PaparazziUAV - User contributions [en]

Module/TronSens HTM B71

2021-01-17T19:12:53Z

Martinmm:

__NOTOC__
[[Image:Htm_b71.jpg|thumb|right|TronSens HTM 71]]
[[Image:Ist_hyt_271.jpg|thumb|right|IST HYT-271]]

==Overview==

The TronSens HTM B71 (now sold as IST HYT-271) is a relative humidity and digital temperature sensor. Early versions seemed to have issues with other devices on the same I2C bus.

{|border="1"
|-valign="top"
||Module name||meteo/humid_htm_b71
|-
|Sensor type
|humidity, temperature
|-
|Range (humidity)
| 0 .. 100 %RH
|-
|Range (temperature)
| -40°C .. +125°C
|-
|Resolution (humidity)
|? %RH
|-
|Resolution (temperature)
|0.01°C
|-
|Refresh rate
|4Hz
|-
|I2C address
|0x28
|}

[https://www.ist-ag.com/sites/default/files/DHHYT271_E.pdf Product data sheet]

[https://www.ist-ag.com/sites/default/files/AHHYTM_E.pdf Application note]

==Hardware==
The sensor board can be directly interfaced to the autopilots I2C 3.3V interface

=== Wiring ===
{|border="1"
|-valign="top"
||'''Autopilot I2C pin'''||'''Autopilot I2C'''||'''HTM B71'''||'''HTM B71 pin'''
|-
|1
|GND
|GND
|2
|-
|2
|
|
|
|-
|3
| +3.3V
| Vdd
|3
|-
|4
|SDA
|SDA
|1
|-
|5
|SCL
|SCL
|4
|}

==Usage==

To use the humidity sensor add:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<modules>
<load name="humid_htm_b71.xml"/>
</modules>
</source>
}}

===Result message===

The raw data (ihumid/itemp) and the converted result (humid/temp) is written to the log file. The message is automatically sent when new data is received, it does not have to be added to the telemetry file.
{{Box Code|conf/messages.xml|
<source lang="xml">
<message name="HTM_STATUS" id="115">
<field name="ihumid" type="uint16"/>
<field name="itemp" type="uint16"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
</source>
}}

Sample log file lines
15.891 123 HTM_STATUS 4807 5920 29.35 19.2
16.143 123 HTM_STATUS 4807 5917 29.34 19.17
16.391 123 HTM_STATUS 4807 5917 29.34 19.17
15.643 123 HTM_STATUS 4809 5917 29.35 19.2

[[Category:User_Documentation]] [[Category:Modules]]

File:Ist hyt 271.jpg

2021-01-17T19:10:52Z

Martinmm: IST HYT-271

IST HYT-271

SUMO

2018-01-28T19:53:46Z

Martinmm:

__NOTOC__

The Small Unmanned Observer (SUMO) has been developed by the Paparazzi community together with the Geophysical Institute of the University of Bergen, Norway. It is designed to support research in the lower atmospheric boundary layer. It uses industry standard sensors for temperature, air pressure, humidity and wind speed/direction as well as more specialized sensors as infrared/visible light radiation, particle concentration or ionizing radiation ([[Modules_list|full list]]). It has been used in many measurement campaigns by various research institutions.

[http://www.uib.no/rg/meten/research/field-instrumentation/sumo SUMO homepage at the Geophysical Institute]

<center>
<gallery>

Image:Kerlingafjoll.jpg|Near Hofsjökull glacier, Iceland 2007
Image:Hangar.jpg|KV Svalbard, Barents Sea 2008
Image:Adventalen.jpg|Adventalen, Svalbard 2009
Image:Finnarp.jpg|Finnish Aboa station Antarctica 2010
Image:Troll_station.jpg|Norwegian Troll station Antarctica 2011
Image:Sumo_launch.jpg|US McMurdo station Antarctica 2012
Image:Weddell_sea.jpg|RV Polarstern in the Weddell Sea/Antarctica 2013
Image:Sumo_tall_tower.jpg|Remote camp on Ross Ice Shelf/Antarctica 2014
Image:Sumo_advent.jpg|Svalbard 2016
Image:Hailuoto.jpg|Hailuoto, Finland 2017

</gallery>
</center>

== Legal Disclaimer ==

'''As with all Paparazzi software and hardware this does not come with any guarantee. Make sure you follow all applicable rules and laws (safety, radio regulation, ...). No part of the system is certified by any national or international authority. Please refer to the national aviation regulation for Remotely Piloted Aircraft Systems of the accountable country before you start operating. A special permit is usually needed for any activity not related to hobby/recreational usage and especially important if you intend to fly at high altitudes. The experience is that the necessary consultations need quite some time and effort.'''

== Build your own ==

The SUMO is bascially an RC airplane equipped with additional hardware for automatic flight and to collect data for scientific usage. It needs some knowledge in the fields of model airplanes, electronics, hard- and software to build and operate it. One successful strategy for an university research group might be to team up with the engineering department. Get in contact with local RC enthusiasts and ask them to support you in safety piloting the aircrafts. There are many different ways to assemble a Paparazzi aircraft. We are describing a way hat has shown great results in the past years.

=== Ground station ===

The groundstation consists of a laptop, a bi-directional modem, a standard RC transmitter and battery chargers.

==== Laptop ====

The computer should be able to operate outdoors and cope with dust, water, temperature, etc. We have mainly used Panasonic Toughbook CF-19 laptops that never showed any weakness. The recommended operating system is Ubuntu 12.04 LTS.

[[SUMO/Software_installation|Software installation instructions]]

==== Ground Modem ====

The [[Modems|modems section]] describes an overwhelming number of various modems that are available for all sorts of applications. The 2.4GHz Digi XBee Series 1 are proven all-purpose modems that can be used almost world wide. For the ground station we use the readily available Digi XBee USB modem in a robust metal case. It is connected to the laptop through a standard USB A-B cable and brings its own whip antenna.

[[SUMO/Ground_modem|Ground modem setup]]

==== RC Transmitter / Receiver====

The RC world gives you many options to control your aircraft. If you or any supporting team member already owns an RC system, you might try to get this to work. It is important that your RC receiver supports the output of a sum signal that contains all servo data in one signal. You need an extra channel for switching the flight mode. If you start from scratch the Futaba/robbe system is a good option.

[[SUMO/rc_transmitter|RC transmitter / receiver setup]]

==== Battery Chargers ====

There are many different brands and types available and we can not really give a suggestion. We were happy with devices from evoTech or Schulze. Get in contact with your local RC dealer and find a device suitable for you. It is important that the device fits to the power requirements you will see in the field (12V DC/115V AC/230V AC). Do not buy the cheapest available. Follow the instructions carefully, Lithium Polymer batteries can be dangerous.

=== Airborne System ===

==== Mechanical Parts ====

We chose to use the Multiplex Funjet right after it appeared in 2006. The goal was to have an aircraft that can fly fast to be able to operate in wind conditions up to 15m/s. To achieve an easy take-off for non-RC-enthusiasts we equipped it with a bigger propeller than normal (9x6). Some outer parts have been strengthend with glass fiber. The recent Funjet Ultra can also be used but we do not see much improvement for our goals. It is heavier and the visibility is poor.

The Funjet is not a beginners airplane. Get some piloting help when you are new to RC. You always need a safety pilot that can take over the aircraft.

[[SUMO/mechanical_assembly|SUMO mechanical assembly]]

==== RC Parts ====

Use the best RC parts you can get. There is no use in saving some Euros on this. We use Graupner servos, an AXI motor and Jeti motor controller.

[[SUMO/install_rc|Installing servos, motor and motor controller]]

==== Prepare specific electronic parts ====

These are the non-standard parts you need. Look in the [[Get_Hardware|get hardware]] section for a source of these parts. In the current version of the SUMO we use the Umarim Lite v2 autopilot, a TWOG board as data logger, a Digi XBee Pro Series 1 modem, a Hygrosens temperature sensor, Sensirion humidity sensor, Meas Spec pressure sensor and an optional Eagletree airspeed v3 sensor.

[[SUMO/prepare_electronics|Prepare Paparazzi electronics]]

==== Install electronic parts ====

This describes how the electronics are installed in the aircraft.

[[SUMO/install_electronics|Install Paparazzi electronics]]

==== Software configuration setup ====

Describes the software setup for the SUMO.

[[SUMO/sw_configuration|Software configuration]]

==== Operating the logger ====

This page describes how to setup and use the on-board logger.

[[SUMO/logger|Logger setup]]

==== Using Paparazzi ====

Browse through the wiki for learning how to use Paparazzi. The [[Media:users_manual.pdf|Users Manual]] gives a compact introduction to the system.

File:Hailuoto.jpg

2018-01-28T19:52:23Z

Martinmm: SUMOP at Hailuoto, Finland, Feb 2017

SUMOP at Hailuoto, Finland, Feb 2017

SUMO/install rc

2017-03-12T06:55:45Z

Martinmm: add degree indicator image for motor mount

File:Sumo degree indicator.jpg

2017-03-12T06:53:38Z

Martinmm:

Bebop

2017-02-25T16:37:56Z

Martinmm: Added 3D printed dampers

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:Parrot-bebop-drone-new-03.jpeg|right|500px|Parrot Bebop]]</div>
<div style="float: right; width: 40%">__TOC__</div>

= Introduction =

By default the [http://www.parrot.com/usa/products/bebop-drone/ Bebop] from [http://www.parrot.com/ Parrot] is a Wifi controlled flying quadrotor, designed to be controlled with an Android or iOS device.

'''No more restrictions''' as from now; with a few simple clicks you can '''run Paparazzi on the Bebop''' and have full autonomous flight and much more!

= Getting started =

What you need:
# A bebop drone (1 or 2) with the newest firmware
# A joystick (example: http://www.hobbyking.com/hobbyking/store/__20951__Hobbyking_6CH_RC_Flight_Simulator_System_Mode_2_.html
# A laptop with Ubuntu, or a virtual box. You can download one here: https://mega.nz/#!1JpTiTjS!GdAHpa-_FAQAFPNypp3a3Up0B0yo1kYLXi3YLMXSAoo}. The password for this virtual box is "mavlabcourse" (the same as the username).

Steps you will need to follow:
# Install Paparazzi: http://wiki.paparazziuav.org/wiki/Installation . This is already done on the provided virtual box
# Start paparazzi with the default configuration
# Power up your Bebop.
# If you have a Bebop 2 or a Bebop 1 with firmware v3.2.0 or higher press the '''on/off button four times''' in short fast after powerup
# Make a Wifi connection with your PC and the Bebop
# In the Paparazzi center choose "Bebop" Or "Bebop2" in the airframe dropdown menu
# Press "Upload"
# Select Flight UDP in the session menu
# Press execute

Voila, you will get telemetry from the Bebop. Now it is up to you how and where to fly.
Useful things to watch are:
# The video series here: https://www.youtube.com/watch?v=eojAPZvT1Ck . Although it is made for the ARDrone the steps are very similar for the bebop drone.
# This site has several documents on how to program something for your drone: http://mavlabcourse.tk/ . Although these documents assume you have an indoor flight area, you can also fly outside with the internal GPS of the Bebop.

Do you need help with any of the steps? Please visit us at https://gitter.im/paparazzi/discuss

= Features =
== Connectivity ==
* Wi-Fi antennas: MIMO dual-band with 2 double-set of dipole antennas for 2.4 and 5 GHz
* Sending power: Up to 26 dBm
* Signal range: N/A

== Structure ==
* 4 Brushless Outrunner motors
* Glass fiber reinforced (15%) ABS structure
* High-resistance EPP outdoor hull: Clip and unclip easily to adapt to indoor and outdoor flight, protects the propellers against potential bumps, can be removed to reduce wind factor
* Three-blade auto-block propellers in Polycarbonate with fast disassembly system
* Anti-vibration bumpers

=== Full Motor details ===

In case for a simor motor model

* Magnets: 12
* Stators: 9
* Layers of stator metal: 15

* Copper windings: 34
* Copper diameter: 0.29mm
* Copper resistance: over 50 cm wire ~0.3 ohm

Dimentions:
* Flange height 7.67mm
* Flange dia22.7mm
* Axis length 19.4mm
* Axis dia 1.9 mm
* Statorheight 5.55mm
* Stator diam 18.33mm

Weight:
* Flange weight 3.05g
* Flange and magnets 5.15g (Magnet ~ 1.5mm thick on a Flange dia22.7mm)
* Magnet only (and the glue) 2.1g

== Camera ==
* Camera with "Fisheye" lens 180° 1/2,3": 6 optical elements and 14 Mega pixels sensor
* Video stabilization: Digital on 3-axes
* Video definition: 1920x1080p (30fps)
* Photo definition: 3800x3188 pixels
* Video encoding: H264
* Photo file format: RAW, DNG
* Internal memory: Flash 8 GB
* Extended memory: Micro USB

== Battery ==
* Lithium Polymer 1200 mAh
* Flight time: Around 12 minutes

== Processor ==
* Motherboard:
** Parrot P7 dual-core CPU Cortex A9
** Quad core GPU
** 8Gb flash memory
* All fixed on a magnesium shelf that acts as electromagnetic shielding and in the same run as a heat sink for heat dissipation and cooling of the all the onboard processors

== Sensors ==
* 3-axes magnetometer (AKM 8963)
* 3-axes gyroscope (MPU 6050)
* 3-axes accelerometer (MPU 6050)
* Optical-flow sensor (Fig.8): Vertical stabilization camera (Every 16 milliseconds, an image of the ground is taken and compared to the previous one to determine the speed of the Bebop Drone)
* Ultrasound sensor (Analyzes the flight altitude up to 8 meters)
* Pressure sensor (MS 5607)

== Geo-location ==
* Bebop 1: GNSS (GPS + GLONASS + Galileo, [http://www.furuno.com/en/products/gnss-module/GN-87 Furuno GN-87F])
* Bebop 2: GNSS (GPS + GLONASS + Galileo, Baidu, [https://www.u-blox.com/en/product/neo-m8-series])

== Dimensions ==
* 28x32x3.6cm without the hull
* 33x38x3.6cm with the hull

== Weight ==
* 380g without the hull
* 400g with the hull

== OS/Software ==
* Operating system: Linux (kernel 3.4.11 #3 SMP PREEMPT)
* glibc: (Sourcery CodeBench Lite 2012.03-57) 2.15
* libstdc++: GLIBCXX_3.4 - GLIBCXX_3.4.16

= Pinout =
== GPIO ==
* 6 Fans Enable
* 9 WiFi Reset
* 73 P7MU IRQ
* 81 GPS Power Enable
* 85 Fan Enable
* 89 VCAM FSYNC gyro
* 90 HCAM FSYNC gyro
* 91 DRDY MPU6050
* 124 Magneto interrupt
* 128 (video) Slew rate??
* 129 VCAM enable
* 130 (video) Slew rate??
* 132 HCAM enable
* 199 BLDC micro-controller reset (forces it into bootloader) ON/OFF
* 200 US Pulse level
* 201 On/Off button (default monitor to files running: /bin/onoffbutton)
* 202 USB Host mode pin 3V3 (HOST_MODE_3V3)
* 203 USB Host mode on
* 204 USB0 OC

== PWM ==
* 6 Heating resistor for warming IMU sensors (125000ns period, 0ns duty)
* 8 MPU6050 clock (31510ns period, 15258ns duty) Desired frequency is 32768kHz with 50% duty cycle (period=30517us). Period was set empirically to 31517 to get a 5ms data ready period. Desired frequency is slightly modified to synchronize camera and IMU
* 9 Vertical camera clock (23ns period = 43MHz)
* 11 Horizontal camera lock (77ns period = 13MHz)

== I2C ==
* I2C-0
** FPGA
** P7MU
** EEPROM Unknown EEPROM for Front camera calibration (addr 0x55)
** MT9f002 CMOS Digital Image Sensor (1/2.3 inch 14Mp, front camera) [http://www.onsemi.com/PowerSolutions/product.do?id=MT9F002 MT9f002] (addr 0x10)
** MT9v117 CMOS Digital Image Sensor (1/6 inch VGA, bottom camera) [http://www.aptina.com/assets/downloadDocument.do?id=553 MT9v117] (addr 0x5d)
* I2C-1
** Cypress Motor Controller (Parrot BLDC) [[Bebop/BLDC]] (addr 0x08)
** AKM8963 Magnetometer [http://www.akm.com/akm/en/file/datasheet/AK8963.pdf AK8963]
** MS5607 Barometer [http://meas-spec.com/product/pressure/MS5607-02BA03.aspx MS5607]
* I2C-2
** MPU6050 Gyro + Accel [http://invensense.com/mems/gyro/documents/RM-MPU-6000A.pdf MPU6050] (rotation changed in version 2)

== SPI ==
* spidev1.0 Sonar (Only data pin connected for generating pulses)

== UART ==
* ttyPA1 GPS (Furuno GN-87F on v1 and Ublox Neo M8N on v2)

== Other ==
* /dev/hx280 Hantro (On2) Video encoder. Hantro chip video encoder used for the HCAM.
* /sys/bus/iio/devices/iio:device0 (p7mu-adc_2) Sonar ADC

= Actuators =
The Bebop has 4 Brushless motors, which are controlled by the cypress chip on I2C-1. This Cypress chip contains custom made firmware(BLDC) by Parrot, which can be automatically updated using a bootloader in the ESC part of the mainboard.
The firmware from Parrot contains a nice closed loop RPM control, which is automatically tuned inside the factory.
Since version 2 Parrot changed the order and rotation direction of the motors.

