_depend_nav;
}}
Here we only use the Proportional term though a Derivative would be useful as navigation is not well damped. Note that an Integral term cannot be used for navigtation without accurate and reliable wind information and the necessary implementation of wind data. Note however that we increase/reduce the commanded bank angle for navigation based on the ground speed. This reduces "hunting" on upwind legs, keeps the navigation tight on fast downwind legs and helps keep circles round in a crosswind.

=== Climb Rate ===
{{Box Code|In sw/airborne/fw_v_ctl.c we compute the desired climb rate:|
v_ctl_altitude_error <nowiki>=</nowiki> estimator_z - v_ctl_altitude_setpoint;
v_ctl_climb_setpoint <nowiki>=</nowiki> v_ctl_altitude_pgain * v_ctl_altitude_error + v_ctl_altitude_pre_climb;
}}
Here we only use the Proportional term though a Derivative would be useful as climb rate is not well damped. An integral term may prove useful if well-implemented. The last term <tt>v_ctl_altitude_pre_climb</tt> represents the desired constant climb rate needed to follow a 3-dimensional navigation path. This term is zero for level flight, altitude maintenance, and commanded altitude changes.
{{Box Code|Then we compute the throttle response:|
float err <nowiki>=</nowiki> estimator_z_dot - v_ctl_climb_setpoint;
float controlled_throttle <nowiki>=</nowiki> v_ctl_auto_throttle_cruise_throttle + v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain * (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err);
and pitch response
float v_ctl_pitch_of_vz <nowiki>=</nowiki> v_ctl_climb_setpoint * v_ctl_auto_throttle_pitch_of_vz_pgain;
}}

== Infrared Sensors ==
[[Image:Electromagnetic-Spectrum.png|thumb|Electromagnetic Spectrum]]
The infrared spectrum spans the gap between red light and microwave radiation and consists of a very large range of wavelengths from 0.75µm to 1000µm (compare to 0.38µm to 0.75µm for the entire range of visible light). With such a broad range, it is not surprising that the properties of IR radiation vary widely with wavelength and therefore are usually categorized as follows:
* near infrared (NIR, IR-A): 0.75–1.4 µm, this range is defined by the water absorption properties and is commonly used in fiber optic communication because of low attenuation losses in the SiO2 glass (silica) fiber.
* short wavelength IR (SWIR, IR-B): 1.4–3 µm, water absorption is substantial in this range.
* mid wavelength IR (MWIR, IR-C) also intermediate-IR (IIR): 3–8 µm
* long wavelength IR (LWIR, IR-C): 8–15 µm (The wavelength used by the Paparazzi IR sensors)
* far infrared (FIR): 15–1,000 µm (FIR lasers are used to detect explosives and chemical agents by infrared spectroscopy)
Near IR behaves much like red light, and can be focused in a glass lens or used to illuminate objects and is commonly used for dramatic effects in photography. Digital cameras are highly sensitive to NIR and typically include a filter to prevent this light from degrading the quality of the visible range.
[[Image:IR_skyline.jpg|thumb|left|Landscape in NIR]]
[[Image:IR_chinook.jpg|thumb|left|Chinook helicopter in LWIR]]
 
LWIR is more similar to microwave, and is a form of radiation emitted from within any material of any temperature above absolute zero. The emitted frequency is dependent on the temperature of the material and objects of common "earthly" temperatures typically emit radiation in the range of 8-12µm. The IR sensors used by Paparazzi are sensitive only to this range and therefore are not affected by objects of higher temperature, such as the sun. This range of IR passes easily through smoke and rain but can be blocked with a simple piece of clear tape.
 
[[Image:ir_sensor_bot_small.jpg|thumb|IR sensor board]]
The IR thermopiles used for attitude detection use the thermoelectric effect to convert heat to voltage. They require no power and the voltage produced is extremely low ~ 40µV/K^4. To convert this low voltage into something that can be measured by the autopilot we first connect the sensors in geometrically opposed pairs and wire them together backwards - output-to-output, such that the system will produce 0V if the sensors are of equal temperature, and any difference between temperatures creates either a positive or negative voltage. Next we amplify this voltage by a factor of 500x and add a 1.65V DC offset. The result is that for normal earthly temperatures, the sensor pair will output a voltage of 0V - 3.3V at extreme temperature differences and 1.65V at equilibrium.
 