For more information about how to communicate with the BLDC look at [[Bebop/BLDC]]. Or take a look at the "bebop" actuator inside the <code>airborne/boards/bebop/</code> folder.

= Onboard applications =

The original programs on the Bebop

* /usr/bin/dragon-prog Main program that controls the drone
* /bin/watchdog.sh Checks if Dragon is still running and reboots dragon-prog if it somehow would not be running anymore

* BLDC_Test_Bench Controls the Brushless Motor Controllers for testing and playing sounds etc.
* bcmwl Everything with wifi
* diagnostic Outputs sensor diagnostic
* mk3_camera_eeprom Reads the front camera EEPROM
* config_mt9v117 Configure the bottom camera

= Cross compiler =
For the Bebop you need to use a recent version GNU gcc-arm-linux-gnueabi (Ubuntu/Linaro 4.7.4-2ubuntu1) 4.7.4 provided with Ubuntu since 14.04 LTS.

[http://electronics.stackexchange.com/questions/21594/is-code-sourcery-g-lite-still-a-viable-projectIn the past you could also crosscompile with Sourcery CodeBench Lite 2012.03-57 for ARM GNU/Linux from <s>Greedy</s> Mentor Graphics, previously called codesourcery. However the open'ness there is nowhere to be found anymore, so we'll say "No thanks" to Codesourcery ,now <s>Greedy</s> Mentor"]
but if you [http://sourcery.mentor.com/public/gnu_toolchain/arm-none-linux-gnueabi/arm-2012.03-57-arm-none-linux-gnueabi.bin insist] , feel <s>free</s> restricted.

= Tips & Tricks =

== Video ==
Make sure the [http://docs.paparazziuav.org/latest/module__video_rtp_stream.html video_rtp_stream.xml] module enabled in the airframe.
Receive a video stream with e.g. avplay, vlc or a python app:
$ avplay -loglevel quiet -max_delay 50 -fflags nobuffer rtp://192.168.42.1:5000
$ vlc ~/paparazzi/var/sdp_tmp/192.168.42.1/stream.sdp
$ ~/paparazzi/sw/tools/rtp_viewer/rtp_viewer.py

== Factory Reset ==
You can reset the Parrot Bebop Drone to factory settings. You '''will''' loose all your photos and movies recorded on your Bebop.
To do this you need to press and hold the power button for 10 seconds. The LED will blink green and orange for a while, then green and the drone will shutdown.

== Firmware ==
Theoretically is is not important which firmware you use for Paparazzi to fly. But with the latest firware we get better Video imagery. So if you can.. use the latest firmware.

The Paparazzi volunteers test flew the Bebop with Firmware v1.98.11 and v2.0.57, v3.0, v3.2, v3.3, v3.9, v4.0.3

Note that under v4.0.3 the Front cam doesn't work (yet..)

The v3.3.0 is the latest firmware version know as of 20170215 for Bebop 1. For bebop 2 Latest know is v3.9 final and v4.0.3 Beta
If even newer firmware is available please report any (if any) issues found related to the firmware on e.g. the mailinglist.

== Damper ==
The original Bebop2 damper are very soft and can cause oscillations around roll. You can print harder dampers from [http://www.thingiverse.com/thing:2135529 Thingiverse] yourself that will degrade the video quality but remove these oscillations. Use the _nodamp airframe files in that case.

= Using the MicroUSB for serial data =

The Bebop has this tiny USB connector just above the power button. This USB connector can also be used with help of a USB to Serial FTDI conversion board.
To use the driver in current firmware OTG serving should be off. More information, photos, connection examples, sourcode and real life example of how to use this port.

[[Category:Autopilots]]

Module/Aeroprobe OTF

2016-04-25T19:23:37Z

Martinmm: add new Aeroprobe msg type

__NOTOC__
[[Image:Otf_5hole.jpg|thumb|right|Aeroprobe 3mm 5-hole probe]]
[[Image:Otf_ad.jpg|thumb|right|Aeroprobe On-The-Fly! air data computer]]
[[Image:Otf_cable.jpg|thumb|right|OTF! cable]]
== Overview ==

The Aeroprobe On-The-Fly! air data computer measures air pressure from a 5-hole pitot tube and can write resulting data to an SD card or transmit it through an UART. It outputs speed, angle of attack, angle of sideslip and altitude. The air data computer input "1" goes to the middle tube of the probe, the longest one. The next shorter one goes to "2", then "3" and so on.

{|border="1"
|-valign="top"
||Module name||sensors/airspeed_otf
|-
|Sensor type
|airspeed, flow angle
|-
|Range (speed)
|8m/s .. 63m/s
|-
|Range (angle)
|±20°
|-
|Resolution (speed)
|0.02m/s
|-
|Resolution (angle)
|0.01°
|-
|Refresh rate
|100Hz
|}

[http://www.aeroprobe.com/uploads/On-The-Fly_Manual_RevF.docx User manual]

== Hardware ==

The air data computer needs to be configured by the manufacturer to output data at the desired speed. The serial interface does have original RS-232 levels, that is '''not''' compatible with the autopilots 3.3V interface. You need a RS-232 level shifter. Do '''not''' use a simple transistor-based converter like the Sparkfun PRT-08780 as it can not safely be driven by the Aeroprobe. Use a integrated converter like the MAX3232 based Sparkfun BOB-11189.

Air data computer/pitot tube supplier:
[http://www.aeroprobe.com/distributors Aeroprobe]

RS232 level shifter supplier:
[http://www.sparkfun.com/products/11189 Sparkfun]

OTF connector supplier:
[http://de.farnell.com/hrs-hirose/hr30-6p-6s-71/stecker-loet-buchsenkontakt-6kont/dp/1425744 Farnell]

=== Wiring Umarim ===

{|border="1"
|-valign="top"
||'''Umarim UART1 pin'''||'''Umarim UART1'''||'''Level shifter LOGIC'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
| +3.3V
|VCC
|-
|4
|RX1
|R1OUT
|-
|5
|TX1
|T1IN
|}

=== Wiring Logger/TWOG ===

{|border="1"
|-valign="top"
||'''TWOG SERIAL pin'''||'''TWOG SERIAL'''||'''Level shifter LOGIC'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
| +3.3V
| 3V-5.5V
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD1
|R1OUT
|-
|8
|TXD1
|T1IN
|}

=== Common wiring===

{|border="1"
|-valign="top"
||'''BEC Power supply'''||'''OTF'''||'''OTF pin'''
|-
| +
| +VCC
|1
|-
| -
|GND
|2
|}

{|border="1"
|-valign="top"
||'''color'''||'''Level shifter RS-232'''||'''OTF'''||'''OTF pin'''
|-
|red
|R1IN
|TX (data out)
|3
|-
|orange
|T1OUT
|RX (data in)
|4
|-
|black
|GND
|GND
|5
|}

== Ground usage ==

This is for the lab only, not for flight. The modem serial port of an Umarim will be occupied by the OTF! compter. Therefore the data is transferred through USB.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
...
<subsystem name="telemetry" type="transparent_usb"/>
...
</source>
}}

To use it load the airspeed_otf module:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<modules>
...
<load name="airspeed_otf.xml"/>
</modules>
</source>
}}

The used UART has to be set globally:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<target name="ap" board="<my_board_type>">
...
<configure name="OTF_UART" value="UART1"/>
</source>
}}

===Result message (old) ===

The output is airspeed (velocity), angle of attack (a_attack), angle of sideslip (a_sidesl) and altitude. The data is secured by a packet counter and a checksum.
{{Box Code|conf/messages.xml|
<source lang="xml">
<message name="FLOW_AP_OTF" id="179">
<field name="counter" type="uint32"/>
<field name="velocity" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="a_attack" type="int16" unit="centideg" alt_unit="deg"/>
<field name="a_sidesl" type="int16" unit="centideg" alt_unit="deg"/>
<field name="altitude" type="int32" unit="cm" alt_unit="m"/>
<field name="checksum" type="uint8"/>
</message>
</source>
}}

Sample log file lines
11.522 123 FLOW_AP_OTF 1076 1480 628 1636 -100 2
11.535 123 FLOW_AP_OTF 1077 1457 735 1707 900 29
11.548 123 FLOW_AP_OTF 1078 1451 661 1867 800 19
11.555 123 FLOW_AP_OTF 1079 1422 697 1685 -300 11

===Result message (new) ===

The output is airspeed (velocity), angle of attack (a_attack), angle of sideslip (a_sideslip) and altitude. Dynamic and static pressure are always zero for this sensor. The data is secured by a packet counter and a checksum.
{{Box Code|conf/messages.xml|
<source lang="xml">
<message name="AEROPROBE" id="179">
<description>
Airflow data returned by OTF and uADC 3D probes from Aeroprobe.
</description>
<field name="counter" type="uint32"/>
<field name="velocity" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="a_attack" type="int16" unit="centideg" alt_unit="deg"/>
<field name="a_sideslip" type="int16" unit="centideg" alt_unit="deg"/>
<field name="altitude" type="int32" unit="cm" alt_unit="m"/>
<field name="dynamic_p" type="int32" unit="Pa"/>
<field name="static_p" type="int32" unit="Pa"/>
<field name="checksum" type="uint8"/>
</message>
</source>
}}

Sample log file lines
11.522 123 AEROPROBE 1076 1480 628 1636 -100 0 0 2
11.535 123 AEROPROBE 1077 1457 735 1707 900 0 0 29
11.548 123 AEROPROBE 1078 1451 661 1867 800 0 0 19
11.555 123 AEROPROBE 1079 1422 697 1685 -300 0 0 11

[[Category:User_Documentation]] [[Category:Modules]]

SUMO

2016-04-22T15:52:07Z

Martinmm:

__NOTOC__

The Small Unmanned Observer (SUMO) has been developed by the Paparazzi community together with the Geophysical Institute of the University of Bergen, Norway. It is designed to support research in the lower atmospheric boundary layer. It uses industry standard sensors for temperature, air pressure, humidity and wind speed/direction as well as more specialized sensors as infrared/visible light radiation, particle concentration or ionizing radiation ([[Modules_list|full list]]). It has been used in many measurement campaigns by various research institutions.

[http://www.uib.no/rg/meten/research/field-instrumentation/sumo SUMO homepage at the Geophysical Institute]

<center>
<gallery>

Image:Kerlingafjoll.jpg|Near Hofsjökull glacier, Iceland 2007
Image:Hangar.jpg|KV Svalbard, Barents Sea 2008
Image:Adventalen.jpg|Adventalen, Svalbard 2009
Image:Finnarp.jpg|Finnish Aboa station Antarctica 2010
Image:Troll_station.jpg|Norwegian Troll station Antarctica 2011
Image:Sumo_launch.jpg|US McMurdo station Antarctica 2012
Image:Weddell_sea.jpg|RV Polarstern in the Weddell Sea/Antarctica 2013
Image:Sumo_tall_tower.jpg|Remote camp on Ross Ice Shelf/Antarctica 2014
Image:Sumo_advent.jpg|Svalbard 2016

</gallery>
</center>

== Legal Disclaimer ==

'''As with all Paparazzi software and hardware this does not come with any guarantee. Make sure you follow all applicable rules and laws (safety, radio regulation, ...). No part of the system is certified by any national or international authority. Please refer to the national aviation regulation for Remotely Piloted Aircraft Systems of the accountable country before you start operating. A special permit is usually needed for any activity not related to hobby/recreational usage and especially important if you intend to fly at high altitudes. The experience is that the necessary consultations need quite some time and effort.'''

== Build your own ==

The SUMO is bascially an RC airplane equipped with additional hardware for automatic flight and to collect data for scientific usage. It needs some knowledge in the fields of model airplanes, electronics, hard- and software to build and operate it. One successful strategy for an university research group might be to team up with the engineering department. Get in contact with local RC enthusiasts and ask them to support you in safety piloting the aircrafts. There are many different ways to assemble a Paparazzi aircraft. We are describing a way hat has shown great results in the past years.

=== Ground station ===

The groundstation consists of a laptop, a bi-directional modem, a standard RC transmitter and battery chargers.

==== Laptop ====

The computer should be able to operate outdoors and cope with dust, water, temperature, etc. We have mainly used Panasonic Toughbook CF-19 laptops that never showed any weakness. The recommended operating system is Ubuntu 12.04 LTS.

[[SUMO/Software_installation|Software installation instructions]]

==== Ground Modem ====

The [[Modems|modems section]] describes an overwhelming number of various modems that are available for all sorts of applications. The 2.4GHz Digi XBee Series 1 are proven all-purpose modems that can be used almost world wide. For the ground station we use the readily available Digi XBee USB modem in a robust metal case. It is connected to the laptop through a standard USB A-B cable and brings its own whip antenna.

[[SUMO/Ground_modem|Ground modem setup]]

==== RC Transmitter / Receiver====

The RC world gives you many options to control your aircraft. If you or any supporting team member already owns an RC system, you might try to get this to work. It is important that your RC receiver supports the output of a sum signal that contains all servo data in one signal. You need an extra channel for switching the flight mode. If you start from scratch the Futaba/robbe system is a good option.

[[SUMO/rc_transmitter|RC transmitter / receiver setup]]

==== Battery Chargers ====

There are many different brands and types available and we can not really give a suggestion. We were happy with devices from evoTech or Schulze. Get in contact with your local RC dealer and find a device suitable for you. It is important that the device fits to the power requirements you will see in the field (12V DC/115V AC/230V AC). Do not buy the cheapest available. Follow the instructions carefully, Lithium Polymer batteries can be dangerous.

=== Airborne System ===

==== Mechanical Parts ====

We chose to use the Multiplex Funjet right after it appeared in 2006. The goal was to have an aircraft that can fly fast to be able to operate in wind conditions up to 15m/s. To achieve an easy take-off for non-RC-enthusiasts we equipped it with a bigger propeller than normal (9x6). Some outer parts have been strengthend with glass fiber. The recent Funjet Ultra can also be used but we do not see much improvement for our goals. It is heavier and the visibility is poor.

The Funjet is not a beginners airplane. Get some piloting help when you are new to RC. You always need a safety pilot that can take over the aircraft.

[[SUMO/mechanical_assembly|SUMO mechanical assembly]]

==== RC Parts ====

Use the best RC parts you can get. There is no use in saving some Euros on this. We use Graupner servos, an AXI motor and Jeti motor controller.

[[SUMO/install_rc|Installing servos, motor and motor controller]]

==== Prepare specific electronic parts ====

These are the non-standard parts you need. Look in the [[Get_Hardware|get hardware]] section for a source of these parts. In the current version of the SUMO we use the Umarim Lite v2 autopilot, a TWOG board as data logger, a Digi XBee Pro Series 1 modem, a Hygrosens temperature sensor, Sensirion humidity sensor, Meas Spec pressure sensor and an optional Eagletree airspeed v3 sensor.

[[SUMO/prepare_electronics|Prepare Paparazzi electronics]]

==== Install electronic parts ====

This describes how the electronics are installed in the aircraft.

[[SUMO/install_electronics|Install Paparazzi electronics]]

==== Software configuration setup ====

Describes the software setup for the SUMO.

[[SUMO/sw_configuration|Software configuration]]

==== Operating the logger ====

This page describes how to setup and use the on-board logger.

[[SUMO/logger|Logger setup]]

==== Using Paparazzi ====

Browse through the wiki for learning how to use Paparazzi. The [[Media:users_manual.pdf|Users Manual]] gives a compact introduction to the system.

SUMO

2016-04-22T15:48:55Z

Martinmm:

__NOTOC__

The Small Unmanned Observer (SUMO) has been developed by the Paparazzi community together with the Geophysical Institute of the University of Bergen, Norway. It is designed to support research in the lower atmospheric boundary layer. It uses industry standard sensors for temperature, air pressure, humidity and wind speed/direction as well as more specialized sensors as infrared/visible light radiation, particle concentration or ionizing radiation ([[Modules_list|full list]]). It has been used in many measurement campaigns by various research institutions.

[http://www.uib.no/rg/meten/research/field-instrumentation/sumo SUMO homepage at the Geophysical Institute]

<center>
<gallery>
Image:Funjetgfi.jpg|The SUMO
Image:Kerlingafjoll.jpg|Near Hofsjökull glacier, Iceland 2007
Image:Hangar.jpg|KV Svalbard, Barents Sea 2008
Image:Adventalen.jpg|Adventalen, Svalbard 2009
Image:Finnarp.jpg|Finnish Aboa station Antarctica 2010
Image:Troll_station.jpg|Norwegian Troll station Antarctica 2011
Image:Sumo_launch.jpg|US McMurdo station Antarctica 2012
Image:Weddell_sea.jpg|RV Polarstern in the Weddell Sea/Antarctica 2013
Image:Sumo_tall_tower.jpg|Remote camp on Ross Ice Shelf/Antarctica 2014
Image:Sumo_advent.jpg|Svalbard 2016

</gallery>
</center>

== Legal Disclaimer ==

'''As with all Paparazzi software and hardware this does not come with any guarantee. Make sure you follow all applicable rules and laws (safety, radio regulation, ...). No part of the system is certified by any national or international authority. Please refer to the national aviation regulation for Remotely Piloted Aircraft Systems of the accountable country before you start operating. A special permit is usually needed for any activity not related to hobby/recreational usage and especially important if you intend to fly at high altitudes. The experience is that the necessary consultations need quite some time and effort.'''

== Build your own ==

The SUMO is bascially an RC airplane equipped with additional hardware for automatic flight and to collect data for scientific usage. It needs some knowledge in the fields of model airplanes, electronics, hard- and software to build and operate it. One successful strategy for an university research group might be to team up with the engineering department. Get in contact with local RC enthusiasts and ask them to support you in safety piloting the aircrafts. There are many different ways to assemble a Paparazzi aircraft. We are describing a way hat has shown great results in the past years.

=== Ground station ===

The groundstation consists of a laptop, a bi-directional modem, a standard RC transmitter and battery chargers.

==== Laptop ====

The computer should be able to operate outdoors and cope with dust, water, temperature, etc. We have mainly used Panasonic Toughbook CF-19 laptops that never showed any weakness. The recommended operating system is Ubuntu 12.04 LTS.

[[SUMO/Software_installation|Software installation instructions]]

==== Ground Modem ====

The [[Modems|modems section]] describes an overwhelming number of various modems that are available for all sorts of applications. The 2.4GHz Digi XBee Series 1 are proven all-purpose modems that can be used almost world wide. For the ground station we use the readily available Digi XBee USB modem in a robust metal case. It is connected to the laptop through a standard USB A-B cable and brings its own whip antenna.

[[SUMO/Ground_modem|Ground modem setup]]

==== RC Transmitter / Receiver====

The RC world gives you many options to control your aircraft. If you or any supporting team member already owns an RC system, you might try to get this to work. It is important that your RC receiver supports the output of a sum signal that contains all servo data in one signal. You need an extra channel for switching the flight mode. If you start from scratch the Futaba/robbe system is a good option.

[[SUMO/rc_transmitter|RC transmitter / receiver setup]]

==== Battery Chargers ====

There are many different brands and types available and we can not really give a suggestion. We were happy with devices from evoTech or Schulze. Get in contact with your local RC dealer and find a device suitable for you. It is important that the device fits to the power requirements you will see in the field (12V DC/115V AC/230V AC). Do not buy the cheapest available. Follow the instructions carefully, Lithium Polymer batteries can be dangerous.

=== Airborne System ===

==== Mechanical Parts ====

We chose to use the Multiplex Funjet right after it appeared in 2006. The goal was to have an aircraft that can fly fast to be able to operate in wind conditions up to 15m/s. To achieve an easy take-off for non-RC-enthusiasts we equipped it with a bigger propeller than normal (9x6). Some outer parts have been strengthend with glass fiber. The recent Funjet Ultra can also be used but we do not see much improvement for our goals. It is heavier and the visibility is poor.

The Funjet is not a beginners airplane. Get some piloting help when you are new to RC. You always need a safety pilot that can take over the aircraft.

[[SUMO/mechanical_assembly|SUMO mechanical assembly]]

==== RC Parts ====

Use the best RC parts you can get. There is no use in saving some Euros on this. We use Graupner servos, an AXI motor and Jeti motor controller.

[[SUMO/install_rc|Installing servos, motor and motor controller]]

==== Prepare specific electronic parts ====

These are the non-standard parts you need. Look in the [[Get_Hardware|get hardware]] section for a source of these parts. In the current version of the SUMO we use the Umarim Lite v2 autopilot, a TWOG board as data logger, a Digi XBee Pro Series 1 modem, a Hygrosens temperature sensor, Sensirion humidity sensor, Meas Spec pressure sensor and an optional Eagletree airspeed v3 sensor.

[[SUMO/prepare_electronics|Prepare Paparazzi electronics]]

==== Install electronic parts ====

This describes how the electronics are installed in the aircraft.

[[SUMO/install_electronics|Install Paparazzi electronics]]

==== Software configuration setup ====

Describes the software setup for the SUMO.

[[SUMO/sw_configuration|Software configuration]]

==== Operating the logger ====

This page describes how to setup and use the on-board logger.

[[SUMO/logger|Logger setup]]

==== Using Paparazzi ====

Browse through the wiki for learning how to use Paparazzi. The [[Media:users_manual.pdf|Users Manual]] gives a compact introduction to the system.

File:Sumo advent.jpg

2016-04-22T15:47:39Z

Martinmm:

Module/TronSens HTM B71

2016-03-06T15:30:25Z

Martinmm: /* Overview */

__NOTOC__
[[Image:Htm_b71.jpg|thumb|right|TronSens HTM 71]]
==Overview==

The TronSens HTM B71 (now sold as IST HYT-271?) is a relative humidity and digital temperature sensor. Early versions seemed to have issues with other devices on the same I2C bus.

{|border="1"
|-valign="top"
||Module name||meteo/humid_htm_b71
|-
|Sensor type
|humidity, temperature
|-
|Range (humidity)
| 0 .. 100 %RH
|-
|Range (temperature)
| -40°C .. +125°C
|-
|Resolution (humidity)
|? %RH
|-
|Resolution (temperature)
|0.01°C
|-
|Refresh rate
|4Hz
|-
|I2C address
|0x28
|}

[http://www.hy-line.de/HTM/ Product home page]

[http://www.hy-line.de/fileadmin/hy-line/sensorik/hersteller/datasheets/ts_htm-b71_fse.pdf Product data sheet]

==Hardware==
The sensor board can be directly interfaced to the autopilots I2C 3.3V interface

=== Wiring ===
{|border="1"
|-valign="top"
||'''Autopilot I2C pin'''||'''Autopilot I2C'''||'''HTM B71'''||'''HTM B71 pin'''
|-
|1
|GND
|GND
|2
|-
|2
|
|
|
|-
|3
| +3.3V
| Vdd
|3
|-
|4
|SDA
|SDA
|1
|-
|5
|SCL
|SCL
|4
|}

==Usage==

To use the humidity sensor add:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<modules>
<load name="humid_htm_b71.xml"/>
</modules>
</source>
}}

===Result message===

The raw data (ihumid/itemp) and the converted result (humid/temp) is written to the log file. The message is automatically sent when new data is received, it does not have to be added to the telemetry file.
{{Box Code|conf/messages.xml|
<source lang="xml">
<message name="HTM_STATUS" id="115">
<field name="ihumid" type="uint16"/>
<field name="itemp" type="uint16"/>
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
</source>
}}

Sample log file lines
15.891 123 HTM_STATUS 4807 5920 29.35 19.2
16.143 123 HTM_STATUS 4807 5917 29.34 19.17
16.391 123 HTM_STATUS 4807 5917 29.34 19.17
15.643 123 HTM_STATUS 4809 5917 29.35 19.2

[[Category:User_Documentation]] [[Category:Modules]]

Bebop

2015-12-09T21:06:31Z

Martinmm: /* Getting started */

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:Parrot-bebop-drone-new-03.jpeg|right|500px|Parrot Bebop]]</div>
<div style="float: right; width: 40%">__TOC__</div>

= Introduction =

By default the [http://www.parrot.com/usa/products/bebop-drone/ Bebop] from [http://www.parrot.com/ Parrot] is a Wifi controlled flying quadrotor, designed to be controlled with an Android or iOS device.

'''No more restrictions''' as from now; with a few simple clicks you can '''run Paparazzi on the Bebop''' and have full autonomous flight and much more!

= Getting started =

# Make sure you have the latest release version of Paparazzi installed.
# Power up your Bebop.
# If you have a Bebop 2 press the '''on/off button twice''' after powerup (or try pushing 4x)
# Make a Wifi connection with your PC and the Bebop
# In the Paparazzi center choose "Bebop" Or "Bebop2" in the airframe dropdown menu
# Press "Upload"
# Select the Bebop or ARdrone2 Flight in the session menu
# Press execute

Voila, you will get telemetry from the Bebop. Now it is up to you how and where to fly.

= Features =
== Connectivity ==
* Wi-Fi antennas: MIMO dual-band with 2 double-set of dipole antennas for 2.4 and 5 GHz
* Sending power: Up to 26 dBm
* Signal range: N/A

== Structure ==
* 4 Brushless Outrunner motors
* Glass fiber reinforced (15%) ABS structure
* High-resistance EPP outdoor hull: Clip and unclip easily to adapt to indoor and outdoor flight, protects the propellers against potential bumps, can be removed to reduce wind factor
* Three-blade auto-block propellers in Polycarbonate with fast disassembly system
* Anti-vibration bumpers

== Camera ==
* Camera with "Fisheye" lens 180° 1/2,3": 6 optical elements and 14 Mega pixels sensor
* Video stabilization: Digital on 3-axes
* Video definition: 1920x1080p (30fps)
* Photo definition: 3800x3188 pixels
* Video encoding: H264
* Photo file format: RAW, DNG
* Internal memory: Flash 8 GB
* Extended memory: Micro USB

== Battery ==
* Lithium Polymer 1200 mAh
* Flight time: Around 12 minutes

== Processor ==
* Motherboard:
** Parrot P7 dual-core CPU Cortex 9
** Quad core GPU
** 8Gb flash memory
* All fixed on a magnesium shelf that acts as electromagnetic shielding and as a radiator

== Sensors ==
* 3-axes magnetometer (AKM 8963)
* 3-axes gyroscope (MPU 6050)
* 3-axes accelerometer (MPU 6050)
* Optical-flow sensor (Fig.8): Vertical stabilization camera (Every 16 milliseconds, an image of the ground is taken and compared to the previous one to determine the speed of the Bebop Drone)
* Ultrasound sensor (Analyzes the flight altitude up to 8 meters)
* Pressure sensor (MS 5607)

== Geo-location ==
* GNSS (GPS + GLONASS + Galileo, [http://www.furuno.com/en/products/gnss-module/GN-87 Furuno GN-87F])

== Dimensions ==
* 28x32x3.6cm without the hull
* 33x38x3.6cm with the hull

== Weight ==
* 380g without the hull
* 400g with the hull

== OS/Software ==
* Operating system: Linux (kernel 3.4.11 #3 SMP PREEMPT)
* glibc: (Sourcery CodeBench Lite 2012.03-57) 2.15
* libstdc++: GLIBCXX_3.4 - GLIBCXX_3.4.16

= Pinout =
== GPIO ==
* 6 Fans Enable
* 9 WiFi Reset
* 73 P7MU IRQ
* 81 GPS Power Enable
* 85 Fan Enable
* 89 VCAM FSYNC gyro
* 90 HCAM FSYNC gyro
* 91 DRDY MPU6050
* 124 Magneto interrupt
* 128 (video) Slew rate??
* 129 VCAM enable
* 130 (video) Slew rate??
* 132 HCAM enable
* 199 BLDC micro-controller reset (forces it into bootloader) ON/OFF
* 200 US Pulse level
* 201 On/Off button (default monitor to files running: /bin/onoffbutton)
* 202 USB Host mode pin 3V3 (HOST_MODE_3V3)
* 203 USB Host mode on
* 204 USB0 OC

== PWM ==
* 6 Heating resistor for warming IMU sensors (125000ns period, 0ns duty)
* 8 MPU6050 clock (31510ns period, 15258ns duty) Desired frequency is 32768kHz with 50% duty cycle (period=30517us). Period was set empirically to 31517 to get a 5ms data ready period. Desired frequency is slightly modified to synchronize camera and IMU
* 9 Vertical camera clock (23ns period = 43MHz)
* 11 Horizontal camera lock (77ns period = 13MHz)

== I2C ==
* I2C-0
** FPGA
** P7MU
** EEPROM Unknown EEPROM for Front camera calibration (addr 0x55)
** MT9f002 CMOS Digital Image Sensor (1/2.3 inch 14Mp, front camera) [http://www.onsemi.com/PowerSolutions/product.do?id=MT9F002 MT9f002] (addr 0x10)
** MT9v117 CMOS Digital Image Sensor (1/6 inch VGA, bottom camera) [http://www.aptina.com/assets/downloadDocument.do?id=553 MT9v117] (addr 0x5d)
* I2C-1
** Cypress Motor Controller (Parrot BLDC) [[Bebop/BLDC]] (addr 0x08)
** AKM8963 Magnetometer [http://www.akm.com/akm/en/file/datasheet/AK8963.pdf AK8963]
** MS5607 Barometer [http://meas-spec.com/product/pressure/MS5607-02BA03.aspx MS5607]
* I2C-2
** MPU6050 Gyro + Accel [http://invensense.com/mems/gyro/documents/RM-MPU-6000A.pdf MPU6050] (rotation changed in version 2)

== SPI ==
* spidev1.0 Sonar (Only data pin connected for generating pulses)

== UART ==
* ttyPA1 GPS (Furuno GN-87F on v1 and Ublox Neo M8N on v2)

== Other ==
* /dev/hx280 Hantro (On2) Video encoder. Hantro chip video encoder used for the HCAM.
* /sys/bus/iio/devices/iio:device0 (p7mu-adc_2) Sonar ADC

= Actuators =
The Bebop has 4 Brushless motors, which are controlled by the cypress chip on I2C-1. This Cypress chip contains custom made firmware(BLDC) by Parrot, which can be automatically updated using a bootloader in the ESC part of the mainboard.
The firmware from Parrot contains a nice closed loop RPM control, which is automatically tuned inside the factory.
Since version 2 Parrot changed the order and rotation direction of the motors.