[[Image:ir_response_curve.gif|thumb|IR voltage vs. angle]]
As the Earth emits substantially more IR radiation than the sky, we can always measure the difference between Earth and sky - even in cloudy/rainy weather, over snow covered land, or at night. The voltage produced by the sensor pair is proportional to two factors:
* The angle of the aircraft
* The local ground/sky temperature difference
The sensors typically have a 100 degree field of view and produce a somewhat sinusoidal voltage response relative to their angle orientation. as seen in the plot to the right. By combining the data from 3 orthogonal pairs of sensors (X, Y, Z axes) we can compute the exact bank and pitch angles of the aircraft in any weather/terrain conditions with the following caveats:
* Thermopile response is not perfectly sinusoidal so some approximate correction factors must be manually tuned
* Thermopiles react slowly (~25ms time constant), producing a phase delay that can cause oscillation on agile airplanes if a gyro is not implemented
 
For simple stable aircraft, a 2-axis IR system can be employed by simply measuring the absolute earth/sky temperature difference prior to flight and storing this value. The software has a function to make this easy - when enabled the user simply holds the aircraft nose-down and moves the aileron stick to store the value. This method can produce satisfactory results but will severely reduce navigation consistency as all bank angles will be computed relative to the patch of ground and cloud conditions of the launch site.
[[Image:IR_example2.jpg|thumb|left|2-axis IR angle measurement]]

Infrared Sensors

2008-01-14T11:55:50Z

MarcusWolschon: /* Parts */

[[Image:ir_sensor_bot_small.jpg|thumb|Paparazzi x-y IR sensor board]]
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. 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 3rd 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.

=== Architecture ===

[[Image:IR_Sensor_Board_Architecture.jpg]]

=== Dual Axis Board Pinout ===

[[Image:IR_Sensor_2-Axis_Pinout.jpg|frame|left|Component Side View]]

{| border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Pin #''!!''Name''!!''Notes''!!width="50"|''Suggested Color''
|-
|1|||IR2||IR Signal Output Axis 2||style="background:grey; color:white"|Grey
|-
|2||GND||Ground||style="background:black; color:white"|Black
|-
|3||VCC|| +3.3v Power Supply||style="background:red; color:white"|Red
|-
|4||IR1||IR Signal Output Axis 1||style="background:sienna; color:white"|Braun
|}
 

=== Single Axis Board Pinout ===

[[Image:IR_Sensor_1-Axis_Pinout.jpg|frame|left|Component Side View]]

{| border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Pin #''!!''Name''!!''Notes''!!width="50"|''Suggested Color''
|-
|1||IR||IR Signal Output||style="background:purple; color:white"|Purple
|-
|2||VCC|| +3.3v Power Supply||style="background:red; color:white"|Red
|-
|3||GND||Ground||style="background:black; color:white"|Black
|-
|}
 

Below is a product designed by [http://www.fmadirect.com FMA Direct] and is a replacement for their Flight Stabilization system. With a simple resistor swap, this module is suitable for use in the Paparazzi UAV.

[http://www.fmadirect.com/detail.htm?item=1778&section=20 CPD4SENUNIT]

=== Parts ===

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

=== FMA Direct CoPilot Sensor Head ===

[[Image:fmairsensor.jpg]]

{|
|[[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]]
|}

'''Stock FMA Components'''

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, it is advised to change R3 and R6 from 510 ohm to 1K ohm for an approximate gain of approximately 800. Without the change, it is theoretically possible to overdrive the Op Amp in extreme hot regions/seasons.

Another resistor swap option for this board 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
|}

=== FMA Direct Vertical Sensor ===

[[Image:fmavertsensor.gif]]

{|
|[[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 (single axis). The resistor R3 should be changed from a 510 ohm to a 1K ohm.