For more information about how to communicate with the BLDC look at [[Bebop/BLDC]]. Or take a look at the "bebop" actuator inside the <code>airborne/boards/bebop/</code> folder.

= Onboard applications =

The original programs on the Bebop

* /usr/bin/dragon-prog Main program that controls the drone
* /bin/watchdog.sh Checks if Dragon is still running and reboots dragon-prog if it somehow would not be running anymore

* BLDC_Test_Bench Controls the Brushless Motor Controllers for testing and playing sounds etc.
* bcmwl Everything with wifi
* diagnostic Outputs sensor diagnostic
* mk3_camera_eeprom Reads the front camera EEPROM
* config_mt9v117 Configure the bottom camera

= Cross compiler =
For the Bebop you need to use a recent version GNU gcc-arm-linux-gnueabi (Ubuntu/Linaro 4.7.4-2ubuntu1) 4.7.4 provided with Ubuntu since 14.04 LTS.

[http://electronics.stackexchange.com/questions/21594/is-code-sourcery-g-lite-still-a-viable-projectIn the past you could also crosscompile with Sourcery CodeBench Lite 2012.03-57 for ARM GNU/Linux from <s>Greedy</s> Mentor Graphics, previously called codesourcery. However the open'ness there is nowhere to be found anymore, so we'll say "No thanks" to Codesourcery ,now <s>Greedy</s> Mentor"]
but if you [http://sourcery.mentor.com/public/gnu_toolchain/arm-none-linux-gnueabi/arm-2012.03-57-arm-none-linux-gnueabi.bin insist] , feel <s>free</s> restricted.

= Tips & Tricks =

== Video ==
Load the [http://docs.paparazziuav.org/latest/module__video_rtp_stream.html video_rtp_stream.xml] module. Receive the video stream with e.g. avplay:
$ avplay -loglevel quiet -max_delay 50 -fflags nobuffer rtp://192.168.42.1:5000

== Factory Reset ==
You can reset the Parrot Bebop Drone to factory settings. You '''will''' loose all your photos and movies recorded on your Bebop.
To do this you need to press and hold the power button for 10 seconds. The LED will blink green and orange for a while, then green and the drone will shutdown.

[[Category:Autopilots]]

Papers

2015-10-08T06:33:38Z

Martinmm:

__NOTOC__

Some publications about Paparazzi.

===2014===

* [http://repository.tudelft.nl/view/conferencepapers/uuid:b38fbdb7-e6bd-440d-93be-f7dd1457be60 Using the Paparazzi UAV System for Scientific Research], Hattenberger G., Bronz M., Gorraz M., IMAV 2014: Proceedings of the International Micro Air Vehicle Conference and Competition 2014
* [http://repository.tudelft.nl/view/conferencepapers/uuid:29e5367f-6c16-43e1-989e-d51cf8b51f7d Lisa-S 2.8g autopilot for GPS-based flight of MAVs], Remes, B.D.W. · Esden-Tempski, P. · Van Tienen, F. · Smeur, E. · De Wagter, C. · De Croon, G.C.H.E., IMAV 2014: Proceedings of the International Micro Air Vehicle Conference and Competition 2014

===2013===

* ''Development of a Long Endurance Mini-UAV : ETERNITY'', Bronz M., Hattenberger G., Moschetta J.-M.; Journal International Journal of Micro Air Vehicles 5, 4 (2013) pp 261-272
* ''The cooperation between Unmanned Aerial Vehicles using a mission planner'', Truong T. V. A., Hattenberger G., Ronflé-Nadaud C.; INDIN 2013, 11th IEEE International Conference on Industrial Informatics, Germany (2013)
* ''Multi-Lifting-Device UAV Autonomous Flight at Any Transition Percentage'', Christophe De Wagter, Dirk Dokter, Guido de Croon, Bart Remes. Accepted for publication. EuroGNC2013
* ''Unmanned aircraft system measurements of the atmospheric boundary layer over Terra Nova Bay, Antarctica'', Knuth, S. L., J.J. Cassano, J.A. Maslanik, P.D. Herrmann, P.A. Kernebone, R.I. Crocker, and N.J. Logan; 2013Earth Sys. Sci. Data, accepted, pending revisions
* ''Open Source Autopilot for Academic Research – The Paparazzi System'', Paparazzi Community, Balazs Gati; Proceeding of the American Control Conference 2013, 17-19. Juni 2013, Washington, USA; accepted, under publication

===2012===

* ''Multi-point optimization of a propulsion set as applied to a multi-tasking MAV'', Murat Bronz, Jean-Marc Moschetta, and Gautier Hattenberger. In proceedings of the International Micro Aerial Vehicle Conference and Competition, Germany, July 2012
* ''A "no-flow-sensor" wind estimation algorithm for unmanned aerial systems'', Mayer, Hattenberger, Brisset, Jonassen and Reuder. In International Journal of Micro Air Vehicles, Volume 4, N°1, March 2012
* ''Sub-sampling: Real-time vision for micro air vehicles, Robotics and Autonomous Systems'', G.C.H.E. de Croon, C. De Wagter, B.D.W. Remes, R. Ruijsink; Volume 60, Issue 2, February 2012, Pages 167-181, ISSN 0921-8890

===2011===

* ''Compact helical ring antenna for iridium communication on UAV'',Morlaas, Chabory, Souny and Hattenberger. In proceedings of ETTC 2011, European Test and Telemetry Conference, 14-16 June 2011, Toulouse, France
* ''Seven-Sensor Fast-Response Probe for Full-Scale Wind Turbine Flowfield Measurements'', M. Mansour, G. Kocer, C. Lenherr, N. Chokani and R. S. Abhari,J.; Eng. Gas Turbines Power 133(8), 081601 (Apr 05, 2011)
* ''Differential Flatness and Control of Nonlinear Systems'', Antoine Drouin, Sebastião Simões Cunha, Alexandre C. Brandão Ramos, Felix Mora-Camino; Proceedings of the 30th Chinese Control Conference, July 22-24, 2011, Yantai, China

* ''Full-Scale Wind Turbine Near-Wake Measurements Using an Instrumented Uninhabited Aerial Vehicle'', G. Kocer, M. Mansour, N. Chokani, R. S. Abhari, M. Müller. Journal of Solar Energy Engineering, 133, pp. 041011-1 – 041011-8, 2011.

===2010===

* ''Flying Autonomously to Corsica : A long Endurance Mini-UAV System'', Murat Bronz, Jean-Marc Moschetta and Pascal Brisset. In proceedings of the International Micro Air Vehicle Conference and Flight Competition (IMAV2010) Braunschweig, Germany, 2010
* ''Flight Autonomy of Micro-drone in indoor Environments using LIDAR Flash Camera'', Bertrand Vandeportaele, Aaron Montoya, Simon Lacroix and Gautier Hattenberger. In proccedings of the International Micro Air Vehicle Conference and Flight Competition (IMAV2010) Braunschweig, Germany, 2010
* ''Wintertime observations of an Antarctic polynya with unmanned aerial systems'', Cassano, J.J., J.A. Maslanik, C.J. Zappa, A.L. Gordon, R.I. Cullather, and S.L. Knuth; 2010, EOS, 91, 245-246.
* ''Roll-channel fractional order controller design for a small fixed-wing unmanned aerial vehicle'', Haiyang Chao, Ying Luo, Long Di, Yang Quan Chen; Control Engineering Practice, Volume 18, Issue 7, July 2010, Pages 761-772, ISSN 0967-0661
* ''A 'no-flow-sensor' wind estimation algorithm for Unmanned Aerial Systems'', Mayer, S., G. Hattenenberger, P. Brisset, M. Jonassen, and J. Reuder; 2010, International Journal of Micro Air Vehicles, 4, 1, 19-25.

===2009===

* ''Towards a Long Endurance MAV'', Murat Bronz, Jean-Marc Moschetta, Pascal Brisset and Michel Gorraz. IJMAV Volume 1 – Number4, 2009
* ''Planification de mission pour une patrouille de micro-drones'', P.S. Huard. Phd Thesis. Institut supérieur de l'aéronautique et de l'espace. Toulouse, France, 18 décembre 2009
* ''Planification de mission pour une patrouille de micro-drones'', P.S. Huard, N. Barnier, P.Brisset, and G. Verfaillie. In Proceedings Journées Francophones Planification Décision Apprentissage (JFPDA 2009), Paris, France, 2009
* ''Online mission planning for a swarm of fixed-wing MAV'', P.S. Huard, N. Barnier, P.Brisset, and G. Verfaillie. In Proceedings of the 4rd US-European Competition and Workshop on Micro Air Vehicle (IMAV09), Floride, 2009
* ''[https://www.schweizerbart.de/papers/metz/detail/18/57209/The_Small_Unmanned_Meteorological_Observer_SUMO_A_new_tool_for_atmospheric_boundary_layer_research The Small Unmanned Meteorological Observer SUMO: A New Tool for Atmospheric Boundary Layer Research]'' Reuder, J., Brisset, P., Jonassen, M., Mueller, M. and Mayer, S. Meteorologische Zeitschrift Vol. 18 No. 2, p. 141 - 147, 2009

===2008===

* ''Multi-UAV control with the Paparazzi system'', P. Brisset and G. Hattenberger. In proceedings of the Conference on Human Operating Unmanned Systems (HUMOUS'08), Brest (France), 2008
* ''SUMO: A Small Unmanned Meteorological Observer for atmospheric boundary layer research'',J. Reuder, P. Brisset, M. Jonassen, M. Müller, and S. Mayer;2008 IOP Conf. Ser.: Earth Environ. Sci. 1 012014
* ''Waypoint Navigation, Stabilization and Sensor Drift'', Antoine Drouin, Andreas Kleinert, Heinrich Warmers; EMAV2008, Braunschweig, Germany

===2007===

* ''Automated mission planning for a fleet of micro air vehicle'', P.S. Huard, N. Barnier, and C. Pralet. In Proc. of the 3rd US-European Competition and Workshop on Micro Air Vehicle and 7th European Micro Air Vehicle Conference and Flight Competition (MAV07), Toulouse, France, 2007
* ''[https://events.ccc.de/congress/2007/Fahrplan/events/2225.en.html Paparazzi - The Free Autopilot. Build your own UAV]'', Antoine Drouin, Martin Müller. In the 24th Chaos Communication Congress, Berlin, 27-30 December 2007
* ''Reengineering the Paparazzi autopilot navigation system'', Brisset, Drouin, Jestin. In proceedings of IAV 2007, Toulouse, 3-5 september 2007
* ''Rotorcraft trajectory tracking by non linear inverse control'', Drouin, Mora Camino, Branda Ramos. In 6th brazilian conference on dynamics, control and their applications, Campus de Sao José do Rio, avril 2007

===2006===

* ''The Paparazzi Solution'', Brisset, Drouin, Gorraz, Huard et Tyler, MAV06, 2006. [http://download.paparazziuav.org/papers/papers_2006/mav06_paparazzi.pdf Article], [http://download.paparazziuav.org/papers/papers_2006/mav06_paparazzi_slides.pdf Slides]

===2005===

* ''Systèmes interactifs du drone Paparazzi'', Doscot, Masouri et Poupart, ENAC, 2005. [http://download.paparazziuav.org/papers/papers_2005/rapport_co_ihm.pdf Report (french)]
* ''Drones'', Brisset et Drouin, journées portes ouvertes ENAC, 2005. [http://download.paparazziuav.org/papers/papers_2005/jpo_2005.pdf Slides (french)]

===2004===

* ''Création d'une photo aérienne large à partir d'un flux vidéo enregistré par un mini-drone'' M. Tobie, ENAC, 2004. [http://download.paparazziuav.org/papers/papers_2004/rapport_a_matthieu.pdf Report (french)]
* ''PaparaDzIY : do-it-yourself UAV'' Brisset et Drouin, Journées Micro Drones, Toulouse, 2004. [http://download.paparazziuav.org/papers/papers_2004/paparadziy.pdf Slides]
* ''Drones et micro-drones'' Brisset et Drouin, CENA, 2004. [http://download.paparazziuav.org/papers/papers_2004/drones_et_micro_drones.pdf Slides (french)]

===2003===

* ''Calibration d’un capteur IR pour micro drone'' Binas, Deplanche, Hadida, ENAC, 2003. [http://download.paparazziuav.org/papers/papers_2003/infrared_calib_paper.doc Report (french)] [http://download.paparazziuav.org/papers/papers_2003/infrared_calib_slides.ppt Slides (french)]

[[Category:Developer_Documentation]] [[Category:Community]]

File:Otf cable.jpg

2014-05-18T21:02:31Z

Martinmm: Martinmm uploaded a new version of "File:Otf cable.jpg"

Aeroprobe On-The-Fly! cable

Module/Aeroprobe OTF

2014-05-18T21:01:43Z

Martinmm: replace Sparkfun PRT-08780 with BOB-11189

__NOTOC__
[[Image:Otf_5hole.jpg|thumb|right|Aeroprobe 3mm 5-hole probe]]
[[Image:Otf_ad.jpg|thumb|right|Aeroprobe On-The-Fly! air data computer]]
[[Image:Otf_cable.jpg|thumb|right|OTF! cable]]
== Overview ==

The Aeroprobe On-The-Fly! air data computer measures air pressure from a 5-hole pitot tube and can write resulting data to an SD card or transmit it through an UART. It outputs speed, angle of attack, angle of sideslip and altitude. The air data computer input "1" goes to the middle tube of the probe, the longest one. The next shorter one goes to "2", then "3" and so on.

{|border="1"
|-valign="top"
||Module name||sensors/airspeed_otf
|-
|Sensor type
|airspeed, flow angle
|-
|Range (speed)
|8m/s .. 63m/s
|-
|Range (angle)
|±20°
|-
|Resolution (speed)
|0.02m/s
|-
|Resolution (angle)
|0.01°
|-
|Refresh rate
|100Hz
|}

[http://www.aeroprobe.com/uploads/On-The-Fly_Manual_RevF.docx User manual]

== Hardware ==

The air data computer needs to be configured by the manufacturer to output data at the desired speed. The serial interface does have original RS-232 levels, that is '''not''' compatible with the autopilots 3.3V interface. You need a RS-232 level shifter. Do '''not''' use a simple transistor-based converter like the Sparkfun PRT-08780 as it can not safely be driven by the Aeroprobe. Use a integrated converter like the MAX3232 based Sparkfun BOB-11189.

Air data computer/pitot tube supplier:
[http://www.aeroprobe.com/distributors Aeroprobe]

RS232 level shifter supplier:
[http://www.sparkfun.com/products/11189 Sparkfun]

OTF connector supplier:
[http://de.farnell.com/hrs-hirose/hr30-6p-6s-71/stecker-loet-buchsenkontakt-6kont/dp/1425744 Farnell]

=== Wiring Umarim ===

{|border="1"
|-valign="top"
||'''Umarim UART1 pin'''||'''Umarim UART1'''||'''Level shifter LOGIC'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
| +3.3V
|VCC
|-
|4
|RX1
|R1OUT
|-
|5
|TX1
|T1IN
|}

=== Wiring Logger/TWOG ===

{|border="1"
|-valign="top"
||'''TWOG SERIAL pin'''||'''TWOG SERIAL'''||'''Level shifter LOGIC'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
| +3.3V
| 3V-5.5V
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD1
|R1OUT
|-
|8
|TXD1
|T1IN
|}

=== Common wiring===

{|border="1"
|-valign="top"
||'''BEC Power supply'''||'''OTF'''||'''OTF pin'''
|-
| +
| +VCC
|1
|-
| -
|GND
|2
|}

{|border="1"
|-valign="top"
||'''color'''||'''Level shifter RS-232'''||'''OTF'''||'''OTF pin'''
|-
|red
|R1IN
|TX (data out)
|3
|-
|orange
|T1OUT
|RX (data in)
|4
|-
|black
|GND
|GND
|5
|}

== Ground usage ==

This is for the lab only, not for flight. The modem serial port of an Umarim will be occupied by the OTF! compter. Therefore the data is transferred through USB.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
...
<subsystem name="telemetry" type="transparent_usb"/>
...
</source>
}}

To use it load the airspeed_otf module:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<modules>
...
<load name="airspeed_otf.xml"/>
</modules>
</source>
}}

The used UART has to be set globally:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<target name="ap" board="<my_board_type>">
...
<configure name="OTF_UART" value="UART1"/>
</source>
}}

===Result message===

The output is airspeed (velocity), angle of attack (a_attack), angle of sideslip (a_sidesl) and altitude. The data is secured by a packet counter and a checksum.
{{Box Code|conf/messages.xml|
<source lang="xml">
<message name="WIND_AP_OTF" id="179">
<field name="counter" type="uint32"/>
<field name="velocity" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="a_attack" type="int16" unit="centideg" alt_unit="deg"/>
<field name="a_sidesl" type="int16" unit="centideg" alt_unit="deg"/>
<field name="altitude" type="int32" unit="cm" alt_unit="m"/>
<field name="checksum" type="uint8"/>
</message>
</source>
}}

Sample log file lines
11.522 123 FLOW_AP_OTF 1076 1480 628 1636 -100 2
11.535 123 FLOW_AP_OTF 1077 1457 735 1707 900 29
11.548 123 FLOW_AP_OTF 1078 1451 661 1867 800 19
11.555 123 FLOW_AP_OTF 1079 1422 697 1685 -300 11

[[Category:User_Documentation]] [[Category:Modules]]

File:Mpx connector.jpg

2014-03-24T17:56:36Z

Martinmm: Mulitplex wing connector

Mulitplex wing connector

SUMO

2014-03-16T17:14:46Z

Martinmm: add users manual

__NOTOC__

The Small Unmanned Observer (SUMO) has been developed by the Paparazzi community together with the Geophysical Institute of the University of Bergen, Norway. It is designed to support research in the lower atmospheric boundary layer. It uses industry standard sensors for temperature, air pressure, humidity and wind speed/direction as well as more specialized sensors as infrared/visible light radiation, particle concentration or ionizing radiation ([[Modules_list|full list]]). It has been used in many measurement campaigns by various research institutions.

[http://www.uib.no/rg/meten/research/field-instrumentation/sumo SUMO homepage at the Geophysical Institute]

<center>
<gallery>
Image:Funjetgfi.jpg|The SUMO
Image:Kerlingafjoll.jpg|Near Hofsjökull glacier, Iceland 2007
Image:Hangar.jpg|KV Svalbard, Barents Sea 2008
Image:Adventalen.jpg|Adventalen, Svalbard 2009
Image:Finnarp.jpg|Finnish Aboa station Antarctica 2010
Image:Troll_station.jpg|Norwegian Troll station Antarctica 2011
Image:Sumo_launch.jpg|US McMurdo station Antarctica 2012
Image:Weddell_sea.jpg|RV Polarstern in the Weddell Sea/Antarctica 2013
Image:Sumo_tall_tower.jpg|Remote camp on Ross Ice Shelf/Antarctica 2014

</gallery>
</center>

== Legal Disclaimer ==

'''As with all Paparazzi software and hardware this does not come with any guarantee. Make sure you follow all applicable rules and laws (safety, radio regulation, ...). No part of the system is certified by any national or international authority. Please refer to the national aviation regulation for Remotely Piloted Aircraft Systems of the accountable country before you start operating. A special permit is usually needed for any activity not related to hobby/recreational usage and especially important if you intend to fly at high altitudes. The experience is that the necessary consultations need quite some time and effort.'''

== Build your own ==

The SUMO is bascially an RC airplane equipped with additional hardware for automatic flight and to collect data for scientific usage. It needs some knowledge in the fields of model airplanes, electronics, hard- and software to build and operate it. One successful strategy for an university research group might be to team up with the engineering department. Get in contact with local RC enthusiasts and ask them to support you in safety piloting the aircrafts. There are many different ways to assemble a Paparazzi aircraft. We are describing a way hat has shown great results in the past years.

=== Ground station ===

The groundstation consists of a laptop, a bi-directional modem, a standard RC transmitter and battery chargers.

==== Laptop ====

The computer should be able to operate outdoors and cope with dust, water, temperature, etc. We have mainly used Panasonic Toughbook CF-19 laptops that never showed any weakness. The recommended operating system is Ubuntu 12.04 LTS.

[[SUMO/Software_installation|Software installation instructions]]

==== Ground Modem ====

The [[Modems|modems section]] describes an overwhelming number of various modems that are available for all sorts of applications. The 2.4GHz Digi XBee Series 1 are proven all-purpose modems that can be used almost world wide. For the ground station we use the readily available Digi XBee USB modem in a robust metal case. It is connected to the laptop through a standard USB A-B cable and brings its own whip antenna.

[[SUMO/Ground_modem|Ground modem setup]]

==== RC Transmitter / Receiver====

The RC world gives you many options to control your aircraft. If you or any supporting team member already owns an RC system, you might try to get this to work. It is important that your RC receiver supports the output of a sum signal that contains all servo data in one signal. You need an extra channel for switching the flight mode. If you start from scratch the Futaba/robbe system is a good option.

[[SUMO/rc_transmitter|RC transmitter / receiver setup]]

==== Battery Chargers ====

There are many different brands and types available and we can not really give a suggestion. We were happy with devices from evoTech or Schulze. Get in contact with your local RC dealer and find a device suitable for you. It is important that the device fits to the power requirements you will see in the field (12V DC/115V AC/230V AC). Do not buy the cheapest available. Follow the instructions carefully, Lithium Polymer batteries can be dangerous.

=== Airborne System ===

==== Mechanical Parts ====

We chose to use the Multiplex Funjet right after it appeared in 2006. The goal was to have an aircraft that can fly fast to be able to operate in wind conditions up to 15m/s. To achieve an easy take-off for non-RC-enthusiasts we equipped it with a bigger propeller than normal (9x6). Some outer parts have been strengthend with glass fiber. The recent Funjet Ultra can also be used but we do not see much improvement for our goals. It is heavier and the visibility is poor.

The Funjet is not a beginners airplane. Get some piloting help when you are new to RC. You always need a safety pilot that can take over the aircraft.

[[SUMO/mechanical_assembly|SUMO mechanical assembly]]

==== RC Parts ====

Use the best RC parts you can get. There is no use in saving some Euros on this. We use Graupner servos, an AXI motor and Jeti motor controller.

[[SUMO/install_rc|Installing servos, motor and motor controller]]

==== Prepare specific electronic parts ====

These are the non-standard parts you need. Look in the [[Get_Hardware|get hardware]] section for a source of these parts. In the current version of the SUMO we use the Umarim Lite v2 autopilot, a TWOG board as data logger, a Digi XBee Pro Series 1 modem, a Hygrosens temperature sensor, Sensirion humidity sensor, Meas Spec pressure sensor and an optional Eagletree airspeed v3 sensor.

[[SUMO/prepare_electronics|Prepare Paparazzi electronics]]

==== Install electronic parts ====

This describes how the electronics are installed in the aircraft.

[[SUMO/install_electronics|Install Paparazzi electronics]]

==== Software configuration setup ====

Describes the software setup for the SUMO.

[[SUMO/sw_configuration|Software configuration]]

==== Operating the logger ====

This page describes how to setup and use the on-board logger.

[[SUMO/logger|Logger setup]]

==== Using Paparazzi ====

Browse through the wiki for learning how to use Paparazzi. The [[Media:users_manual.pdf|Users Manual]] gives a compact introduction to the system.

SUMO/rc transmitter

2014-03-16T16:58:20Z

Martinmm: add R6008SP

= Receiver =

We chose the Futaba 2.4GHz FASST system to control the SUMO. Any other system can be used as long as the RC receiver gives you the servo signals as a sum signal '''and''' this sum signal is turned off by the receiver if there is no radio transmission received (out of range, transmitter off). By turning off the sum signal the Paparazzi system can detect a RC link loss and switch to emergency modes.

=== R6107SP (special Mikrokopter) ===

[[Image:R6107sp.jpg|400px]]

Until recently we used a special [https://www.mikrocontroller.com Mikrokopter] version of the R6107SP. It will output a 7-channel sum signal that is turned off in case the receiver can not detect a radio transmission. Unfortunately the R6107SP is no longer made by robbe/Futaba.

=== R6008SP ===

[[Image:R6008sp.jpg|400px]]

The R6008SP outputs a sum signal. '''It needs a 8-channel RC transmitter, the 7-channel transmitters T6EX or T7C below do not work!'''

By default the sum signal is not turned off if no radio transmission is received (robbe calls that "HIGH LEVEL" mode). The receiver can be set to turn off the sum signal if no radio transmission is received (called "LOW LEVEL").

To switch between HIGH LEVEL (sum signal always on) and LOW LEVEL (sum signal off if no radio transmission received):

* bind the receiver to the transmitter
* turn off receiver
* press the bind button and keep it pressed while turning receiver on
* red LED should blink (= HIGH LEVEL)
* keep pressed for another 2-3 seconds, release
* red/green LED should blink (=LOW LEVEL)
* turn receiver off

Check that the sum signal is actually off by looking at the radio status in the Paparazzi gcs and turning the transmitter off. The mode can be switched back the same way.

= Transmitter =

We have used classic Graupner/JR transmitters together with Futaba HFM12-x transmitter modules and the Futaba T6EX, T7C and T8FG transmitters. The T6EX is not really recommended as you might need to modify it to have a 3 position switch. With the T6EX we also had seen issues because of reduced transmission power at low temperatures (-28°C).

T7C

[[Image:T7c.jpg|400px]]

T8FG

[[Image:T8fg.jpg|400px]]

Choose your personal stick mode for the Futaba T7C or T8FG and do not reverse channels. Program the transmitter to have a 3-position switch (for manual/auto1/auto2) to appear on channel 5.

[[Image:Mode_switch.jpg|400px]]

The channels at a Futaba R6107SP should then be

1 Roll
2 Pitch
3 Throttle
4 Yaw
5 Autopilot Mode (M/A1/A2)

Use the radio/t7c.xml radio file for configuration (for a Futaba R6107SP receiver).

=== Programming the 5th channel of the T7C for Paparazzi mode ===

turn on transmitter

[[Image:T7c_mode_01.jpg|400px]]

long press Mode/Page button

[[Image:T7c_mode_02.jpg|400px]]

press Cursor/Down 2x to get to PARAMETR

[[Image:T7c_mode_03.jpg|400px]]

press big round Multi/Rotation button

[[Image:T7c_mode_04.jpg|400px]]

press Cursor/Down 2x to SCH-K5 (channel 5)

[[Image:T7c_mode_05.jpg|400px]]

turn big round Multi/Rotation button until E (3-way switch) appears

[[Image:T7c_mode_06.jpg|400px]]

press End 2x to leave

SUMO

2014-03-16T16:26:05Z

Martinmm: add receiver

__NOTOC__

The Small Unmanned Observer (SUMO) has been developed by the Paparazzi community together with the Geophysical Institute of the University of Bergen, Norway. It is designed to support research in the lower atmospheric boundary layer. It uses industry standard sensors for temperature, air pressure, humidity and wind speed/direction as well as more specialized sensors as infrared/visible light radiation, particle concentration or ionizing radiation ([[Modules_list|full list]]). It has been used in many measurement campaigns by various research institutions.

[http://www.uib.no/rg/meten/research/field-instrumentation/sumo SUMO homepage at the Geophysical Institute]

<center>
<gallery>
Image:Funjetgfi.jpg|The SUMO
Image:Kerlingafjoll.jpg|Near Hofsjökull glacier, Iceland 2007
Image:Hangar.jpg|KV Svalbard, Barents Sea 2008
Image:Adventalen.jpg|Adventalen, Svalbard 2009
Image:Finnarp.jpg|Finnish Aboa station Antarctica 2010
Image:Troll_station.jpg|Norwegian Troll station Antarctica 2011
Image:Sumo_launch.jpg|US McMurdo station Antarctica 2012
Image:Weddell_sea.jpg|RV Polarstern in the Weddell Sea/Antarctica 2013
Image:Sumo_tall_tower.jpg|Remote camp on Ross Ice Shelf/Antarctica 2014

</gallery>
</center>

== Legal Disclaimer ==

'''As with all Paparazzi software and hardware this does not come with any guarantee. Make sure you follow all applicable rules and laws (safety, radio regulation, ...). No part of the system is certified by any national or international authority. Please refer to the national aviation regulation for Remotely Piloted Aircraft Systems of the accountable country before you start operating. A special permit is usually needed for any activity not related to hobby/recreational usage and especially important if you intend to fly at high altitudes. The experience is that the necessary consultations need quite some time and effort.'''

== Build your own ==

The SUMO is bascially an RC airplane equipped with additional hardware for automatic flight and to collect data for scientific usage. It needs some knowledge in the fields of model airplanes, electronics, hard- and software to build and operate it. One successful strategy for an university research group might be to team up with the engineering department. Get in contact with local RC enthusiasts and ask them to support you in safety piloting the aircrafts. There are many different ways to assemble a Paparazzi aircraft. We are describing a way hat has shown great results in the past years.

=== Ground station ===

The groundstation consists of a laptop, a bi-directional modem, a standard RC transmitter and battery chargers.

==== Laptop ====

The computer should be able to operate outdoors and cope with dust, water, temperature, etc. We have mainly used Panasonic Toughbook CF-19 laptops that never showed any weakness. The recommended operating system is Ubuntu 12.04 LTS.

[[SUMO/Software_installation|Software installation instructions]]

==== Ground Modem ====

The [[Modems|modems section]] describes an overwhelming number of various modems that are available for all sorts of applications. The 2.4GHz Digi XBee Series 1 are proven all-purpose modems that can be used almost world wide. For the ground station we use the readily available Digi XBee USB modem in a robust metal case. It is connected to the laptop through a standard USB A-B cable and brings its own whip antenna.

[[SUMO/Ground_modem|Ground modem setup]]

==== RC Transmitter / Receiver====

The RC world gives you many options to control your aircraft. If you or any supporting team member already owns an RC system, you might try to get this to work. It is important that your RC receiver supports the output of a sum signal that contains all servo data in one signal. You need an extra channel for switching the flight mode. If you start from scratch the Futaba/robbe system is a good option.

[[SUMO/rc_transmitter|RC transmitter / receiver setup]]

==== Battery Chargers ====

There are many different brands and types available and we can not really give a suggestion. We were happy with devices from evoTech or Schulze. Get in contact with your local RC dealer and find a device suitable for you. It is important that the device fits to the power requirements you will see in the field (12V DC/115V AC/230V AC). Do not buy the cheapest available. Follow the instructions carefully, Lithium Polymer batteries can be dangerous.

=== Airborne System ===

==== Mechanical Parts ====

We chose to use the Multiplex Funjet right after it appeared in 2006. The goal was to have an aircraft that can fly fast to be able to operate in wind conditions up to 15m/s. To achieve an easy take-off for non-RC-enthusiasts we equipped it with a bigger propeller than normal (9x6). Some outer parts have been strengthend with glass fiber. The recent Funjet Ultra can also be used but we do not see much improvement for our goals. It is heavier and the visibility is poor.