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

Talk:Infrared Sensors

2008-01-14T11:54:10Z

MarcusWolschon: /* List of parts */

Infrared Sensors

2008-01-14T11:53:27Z

MarcusWolschon:

[[Image:ir_sensor_bot_small.jpg|thumb|Paparazzi x-y IR sensor board]]
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. 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 3rd 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.

=== Architecture ===

[[Image:IR_Sensor_Board_Architecture.jpg]]

=== Dual Axis Board Pinout ===

[[Image:IR_Sensor_2-Axis_Pinout.jpg|frame|left|Component Side View]]

{| border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Pin #''!!''Name''!!''Notes''!!width="50"|''Suggested Color''
|-
|1|||IR2||IR Signal Output Axis 2||style="background:grey; color:white"|Grey
|-
|2||GND||Ground||style="background:black; color:white"|Black
|-
|3||VCC|| +3.3v Power Supply||style="background:red; color:white"|Red
|-
|4||IR1||IR Signal Output Axis 1||style="background:sienna; color:white"|Braun
|}
 

=== Single Axis Board Pinout ===

[[Image:IR_Sensor_1-Axis_Pinout.jpg|frame|left|Component Side View]]

{| border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Pin #''!!''Name''!!''Notes''!!width="50"|''Suggested Color''
|-
|1||IR||IR Signal Output||style="background:purple; color:white"|Purple
|-
|2||VCC|| +3.3v Power Supply||style="background:red; color:white"|Red
|-
|3||GND||Ground||style="background:black; color:white"|Black
|-
|}
 

Below is a product designed by [http://www.fmadirect.com FMA Direct] and is a replacement for their Flight Stabilization system. With a simple resistor swap, this module is suitable for use in the Paparazzi UAV.

[http://www.fmadirect.com/detail.htm?item=1778&section=20 CPD4SENUNIT]

=== Parts ===

The Thermopiles are:

Manufacturer Part Number MLX90247-ESF-DSA

Digi-Key Part Number MLX90247-ESF-DSA-ND

Description IC SENS THERMOPILE W/THERM TO-39

=== FMA Direct CoPilot Sensor Head ===

[[Image:fmairsensor.jpg]]

{|
|[[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]]
|}

'''Stock FMA Components'''

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, it is advised to change R3 and R6 from 510 ohm to 1K ohm for an approximate gain of approximately 800. Without the change, it is theoretically possible to overdrive the Op Amp in extreme hot regions/seasons.

Another resistor swap option for this board 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
|}

=== FMA Direct Vertical Sensor ===

[[Image:fmavertsensor.gif]]

{|
|[[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 (single axis). The resistor R3 should be changed from a 510 ohm to a 1K ohm.

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

User:MarcusWolschon

2008-01-14T10:57:09Z

MarcusWolschon:

Homepage: [http://wolschon.biz]

Drones: [https://ccc-fr.de/index.php/Donenbau CCC-Freiburg Wiki]

using Paparazzi for: Experimenting with advanced telemetry.

Get Hardware

2008-01-14T10:55:41Z

MarcusWolschon: /* Preliminary list of buying intentions */

The Paparazzi project began in 2003 with the goal of creating a free and open-source UAV guidance system which could be easily adapted to a wide variety of aircraft for a wide variety of applications. The system has since proved to be extremely successful and Paparazzi-based aircraft have won all top positions in every [[Gallery|flight contest]] in which they competed.

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.

Paparazzi is currently being developed by several universities and a team of enthusiast volunteers from around the world. It is used by private corporations, universities and hobbyists for an ever-increasing number of applications.

One of the greatest challenges facing newcomers to the project has always been the fabrication of the airborne hardware - so with the rapidly increasing number of users and hardware requests, the team now feels the need for commercially-produced hardware to be made available at minimal cost to the public. Therefore this announcement has two purposes:

* To find a company interested and capable of manufacturing and distributing the Paparazzi hardware.
* To collect a list of committed buyers so that we may accurately predict the required manufacturing and sales volumes.
We ask all interested parties to add your name and hardware request to the list below by editing this page
<hr>
<h2>USA Based</h2>
OneFastDaddy Website: http://www.onefastdaddy.com/catalog/ is a Paparazzi Project Member (onefastdaddy on IRC) who has made available Paparazzi PCBs (bear with me it's free software and I'm just setting it up). You can also just email: onefastdaddy@gmail.com with any requests. I'd like to make pre-built ones available but am not making any promises. I will put them on the Website if I do. This truly is just a goodwill effort to help increase the visibility and the number of Paparazzi Autopilots out there so please be patient/understanding with requests. You can expect for an order of a couple PCBs I get them in the Mail right away. I am told it takes 5-7 days USPS First Class virtually worldwide. Please no large orders (see below how to have them fabricated yourself)

<h3>Want to have them FAB like I did?</h3>
I found that I was unable to find a vendor for the Tiny1.3 boards so I googled around and found http://www.myropcb.com MYROPCB. They are in Canada and outsource to China who drop-ships them when the order is completed. They have a form online to get instant quotes and I have made 4 orders now and am quite happy. So if you need more than 5 you may want to consider going that route as I did.

Also feel free to email me directly with any questions about the process I just explained or ?.

<hr>
<h2>UK Based</h2>
After numerous requests i am working on supplying all pcb's , parts , gps etc and will be fully supporting the paparazzi projects now and in the future , so please bear with Richard & Myself David (cncbasher), whilst we gather stocks and manufacture pcb's etc , enquirys can be made direct to paparazzi.pcb@rctechnix.com if you wish , a web site is in the process( now up and running see below ) of being put together which will incorporate sales of everything papparazzi , we will even help in getting your own built projects going if you are stuck so long as it's paparazzi based ! too , Bare PCB'S are now available for tiny13 v1.1 , classix v0.99 & dual_ir incl free 1st class postage ,whilst we work on getting the shop up and running if you need bare pcb's , they can be purchased using Paypal from our website http://www.rctechnix.com . we are currently assembling a few for testing and will announce availability shortly of assembled boards and complete kits , along with wiring harness's , usb lead's , gps , antennas & zigbee modules etc.

Although the website is new , we hope to have stocks of almost everything you will need , and other rc supplies too .