The Funjet is not a beginners airplane. Get some piloting help when you are new to RC. You always need a safety pilot that can take over the aircraft.

[[SUMO/mechanical_assembly|SUMO mechanical assembly]]

==== RC Parts ====

Use the best RC parts you can get. There is no use in saving some Euros on this. We use Graupner servos, an AXI motor and Jeti motor controller.

[[SUMO/install_rc|Installing servos, motor and motor controller]]

==== Prepare specific electronic parts ====

These are the non-standard parts you need. Look in the [[Get_Hardware|get hardware]] section for a source of these parts. In the current version of the SUMO we use the Umarim Lite v2 autopilot, a TWOG board as data logger, a Digi XBee Pro Series 1 modem, a Hygrosens temperature sensor, Sensirion humidity sensor, Meas Spec pressure sensor and an optional Eagletree airspeed v3 sensor.

[[SUMO/prepare_electronics|Prepare Paparazzi electronics]]

==== Install electronic parts ====

This describes how the electronics are installed in the aircraft.

[[SUMO/install_electronics|Install Paparazzi electronics]]

==== Software configuration setup ====

Describes the software setup for the SUMO.

[[SUMO/sw_configuration|Software configuration]]

==== Operating the logger ====

This page describes how to setup and use the on-board logger.

[[SUMO/logger|Logger setup]]

File:R6008sp.jpg

2014-02-24T11:01:34Z

Martinmm: robbe/Futaba R6008SP

robbe/Futaba R6008SP

File:R6107sp.jpg

2014-02-24T11:01:06Z

Martinmm: robbe/Futaba R6107SP (special Mikrokopter)

robbe/Futaba R6107SP (special Mikrokopter)

SUMO/prepare electronics

2014-02-24T11:00:24Z

Martinmm: add RC receiver cable

__NOTOC__

== What you need ==

<small>
{|border="1" cellspacing="0" style="text-align:center" width="80%" valign="top"
|-style="background:LightYellow; color:black"
!Qty!!Manufacturer<br>part number!!Description!!Manufacturer!!Digikey<br>part number!!Other distributor
|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Autopilot''
|-
|1||Umarim Lite v2||Autopilot||Paparazzi|| ||
|-
|1||BEC cable female||Autopilot power supply|| || ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Modem''
|-
|1||(1P)XBP24-PKC-001-UA||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-PKC-001-UA-ND||Mouser 888-XBP24-PKC-001-UA
|-
|1||XBP24-AWI-001||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-AWI-001-ND||Mouser 888-XBP24-AWI-001
|-
|1||WRL-11373||XBee Explorer Regulated board||Sparkfun|| ||Sparkfun WRL-11373
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''GPS''
|-
|1||#387000004 (31135)||NEO-6M GPS Module||Hobbyking|| ||Navilock NL-652ETTL
|-

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors''
|-
|1||SHT75||Humidity Sensor||Sensirion|| ||Farnell #1590514
|-
|1||SHT75 adapter||SHT75 breakout board||Paparazzi|| ||
|-
|1||MLX90614||Infrared Thermometer||Melexis|| ||Sparkfun SEN-09570<br>FutureElectronics MLX90614ESF-BAA-000-TU
|-
|1||MLX90614 adapter||MLX90614 breakout board||Paparazzi|| ||paparazzi-hardware misc/mlx90614_small
|-
|1||ETS airspeed||Eagletree airspeed v3||Eagletree|| ||
|-
|1||PT1000 M222||PT1000 M222 temperature sensor||Heraeus|| ||Conrad #172041
|-
|1||TEMOD-I2C-R1||PT1000 converter board ||Hygrosens|| ||Conrad #502001
|-
|1||Multi I2C||Multi adapter Board||Paparazzi|| ||paparazzi-hardware misc/servo_i2c_multi

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors (optional version)''
|-
|1||BOB-08745||Logic Level Converter||Sparkfun|| ||Sparkfun BOB-08745
|-
|1||MS5611||Barometric pressure sensor||Meas Spec|| ||CSG #96<br>Drotek #44

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Logger''
|-
|1||TWOG v1.0||Logger||Paparazzi|| ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-
|1||BOB-00544||Board for microSD Transflash||Sparkfun|| ||Sparkfun BOB-00544

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Shrink tube (shrunken / not shrunken)''
|-
|1||PVC|| 13mm / 20mm || || ||Muldental Elektronik 64115
|-
|1||PVC|| 24mm / 37mm || || ||Muldental Elektronik 64246
|-
|1||PVC|| 29mm / 45mm || || ||Muldental Elektronik 64347
|-
|1||PVC|| 31mm / 51mm || || ||Muldental Elektronik 64446

|}

</small>

Shopping list

== Mounting ==

Use high quality cable, PVC cable gets very stiff in cold temperatures. All parts have to be put into shrink tube to isolate it from any conductive or electrostatic plastic. Some pictures below do not show this tube for better visibility.

=== Autopilot ===
[[Image:Umarim_bec.jpg|thumb|right|Umarim with BEC cable]]
[[Image:Umarim_usb.jpg|thumb|right|USB connector for Umarim]]
[[Image:R6107sp.jpg|thumb|right|RC connector for R6107SP]]
[[Image:R6008sp.jpg|thumb|right|RC connector for R6008SP]]

Solder the BEC to the Umarim. Cover the Umarim in shrink tube. Cut free the Molex connector openings. See the Umarim [[Umarim_Lite_v2#Pinout|page]] for detailed info on the pinout.

{|border="1"
|-valign="top"
||'''Umarim Supply (J15) pin'''||'''Umarim Supply'''||'''BEC male'''
|-
|1
|VBAT
| +
|-
|2
|GND
|
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Solder the cables to the USB breakout board, plug cables in 4-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''Umarim USB (J8) pin'''||'''Umarim USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|USB+
|D+
|-
|3
|USB-
|D-
|-
|4
|USB_VBUS
|VCC
|-
|''Molex 4pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 21cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

The RC receiver is connected to the autopilot through a standard servo cable connected to a 3-pin Molex connector. The signal wire is marked on the robbe receivers (see pictures).

{|border="1"
|-valign="top"
||'''Umarim RC (J7) pin'''||'''Umarim RC'''||'''Servo cable color'''
|-
|1
|GND
|black/brown
|-
|2
|5V
|red
|-
|3
|PPM in
|orange/yellow/white
|-
|''Molex 3pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 41cm''
|}

=== GPS ===
[[Image:Hk neo gps.jpg|thumb|right|NEO-6M GPS receiver]]

Connect the u-blox type GPS receiver to the UART0 of the Umarim. Put the GPS in shrink tube. Attach any HF cable with tape. Secure GPS connector with hot glue if needed.

{|border="1"
|-valign="top"
||'''Umarim UART0 (J9) pin'''||'''Umarim UART0'''||'''GPS receiver'''||'''HK NEO-6M pin'''
|-
|1
|GND
|GND
|1
|-
|2
|5V
|5V
|4
|-
|3
|
|
|
|-
|4
|RX0
|TX
|2
|-
|5
|TX0
|RX
|3
|-
|''Molex 5pin''
|
|
|''Molex 4pin''
|-
|colspan="4" align="left"|''Cable length 18cm''
|-
|colspan="4" align="left"|''Shrink tube 31mm / 51mm''
|}

=== Modem ===
[[Image:Xbee_cable.jpg|thumb|right|XBee pro modem]]

Solder the cables to the XBee explorer board, plug cables in 5-pin Molex connector. Secure cables on explorer board with hot glue. Plug XBee modem into explorer board and secure with shrink tube.

Recent Sparkfun boards (v14) are equipped with 3.3V to 5V converters. Although the Umarim/LPC2148 should be able to handle 5V it is safe to not use the converters. Remove R5, R6, R7, R8, Q1, and Q2 from the XBee explorer regulated breakout board. Bridge OUT-DOUT and IN-DIN within the transistor footprint.

{|border="1"
|-valign="top"
||'''Umarim UART1 (J10) pin'''||'''Umarim UART1'''||'''XBee Explorer Regulated'''
|-
|1
|GND
|GND
|-
|2
|5V
|5V
|-
|3
|
|
|-
|4
|RX1
|DOUT
|-
|5
|TX1
|DIN
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|-
|colspan="3" align="left"|''Shrink tube 29mm / 45mm''
|}

Solder a second wire (not shown in picture) from the XBee to the TWOG so that the data sent by the Umarim can be logged. That means that two wires are to be connected at the XBee DIN pin.

{|border="1"
|-valign="top"
||'''TWOG Download/GPS (J7) pin'''||'''TWOG Download/GPS'''||'''XBee Explorer Regulated'''
|-
|1
|
|
|-
|2
|
|
|-
|3
|
|
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD0
|DIN
|-
|''Molex 7pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|}

=== SHT75 humidity sensor ===
[[Image:Sht75_breakout_bot_90deg.jpg|thumb|right|SHT75 soldered to adapter board]]

Use SHT75 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/sht75_small repository]. Solder parts, secure sensor with hot glue to adapter board on the bottom side (not shown in picture).

{|border="1"
|-valign="top"
||'''Umarim AUX (J14) pin'''||'''Umarim AUX'''||'''SHT75'''||'''SHT75 pin'''||'''SHT75 adapter pin'''
|-
|1
|GND
|GND
|(3)
|1
|-
|2
|
|
|
|
|-
|3
| +3.3V
|VDD
|(2)
|2
|-
|4
|AUX1 (P0.13)
|DATA
|(4)
|3
|-
|5
|AUX2 (P0.15)
|SCK
|(1)
|4
|-
|6
|
|
|
|
|-
|7
|
|
|
|
|-
|''Molex 7pin''
|
|
|
|''Molex 4pin''
|-
|colspan="5" align="left"|''Cable length 17cm''
|-
|colspan="5" align="left"|''no shrink tube''
|}

=== MLX90614 infrared thermometer ===
[[Image:Mlx90614_bot.jpg‎|thumb|right|MLX90614 soldered to adapter board]]

Use MLX90614 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/mlx90614_small repository]. Solder parts, take care of sensor polarity. The I2C address of the MLX90614 needs to be programmed once before it can be used. Connect it as the only sensor to I2C and flash/run it with the IR_MLX_ONE_TIME_CONFIG option set (currently available in the master and campaign2013 branch). See [http://paparazzi.enac.fr/wiki/Module/Melexis_MLX90614#One-time_configuration Module/Melexis_MLX90614].

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''MLX90614'''||'''MLX90614 adapter pin'''
|-
|1
|GND
|Vss
|1
|-
|2
|
|
|
|-
|3
| +3.3V
|Vdd
|3
|-
|4
|SDA
|SDA
|4
|-
|5
|SCL
|SCL
|5
|-
|''Molex 5pin''
|
|
|''Molex 5pin''
|-
|colspan="5" align="left"|''Cable length 9cm''
|-
|colspan="5" align="left"|''Shrink tube 24mm / 37mm''
|}

=== Eagletree Airspeed v3 Sensor ===
[[Image:Ets_airspeed_v3.jpg|thumb|right|Eagletree Airspeed v3]]

Extend the sensor cable. Cut off the four outstanding pins.

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''ETS Airspeed wire colour'''
|-
|1
|GND
|white
|-
|2
| +5V
|red
|-
|3
|
|
|-
|4
|SDA
|yellow
|-
|5
|SCL
|brown
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 40cm''
|-
|colspan="3" align="left"|''keep original shrink tube''
|}

=== PT1000 temperature sensor ===
[[Image:Temod_i2c.jpg‎|thumb|right|Hygrosens TEMOD-I2C-R1]]

Solder the PT1000 sensor (little blue on the picture) to the two correct pads at the edge of the TEMOD-I2C-R1 board, where the pin plugs are. The pads on both side are not connected through. It has to be soldered to the side '''not''' carrying the chip. Remove pin header from TEMOD board. Solder 4pin cable to TEMOD, it will be connected to the Umarim through the multi_i2c board below. Fix cables with hot glue. Put some hot glue on the top of teh board, just behind the PT1000. Seal the board with shrink tube.

'''Caution: The connection is not 1:1'''

{|border="1"
|-valign="top"
||'''Multi board I2C_5V pin'''||'''Multi board I2C_5V'''||'''TEMOD-I2C-R1'''||'''TEMOD-I2C-R1 pin'''
|-
|1
|GND
|GND
|2
|-
|2
| +5V
|Vdd
|1
|-
|3
|SDA_5V
|SDA
|3
|-
|4
|SCL_5V
|SCL
|4
|-
|''Molex 4pin''
|
|
|''solder''
|-
|colspan="5" align="left"|''Cable length 18cm''
|-
|colspan="5" align="left"|''Shrink tube 13mm / 20mm''
|}

=== Multi Board ===
[[Image:Multi_i2c_ms5611.jpg‎‎|thumb|right|Multi connector board]]
[[Image:Multi_board_umarim.jpg|thumb|right|Multi board to Umarim]]
[[Image:Multi_wiring.jpg|thumb|right|Multi board connections]]

Use the multi board from the Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/servo_i2c_multi repository] to have multiple I2C connections, a MS5611 barometric pressure sensor, a 3.3V to 5V level shifter and servo JR connectors for BEC supply through the motor controller. Drill/burn holes into the shrink tube at the hole locations to attach the board with screws later on.

Connection between Multi Board I2C and Umarim I2C0.

{|border="1"
|-valign="top"
||'''Umarim I2C0 pin'''||'''I2C'''||'''Multi board I2C pin'''
|-
|1
|GND
|1
|-
|2
| +5V
|2
|-
|3
| +3.3V
|3
|-
|4
|SDA
|4
|-
|5
|SCL
|5
|-
|''Molex 5pin''
|
|''Molex 5pin''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Connection between Multi Board and Umarim for the servo signals.

{|border="1"
|-valign="top"
||'''Multi board Servo pin'''||'''Multi board Servo'''||'''Umarim Servo'''
|-
|1
|GND
|GND_SRV5
|-
|2
|
|
|-
|3
|
|
|-
|4
|S2
|SRV2
|-
|5
|S3
|SRV3
|-
|6
|S4
|SRV4
|-
|7
|S5
|SRV5
|-
|colspan="3" align="left"|''Cable length 7.5cm, 7.5cm, 8cm, 8.5cm, 9cm''
|}

The TEMOD/PT1000 temperature sensor gets connected through the 5V I2C connector.

{|border="1"
|-valign="top"
||'''Multi I2C_5V pin'''||'''Multi I2C_5V'''
|-
|1
|GND
|-
|2
| +5V
|-
|3
|SDA
|-
|4
|SCL
|}

=== Logger ===
[[Image:Umarim_logger_spi.jpg|thumb|right|Umarim with logger]]

The Umarim autopilot and the TWOG logger communicate through a bi-directional SPI connection. See the TWOG [[TWOG/v1.0#Pinout|page]] for detailed info on the logger pinout.

{|border="1"
|-valign="top"
||'''Umarim SPI1 pin'''||'''Umarim SPI1'''||'''TWOG'''||'''TWOG conn.'''||'''TWOG name'''||'''TWOG pin'''
|-
|1
|
|
|
|
|
|-
|2
|
|
|
|
|
|-
|3
|SSEL1
|SSEL0
|USB
|BUTTON
|6
|-
|4
|MOSI1
|MOSI0
|PPM
|PPM_IN
|3
|-
|5
|MISO1
|MISO0
|PPM
|SERV_CLK
|5
|-
|6
|
|
|
|
|
|-
|7
|SCK1
|SCK0
|ADC1
|ADC_3
|5
|-
|''Molex 7pin''
|
|
|
|
|''various Molex''
|-
|colspan="6" align="left"|''Cable length 6cm''
|}

The TWOG can be supplied through its original power supply connector or through 5V from the Umarim if the switching supply board is removed from the TWOG:

{|border="1"
|-valign="top"
||'''Umarim SRV0 pin'''||'''Umarim SRV0'''||'''TWOG ADC1'''||'''TWOG ADC1 pin'''
|-
|1
|GND
|GND
|1
|-
|2
| +5V
| +5V
|2
|-
|3
|
|
|
|-
|''Molex 3pin''
|
|
|''Molex 5pin''
|-
|colspan="4" align="left"|''Cable length 6cm''
|}

Solder the cables to the USB breakout board for the TWOG logger, plug cables in 8-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''TWOG USB (J9) pin'''||'''TWOG USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
|USB+
|D+
|-
|4
|USB-
|D-
|-
|5
|USB_VBUS
|VCC
|-
|5
|
|
|-
|6
|
|
|-
|7
|
|
|-
|8
|
|
|-
|''Molex 8pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

[[Image:Sd_card_twog.jpg|thumb|right|micro SD card adapter]]
[[Image:Sd_card_twog_shrink.jpg|thumb|right|micro SD card adapter in tube]]

The micro SD card adapter is connected to the TWOGs SPI connector. Wrap the board in shrink tube so that the micro SD card can be plugged/unplugged.

{|border="1"
|-valign="top"
||'''TWOG SPI pin'''||'''TWOG SPI'''||'''microSD card board'''||'''microSD board pin'''
|-
|1
|GND
|GND
|5
|-
|2
| +3.3V
|VCC
|3
|-
|3
|SSEL
|CS
|1
|-
|4
|MOSI
|DI
|2
|-
|5
|MISO
|DO
|6
|-
|6
|
|
|
|-
|7
|SCK
|SCK
|4
|-
|''Molex 7pin''
|
|
|''solder''
|-
|colspan="4" align="left"|''Cable length 6cm''
|-
|colspan="4" align="left"|''Shrink tube 24mm / 37mm''
|}

SUMO/prepare electronics

2014-02-24T10:42:35Z

Martinmm: added a warning

__NOTOC__

== What you need ==

<small>
{|border="1" cellspacing="0" style="text-align:center" width="80%" valign="top"
|-style="background:LightYellow; color:black"
!Qty!!Manufacturer<br>part number!!Description!!Manufacturer!!Digikey<br>part number!!Other distributor
|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Autopilot''
|-
|1||Umarim Lite v2||Autopilot||Paparazzi|| ||
|-
|1||BEC cable female||Autopilot power supply|| || ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Modem''
|-
|1||(1P)XBP24-PKC-001-UA||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-PKC-001-UA-ND||Mouser 888-XBP24-PKC-001-UA
|-
|1||XBP24-AWI-001||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-AWI-001-ND||Mouser 888-XBP24-AWI-001
|-
|1||WRL-11373||XBee Explorer Regulated board||Sparkfun|| ||Sparkfun WRL-11373
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''GPS''
|-
|1||#387000004 (31135)||NEO-6M GPS Module||Hobbyking|| ||Navilock NL-652ETTL
|-

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors''
|-
|1||SHT75||Humidity Sensor||Sensirion|| ||Farnell #1590514
|-
|1||SHT75 adapter||SHT75 breakout board||Paparazzi|| ||
|-
|1||MLX90614||Infrared Thermometer||Melexis|| ||Sparkfun SEN-09570<br>FutureElectronics MLX90614ESF-BAA-000-TU
|-
|1||MLX90614 adapter||MLX90614 breakout board||Paparazzi|| ||paparazzi-hardware misc/mlx90614_small
|-
|1||ETS airspeed||Eagletree airspeed v3||Eagletree|| ||
|-
|1||PT1000 M222||PT1000 M222 temperature sensor||Heraeus|| ||Conrad #172041
|-
|1||TEMOD-I2C-R1||PT1000 converter board ||Hygrosens|| ||Conrad #502001
|-
|1||Multi I2C||Multi adapter Board||Paparazzi|| ||paparazzi-hardware misc/servo_i2c_multi

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors (optional version)''
|-
|1||BOB-08745||Logic Level Converter||Sparkfun|| ||Sparkfun BOB-08745
|-
|1||MS5611||Barometric pressure sensor||Meas Spec|| ||CSG #96<br>Drotek #44

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Logger''
|-
|1||TWOG v1.0||Logger||Paparazzi|| ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-
|1||BOB-00544||Board for microSD Transflash||Sparkfun|| ||Sparkfun BOB-00544

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Shrink tube (shrunken / not shrunken)''
|-
|1||PVC|| 13mm / 20mm || || ||Muldental Elektronik 64115
|-
|1||PVC|| 24mm / 37mm || || ||Muldental Elektronik 64246
|-
|1||PVC|| 29mm / 45mm || || ||Muldental Elektronik 64347
|-
|1||PVC|| 31mm / 51mm || || ||Muldental Elektronik 64446

|}

</small>

Shopping list

== Mounting ==

Use high quality cable, PVC cable gets very stiff in cold temperatures. All parts have to be put into shrink tube to isolate it from any conductive or electrostatic plastic. Some pictures below do not show this tube for better visibility.

=== Autopilot ===
[[Image:Umarim_bec.jpg|thumb|right|Umarim with BEC cable]]
[[Image:Umarim_usb.jpg|thumb|right|USB connector for Umarim]]

Solder the BEC to the Umarim. Cover the Umarim in shrink tube. Cut free the Molex connector openings. See the Umarim [[Umarim_Lite_v2#Pinout|page]] for detailed info on the pinout.

{|border="1"
|-valign="top"
||'''Umarim Supply (J15) pin'''||'''Umarim Supply'''||'''BEC male'''
|-
|1
|VBAT
| +
|-
|2
|GND
|
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Solder the cables to the USB breakout board, plug cables in 4-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''Umarim USB (J8) pin'''||'''Umarim USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|USB+
|D+
|-
|3
|USB-
|D-
|-
|4
|USB_VBUS
|VCC
|-
|''Molex 4pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 21cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

=== GPS ===
[[Image:Hk neo gps.jpg|thumb|right|NEO-6M GPS receiver]]

Connect the u-blox type GPS receiver to the UART0 of the Umarim. Put the GPS in shrink tube. Attach any HF cable with tape. Secure GPS connector with hot glue if needed.

{|border="1"
|-valign="top"
||'''Umarim UART0 (J9) pin'''||'''Umarim UART0'''||'''GPS receiver'''||'''HK NEO-6M pin'''
|-
|1
|GND
|GND
|1
|-
|2
|5V
|5V
|4
|-
|3
|
|
|
|-
|4
|RX0
|TX
|2
|-
|5
|TX0
|RX
|3
|-
|''Molex 5pin''
|
|
|''Molex 4pin''
|-
|colspan="4" align="left"|''Cable length 18cm''
|-
|colspan="4" align="left"|''Shrink tube 31mm / 51mm''
|}

=== Modem ===
[[Image:Xbee_cable.jpg|thumb|right|XBee pro modem]]

Solder the cables to the XBee explorer board, plug cables in 5-pin Molex connector. Secure cables on explorer board with hot glue. Plug XBee modem into explorer board and secure with shrink tube.

Recent Sparkfun boards (v14) are equipped with 3.3V to 5V converters. Although the Umarim/LPC2148 should be able to handle 5V it is safe to not use the converters. Remove R5, R6, R7, R8, Q1, and Q2 from the XBee explorer regulated breakout board. Bridge OUT-DOUT and IN-DIN within the transistor footprint.

{|border="1"
|-valign="top"
||'''Umarim UART1 (J10) pin'''||'''Umarim UART1'''||'''XBee Explorer Regulated'''
|-
|1
|GND
|GND
|-
|2
|5V
|5V
|-
|3
|
|
|-
|4
|RX1
|DOUT
|-
|5
|TX1
|DIN
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|-
|colspan="3" align="left"|''Shrink tube 29mm / 45mm''
|}

Solder a second wire (not shown in picture) from the XBee to the TWOG so that the data sent by the Umarim can be logged. That means that two wires are to be connected at the XBee DIN pin.

{|border="1"
|-valign="top"
||'''TWOG Download/GPS (J7) pin'''||'''TWOG Download/GPS'''||'''XBee Explorer Regulated'''
|-
|1
|
|
|-
|2
|
|
|-
|3
|
|
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD0
|DIN
|-
|''Molex 7pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|}

=== SHT75 humidity sensor ===
[[Image:Sht75_breakout_bot_90deg.jpg|thumb|right|SHT75 soldered to adapter board]]

Use SHT75 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/sht75_small repository]. Solder parts, secure sensor with hot glue to adapter board on the bottom side (not shown in picture).

{|border="1"
|-valign="top"
||'''Umarim AUX (J14) pin'''||'''Umarim AUX'''||'''SHT75'''||'''SHT75 pin'''||'''SHT75 adapter pin'''
|-
|1
|GND
|GND
|(3)
|1
|-
|2
|
|
|
|
|-
|3
| +3.3V
|VDD
|(2)
|2
|-
|4
|AUX1 (P0.13)
|DATA
|(4)
|3
|-
|5
|AUX2 (P0.15)
|SCK
|(1)
|4
|-
|6
|
|
|
|
|-
|7
|
|
|
|
|-
|''Molex 7pin''
|
|
|
|''Molex 4pin''
|-
|colspan="5" align="left"|''Cable length 17cm''
|-
|colspan="5" align="left"|''no shrink tube''
|}

=== MLX90614 infrared thermometer ===
[[Image:Mlx90614_bot.jpg‎|thumb|right|MLX90614 soldered to adapter board]]

Use MLX90614 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/mlx90614_small repository]. Solder parts, take care of sensor polarity. The I2C address of the MLX90614 needs to be programmed once before it can be used. Connect it as the only sensor to I2C and flash/run it with the IR_MLX_ONE_TIME_CONFIG option set (currently available in the master and campaign2013 branch). See [http://paparazzi.enac.fr/wiki/Module/Melexis_MLX90614#One-time_configuration Module/Melexis_MLX90614].

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''MLX90614'''||'''MLX90614 adapter pin'''
|-
|1
|GND
|Vss
|1
|-
|2
|
|
|
|-
|3
| +3.3V
|Vdd
|3
|-
|4
|SDA
|SDA
|4
|-
|5
|SCL
|SCL
|5
|-
|''Molex 5pin''
|
|
|''Molex 5pin''
|-
|colspan="5" align="left"|''Cable length 9cm''
|-
|colspan="5" align="left"|''Shrink tube 24mm / 37mm''
|}

=== Eagletree Airspeed v3 Sensor ===
[[Image:Ets_airspeed_v3.jpg|thumb|right|Eagletree Airspeed v3]]

Extend the sensor cable. Cut off the four outstanding pins.

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''ETS Airspeed wire colour'''
|-
|1
|GND
|white
|-
|2
| +5V
|red
|-
|3
|
|
|-
|4
|SDA
|yellow
|-
|5
|SCL
|brown
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 40cm''
|-
|colspan="3" align="left"|''keep original shrink tube''
|}

=== PT1000 temperature sensor ===
[[Image:Temod_i2c.jpg‎|thumb|right|Hygrosens TEMOD-I2C-R1]]

Solder the PT1000 sensor (little blue on the picture) to the two correct pads at the edge of the TEMOD-I2C-R1 board, where the pin plugs are. The pads on both side are not connected through. It has to be soldered to the side '''not''' carrying the chip. Remove pin header from TEMOD board. Solder 4pin cable to TEMOD, it will be connected to the Umarim through the multi_i2c board below. Fix cables with hot glue. Put some hot glue on the top of teh board, just behind the PT1000. Seal the board with shrink tube.

'''Caution: The connection is not 1:1'''

{|border="1"
|-valign="top"
||'''Multi board I2C_5V pin'''||'''Multi board I2C_5V'''||'''TEMOD-I2C-R1'''||'''TEMOD-I2C-R1 pin'''
|-
|1
|GND
|GND
|2
|-
|2
| +5V
|Vdd
|1
|-
|3
|SDA_5V
|SDA
|3
|-
|4
|SCL_5V
|SCL
|4
|-
|''Molex 4pin''
|
|
|''solder''
|-
|colspan="5" align="left"|''Cable length 18cm''
|-
|colspan="5" align="left"|''Shrink tube 13mm / 20mm''
|}

=== Multi Board ===
[[Image:Multi_i2c_ms5611.jpg‎‎|thumb|right|Multi connector board]]
[[Image:Multi_board_umarim.jpg|thumb|right|Multi board to Umarim]]
[[Image:Multi_wiring.jpg|thumb|right|Multi board connections]]

Use the multi board from the Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/servo_i2c_multi repository] to have multiple I2C connections, a MS5611 barometric pressure sensor, a 3.3V to 5V level shifter and servo JR connectors for BEC supply through the motor controller. Drill/burn holes into the shrink tube at the hole locations to attach the board with screws later on.

Connection between Multi Board I2C and Umarim I2C0.

{|border="1"
|-valign="top"
||'''Umarim I2C0 pin'''||'''I2C'''||'''Multi board I2C pin'''
|-
|1
|GND
|1
|-
|2
| +5V
|2
|-
|3
| +3.3V
|3
|-
|4
|SDA
|4
|-
|5
|SCL
|5
|-
|''Molex 5pin''
|
|''Molex 5pin''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Connection between Multi Board and Umarim for the servo signals.

{|border="1"
|-valign="top"
||'''Multi board Servo pin'''||'''Multi board Servo'''||'''Umarim Servo'''
|-
|1
|GND
|GND_SRV5
|-
|2
|
|
|-
|3
|
|
|-
|4
|S2
|SRV2
|-
|5
|S3
|SRV3
|-
|6
|S4
|SRV4
|-
|7
|S5
|SRV5
|-
|colspan="3" align="left"|''Cable length 7.5cm, 7.5cm, 8cm, 8.5cm, 9cm''
|}

The TEMOD/PT1000 temperature sensor gets connected through the 5V I2C connector.

{|border="1"
|-valign="top"
||'''Multi I2C_5V pin'''||'''Multi I2C_5V'''
|-
|1
|GND
|-
|2
| +5V
|-
|3
|SDA
|-
|4
|SCL
|}

=== Logger ===
[[Image:Umarim_logger_spi.jpg|thumb|right|Umarim with logger]]

The Umarim autopilot and the TWOG logger communicate through a bi-directional SPI connection. See the TWOG [[TWOG/v1.0#Pinout|page]] for detailed info on the logger pinout.

{|border="1"
|-valign="top"
||'''Umarim SPI1 pin'''||'''Umarim SPI1'''||'''TWOG'''||'''TWOG conn.'''||'''TWOG name'''||'''TWOG pin'''
|-
|1
|
|
|
|
|
|-
|2
|
|
|
|
|
|-
|3
|SSEL1
|SSEL0
|USB
|BUTTON
|6
|-
|4
|MOSI1
|MOSI0
|PPM
|PPM_IN
|3
|-
|5
|MISO1
|MISO0
|PPM
|SERV_CLK
|5
|-
|6
|
|
|
|
|
|-
|7
|SCK1
|SCK0
|ADC1
|ADC_3
|5
|-
|''Molex 7pin''
|
|
|
|
|''various Molex''
|-
|colspan="6" align="left"|''Cable length 6cm''
|}

The TWOG can be supplied through its original power supply connector or through 5V from the Umarim if the switching supply board is removed from the TWOG:

{|border="1"
|-valign="top"
||'''Umarim SRV0 pin'''||'''Umarim SRV0'''||'''TWOG ADC1'''||'''TWOG ADC1 pin'''
|-
|1
|GND
|GND
|1
|-
|2
| +5V
| +5V
|2
|-
|3
|
|
|
|-
|''Molex 3pin''
|
|
|''Molex 5pin''
|-
|colspan="4" align="left"|''Cable length 6cm''
|}

Solder the cables to the USB breakout board for the TWOG logger, plug cables in 8-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''TWOG USB (J9) pin'''||'''TWOG USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
|USB+
|D+
|-
|4
|USB-
|D-
|-
|5
|USB_VBUS
|VCC
|-
|5
|
|
|-
|6
|
|
|-
|7
|
|
|-
|8
|
|
|-
|''Molex 8pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

[[Image:Sd_card_twog.jpg|thumb|right|micro SD card adapter]]
[[Image:Sd_card_twog_shrink.jpg|thumb|right|micro SD card adapter in tube]]

The micro SD card adapter is connected to the TWOGs SPI connector. Wrap the board in shrink tube so that the micro SD card can be plugged/unplugged.