== Preliminary list of buying intentions ==
'''Pricing will be determined based on volume and announced when a first run quantity is determined.'''
{|
|-
||'''Name''' ||'''Tiny Autopilot w/ GPS''' ||'''Classix Autopilot''' ||'''GPS w/ Antenna''' ||'''IR/gyro Sensor''' ||'''5V Regulator'''
|-
|| Robert (hm.edu) || 2 || 0 || 1 || 2 || 1
|-
|| AndreTurner || 5 || 5 || 5 || 5 || 5
|-
|| Audax || 1 || 0 || 1 || 1 || 1
|-
|| ENAC || 10 || 10 || 10 || 20 || 10
|-
|| Poine || 3 || 3 || 2 || 6 || 3
|-
|| Yvest || 2 || 2 || 2 || 6 || 3
|-
|| elik || 2 || 2 || 0 || 0 || 2
|-
|| Supaero || 3 || 0 || 0 || 3 || 0
|-
|| the Pauls || 2 || 0 || 0 || 2 || 0
|-
|| JeffT11 || 1 || 0 || 1 || 1 || 1
|-
|| Miraterre || 5 || 0 || 0 || 5 || 5
|-
|| Martin || 3 || 3 || 2 || 1 || 3
|-
|| phaelicks || 0 || 1 || 0 || 0 || 1
|-
|| Chris || 0 || 2 || 2 || 2 || 2
|-
|| Filipe || 0 || 1 || 1 || 2 || 0
|-
|| Glen || 0 || 1 || 1 || 2 || 1
|-
|| Michel || 2 || 0 || 0 || 2 || 2
|-
|| Ben Hardy || 1 || 1 || 1 || 1 || 1
|-
|| Indelay || 1 || 1 || 1 || 1 || 1
|-
|| Secho || 1 || 1 || 1 || 1 || 1
|-
|| Miguaise || 0 || 0 || 0 || 2 || 0
|-
|| Johnstorm || 1 || 1 || 0 || 0 || 0
|-
|| Kevin B || 0 || 0 || 0 || 2 || 0
|-
|| RobertP || 0 || 0 || 0 || 2 (gyro only) || 0
|-
|| Ronald A || 0 || 1 || 1 || 1 || 1
|-
|| JöWi || 2 || 0 || 0 || 2 || 0
|-
|| Robert H || 2 || 2 || 2 || 2 || 2
|-
|| montaga || 2 || 2 || 2 || 2 || 2
|-
|| Ethan || 0 || 2 || 0 || 2 (gyro only) || 2
|-
|| Jruip || 2 || 2 || 2 || 2 || 2
|-
|| Dave Hylands || 2 || 2 || 2 || 2 || 2
|-
|| Vic || 2 || 0 || 0 || 2 || 2
|-
|| Reinhold || 2 || 2 || 2 || 4 || 2
|-
|| xinhuachen || 2 || 2 || 2 || 2 || 2
|-
|| Ciko || 1 || 0 || 0 || 1 || 1
|-
|| sullrich || 1 || 1 || 1 || 1 || 1
|-
|| dian || 2 || 0 || 0 || 2 (gyro) || 2
|-
|| Jeff Jacobs || 2 || 0 || 0 || 2 || 2
|-
|| helitron || 1 || 0 || 0 || 1 || 1
|-
|| uthere || 0 || 0 || 1 || 1 || 1
|-
|| Opsis || 1 || 0 || 0 || 1 || 1
|-
|| keithp || 1 || 1 || 1 || 1 || 1
|-
|| Jamiew || 1 || 1 || 1 || 1 || 1
|-
|| RikkieV || 1 || 1 || 0 || 1 || 1
|-
||gwenhastings || 0 || 2 || 1 || 1 || 1
|-
||dmcnulty || 1 || 0 || 0 || 1 || 1
|-
||Ski || 2 || 0 || 0 || 2 || 2
|-
||Strathclyde || 1 || 0 || 0 || 1 || 1
|-
||Pattarapong || 1 || 1 || 1 || 2 || 2
|-
||flo || 1 || 0 || 1 || 1 || 1
|-
||Orjanp || 1 || 0 || 1 || 1 || 1
|-
||Krado || 0 || 1 || 1 || 1 || 1
|-
|| Marcus || 0 || 0 || 0 || 2 || 0
|-
|-
|'''Total''' ||'''72''' ||'''51''' ||'''46''' ||'''102''' ||'''76'''
|-
|}

Talk:Inertial Measurement Units

2008-01-14T10:43:18Z

MarcusWolschon: who

== who ==

Who is working on this?

Talk:Infrared Sensors

2008-01-14T10:41:03Z

MarcusWolschon: List of parts

== List of parts ==

Can someone post a bill of materials and a pcb-layout?
That is the name of the thermopiles and amps to look for?

Installation/Linux

2008-01-10T13:55:45Z

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

Note: Installation works fine on the Ubuntu 7.10 distribution (using the etch distro).

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

==== Extra for Ubuntu 7.04 and 7.10 ====

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'''
* 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''

=== 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 these 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 is required to flash the Paparazzi-boards via USB. For details, see [[Compiling]].

For USB download as non root you need permission to access the "raw" USB bus. You should be member of the dialout group ("sudo adduser <your login> dialout", logout and relogin) and tell the system to allow access by adding the following

# all (fake VID 0x7070) LPCUSB devices (access through libusb)
BUS=="usb", SYSFS{idVendor}=="7070", GROUP="dialout"

through copying the file "10-paparazzi.rules" as root from $PAPARAZZI_HOME/conf/system/udev/rules/ to /etc/udev/rules.d/

== 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.

== 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.
 
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 ...

User:MarcusWolschon

2008-01-10T13:44:53Z

MarcusWolschon:

Homepage: [http://wolschon.biz]

Drones: [https://ccc-fr.de/index.php/Donenbau CCC-Freiburg Wiki]

User:MarcusWolschon

2008-01-10T13:44:45Z

MarcusWolschon:

Homepage: [http://wolschon.biz]
Drones: [https://ccc-fr.de/index.php/Donenbau CCC-Freiburg Wiki]