{|border="1"
|-valign="top"
||'''TWOG SPI pin'''||'''TWOG SPI'''||'''microSD card board'''||'''microSD board pin'''
|-
|1
|GND
|GND
|5
|-
|2
| +3.3V
|VCC
|3
|-
|3
|SSEL
|CS
|1
|-
|4
|MOSI
|DI
|2
|-
|5
|MISO
|DO
|6
|-
|6
|
|
|
|-
|7
|SCK
|SCK
|4
|-
|''Molex 7pin''
|
|
|''solder''
|-
|colspan="4" align="left"|''Cable length 6cm''
|-
|colspan="4" align="left"|''Shrink tube 24mm / 37mm''
|}

SUMO/install electronics

2014-02-24T10:24:10Z

Martinmm: correct multi board orientation

See [[SUMO/prepare_electronics|Prepare Paparazzi electronics]] for a detailed description of where exactly the connectors/plugs go to.

Glue the USB Mini-B board for the Umarim lite to the right side of the end of the battery compartment.

[[Image:Funjet_usb.jpg|600px]]

Install two 3mm plywood boards 41mm by 10mm centered behind the fiber rod and aligned to the distance of the Umarim lite drill holes with CA. Fix the XBee pro with the Sparkfun board below the boards with Velcro.

[[Image:Umarim_board_xbee.jpg|600px]]

Add a 3mm plywood board 41mm by 26mm one centimeter above the base of the fuselage. Drill holes to hold the Multi board before mounting. Install the Umarim lite with 1.6mm screws and servo rubbers in between.

[[Image:Umarim_board_multi.jpg|600px]]

Fix the Multi board with four screws and and servo rubbers.

[[Image:Multi_board_install_corr.jpg|600px]]

The logger holding 3mm plywood board is 41mm by 30mm and installed 5mm behind the Umarim lite at the same level.

[[Image:Logger_board.jpg|600px]]

Add a 10mm EPP separator between the autopilot and the motor compartment. Connect the logger to the Umarim, add the micro SD card holder and the USB Mini-B behind the separator. Fix the logger on the board with Velcro.

[[Image:Logger_shrink.jpg|600px]]

Put the GPS receiver with the ceramic antenna upwards into the pocket under the front turtle deck (picture shows not-yet attached deck).

[[Image:Funjet_gps_b.jpg|600px]]

Glue the MLX90614 infrared thermometer into the 25mm x 20mm pocket. Seal the metal sensor with the EPP to make it watertight. Bring the connecting cable to the fuselage. Close the pocket with the original (colored) EPP.

[[Image:Mlx_install.jpg|600px]]

Insert the PT1000 temperature sensor into the ABS holder and fix it to the right wing.

[[Image:Temperature_sensor_holder.jpg|600px]]

[[Image:Temperature_sensor_inside.jpg|600px]]

[[Image:Temperature_installed.jpg|600px]]

The same applies to the SHT75 humidity sensor on the left wing.

[[Image:Humidity_sensor_holder.jpg|600px]]

[[Image:Humidity_sensor_inside.jpg|600px]]

[[Image:Humidity_installed.jpg|600px]]

Overview.

[[Image:Funjet_sensors.jpg|600px]]

File:Multi board install corr.jpg

2014-02-24T10:22:41Z

Martinmm:

SUMO/prepare electronics

2014-02-04T18:04:15Z

Martinmm: add twog pinout

__NOTOC__

== What you need ==

<small>
{|border="1" cellspacing="0" style="text-align:center" width="80%" valign="top"
|-style="background:LightYellow; color:black"
!Qty!!Manufacturer<br>part number!!Description!!Manufacturer!!Digikey<br>part number!!Other distributor
|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Autopilot''
|-
|1||Umarim Lite v2||Autopilot||Paparazzi|| ||
|-
|1||BEC cable female||Autopilot power supply|| || ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Modem''
|-
|1||(1P)XBP24-PKC-001-UA||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-PKC-001-UA-ND||Mouser 888-XBP24-PKC-001-UA
|-
|1||XBP24-AWI-001||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-AWI-001-ND||Mouser 888-XBP24-AWI-001
|-
|1||WRL-11373||XBee Explorer Regulated board||Sparkfun|| ||Sparkfun WRL-11373
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''GPS''
|-
|1||#387000004 (31135)||NEO-6M GPS Module||Hobbyking|| ||Navilock NL-652ETTL
|-

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors''
|-
|1||SHT75||Humidity Sensor||Sensirion|| ||Farnell #1590514
|-
|1||SHT75 adapter||SHT75 breakout board||Paparazzi|| ||
|-
|1||MLX90614||Infrared Thermometer||Melexis|| ||Sparkfun SEN-09570<br>FutureElectronics MLX90614ESF-BAA-000-TU
|-
|1||MLX90614 adapter||MLX90614 breakout board||Paparazzi|| ||paparazzi-hardware misc/mlx90614_small
|-
|1||ETS airspeed||Eagletree airspeed v3||Eagletree|| ||
|-
|1||PT1000 M222||PT1000 M222 temperature sensor||Heraeus|| ||Conrad #172041
|-
|1||TEMOD-I2C-R1||PT1000 converter board ||Hygrosens|| ||Conrad #502001
|-
|1||Multi I2C||Multi adapter Board||Paparazzi|| ||paparazzi-hardware misc/servo_i2c_multi

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors (optional version)''
|-
|1||BOB-08745||Logic Level Converter||Sparkfun|| ||Sparkfun BOB-08745
|-
|1||MS5611||Barometric pressure sensor||Meas Spec|| ||CSG #96<br>Drotek #44

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Logger''
|-
|1||TWOG v1.0||Logger||Paparazzi|| ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-
|1||BOB-00544||Board for microSD Transflash||Sparkfun|| ||Sparkfun BOB-00544

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Shrink tube (shrunken / not shrunken)''
|-
|1||PVC|| 13mm / 20mm || || ||Muldental Elektronik 64115
|-
|1||PVC|| 24mm / 37mm || || ||Muldental Elektronik 64246
|-
|1||PVC|| 29mm / 45mm || || ||Muldental Elektronik 64347
|-
|1||PVC|| 31mm / 51mm || || ||Muldental Elektronik 64446

|}

</small>

Shopping list

== Mounting ==

Use high quality cable, PVC cable gets very stiff in cold temperatures. All parts have to be put into shrink tube to isolate it from any conductive or electrostatic plastic. Some pictures below do not show this tube for better visibility.

=== Autopilot ===
[[Image:Umarim_bec.jpg|thumb|right|Umarim with BEC cable]]
[[Image:Umarim_usb.jpg|thumb|right|USB connector for Umarim]]

Solder the BEC to the Umarim. Cover the Umarim in shrink tube. Cut free the Molex connector openings. See the Umarim [[Umarim_Lite_v2#Pinout|page]] for detailed info on the pinout.

{|border="1"
|-valign="top"
||'''Umarim Supply (J15) pin'''||'''Umarim Supply'''||'''BEC male'''
|-
|1
|VBAT
| +
|-
|2
|GND
|
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Solder the cables to the USB breakout board, plug cables in 4-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''Umarim USB (J8) pin'''||'''Umarim USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|USB+
|D+
|-
|3
|USB-
|D-
|-
|4
|USB_VBUS
|VCC
|-
|''Molex 4pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 21cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

=== GPS ===
[[Image:Hk neo gps.jpg|thumb|right|NEO-6M GPS receiver]]

Connect the u-blox type GPS receiver to the UART0 of the Umarim. Put the GPS in shrink tube. Attach any HF cable with tape. Secure GPS connector with hot glue if needed.

{|border="1"
|-valign="top"
||'''Umarim UART0 (J9) pin'''||'''Umarim UART0'''||'''GPS receiver'''||'''HK NEO-6M pin'''
|-
|1
|GND
|GND
|1
|-
|2
|5V
|5V
|4
|-
|3
|
|
|
|-
|4
|RX0
|TX
|2
|-
|5
|TX0
|RX
|3
|-
|''Molex 5pin''
|
|
|''Molex 4pin''
|-
|colspan="4" align="left"|''Cable length 18cm''
|-
|colspan="4" align="left"|''Shrink tube 31mm / 51mm''
|}

=== Modem ===
[[Image:Xbee_cable.jpg|thumb|right|XBee pro modem]]

Solder the cables to the XBee explorer board, plug cables in 5-pin Molex connector. Secure cables on explorer board with hot glue. Plug XBee modem into explorer board and secure with shrink tube.

Recent Sparkfun boards (v14) are equipped with 3.3V to 5V converters. Although the Umarim/LPC2148 should be able to handle 5V it is safe to not use the converters. Remove R5, R6, R7, R8, Q1, and Q2 from the XBee explorer regulated breakout board. Bridge OUT-DOUT and IN-DIN within the transistor footprint.

{|border="1"
|-valign="top"
||'''Umarim UART1 (J10) pin'''||'''Umarim UART1'''||'''XBee Explorer Regulated'''
|-
|1
|GND
|GND
|-
|2
|5V
|5V
|-
|3
|
|
|-
|4
|RX1
|DOUT
|-
|5
|TX1
|DIN
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|-
|colspan="3" align="left"|''Shrink tube 29mm / 45mm''
|}

Solder a second wire (not shown in picture) from the XBee to the TWOG so that the data sent by the Umarim can be logged. That means that two wires are to be connected at the XBee DIN pin.

{|border="1"
|-valign="top"
||'''TWOG Download/GPS (J7) pin'''||'''TWOG Download/GPS'''||'''XBee Explorer Regulated'''
|-
|1
|
|
|-
|2
|
|
|-
|3
|
|
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD0
|DIN
|-
|''Molex 7pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|}

=== SHT75 humidity sensor ===
[[Image:Sht75_breakout_bot_90deg.jpg|thumb|right|SHT75 soldered to adapter board]]

Use SHT75 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/sht75_small repository]. Solder parts, secure sensor with hot glue to adapter board on the bottom side (not shown in picture).

{|border="1"
|-valign="top"
||'''Umarim AUX (J14) pin'''||'''Umarim AUX'''||'''SHT75'''||'''SHT75 pin'''||'''SHT75 adapter pin'''
|-
|1
|GND
|GND
|(3)
|1
|-
|2
|
|
|
|
|-
|3
| +3.3V
|VDD
|(2)
|2
|-
|4
|AUX1 (P0.13)
|DATA
|(4)
|3
|-
|5
|AUX2 (P0.15)
|SCK
|(1)
|4
|-
|6
|
|
|
|
|-
|7
|
|
|
|
|-
|''Molex 7pin''
|
|
|
|''Molex 4pin''
|-
|colspan="5" align="left"|''Cable length 17cm''
|-
|colspan="5" align="left"|''no shrink tube''
|}

=== MLX90614 infrared thermometer ===
[[Image:Mlx90614_bot.jpg‎|thumb|right|MLX90614 soldered to adapter board]]

Use MLX90614 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/mlx90614_small repository]. Solder parts, take care of sensor polarity. The I2C address of the MLX90614 needs to be programmed once before it can be used. Connect it as the only sensor to I2C and flash/run it with the IR_MLX_ONE_TIME_CONFIG option set (currently available in the master and campaign2013 branch). See [http://paparazzi.enac.fr/wiki/Module/Melexis_MLX90614#One-time_configuration Module/Melexis_MLX90614].

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''MLX90614'''||'''MLX90614 adapter pin'''
|-
|1
|GND
|Vss
|1
|-
|2
|
|
|
|-
|3
| +3.3V
|Vdd
|3
|-
|4
|SDA
|SDA
|4
|-
|5
|SCL
|SCL
|5
|-
|''Molex 5pin''
|
|
|''Molex 5pin''
|-
|colspan="5" align="left"|''Cable length 9cm''
|-
|colspan="5" align="left"|''Shrink tube 24mm / 37mm''
|}

=== Eagletree Airspeed v3 Sensor ===
[[Image:Ets_airspeed_v3.jpg|thumb|right|Eagletree Airspeed v3]]

Extend the sensor cable. Cut off the four outstanding pins.

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''ETS Airspeed wire colour'''
|-
|1
|GND
|white
|-
|2
| +5V
|red
|-
|3
|
|
|-
|4
|SDA
|yellow
|-
|5
|SCL
|brown
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 40cm''
|-
|colspan="3" align="left"|''keep original shrink tube''
|}

=== PT1000 temperature sensor ===
[[Image:Temod_i2c.jpg‎|thumb|right|Hygrosens TEMOD-I2C-R1]]

Solder the PT1000 sensor (little blue on the picture) to the two correct pads at the edge of the TEMOD-I2C-R1 board, where the pin plugs are. The pads on both side are not connected through. It has to be soldered to the side '''not''' carrying the chip. Remove pin header from TEMOD board. Solder 4pin cable to TEMOD, it will be connected to the Umarim through the multi_i2c board below. Fix cables with hot glue. Put some hot glue on the top of teh board, just behind the PT1000. Seal the board with shrink tube.

{|border="1"
|-valign="top"
||'''Multi board I2C_5V pin'''||'''Multi board I2C_5V'''||'''TEMOD-I2C-R1'''||'''TEMOD-I2C-R1 pin'''
|-
|1
|GND
|GND
|2
|-
|2
| +5V
|Vdd
|1
|-
|3
|SDA_5V
|SDA
|3
|-
|4
|SCL_5V
|SCL
|4
|-
|''Molex 4pin''
|
|
|''solder''
|-
|colspan="5" align="left"|''Cable length 18cm''
|-
|colspan="5" align="left"|''Shrink tube 13mm / 20mm''
|}

=== Multi Board ===
[[Image:Multi_i2c_ms5611.jpg‎‎|thumb|right|Multi connector board]]
[[Image:Multi_board_umarim.jpg|thumb|right|Multi board to Umarim]]
[[Image:Multi_wiring.jpg|thumb|right|Multi board connections]]

Use the multi board from the Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/servo_i2c_multi repository] to have multiple I2C connections, a MS5611 barometric pressure sensor, a 3.3V to 5V level shifter and servo JR connectors for BEC supply through the motor controller. Drill/burn holes into the shrink tube at the hole locations to attach the board with screws later on.

Connection between Multi Board I2C and Umarim I2C0.

{|border="1"
|-valign="top"
||'''Umarim I2C0 pin'''||'''I2C'''||'''Multi board I2C pin'''
|-
|1
|GND
|1
|-
|2
| +5V
|2
|-
|3
| +3.3V
|3
|-
|4
|SDA
|4
|-
|5
|SCL
|5
|-
|''Molex 5pin''
|
|''Molex 5pin''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Connection between Multi Board and Umarim for the servo signals.

{|border="1"
|-valign="top"
||'''Multi board Servo pin'''||'''Multi board Servo'''||'''Umarim Servo'''
|-
|1
|GND
|GND_SRV5
|-
|2
|
|
|-
|3
|
|
|-
|4
|S2
|SRV2
|-
|5
|S3
|SRV3
|-
|6
|S4
|SRV4
|-
|7
|S5
|SRV5
|-
|colspan="3" align="left"|''Cable length 7.5cm, 7.5cm, 8cm, 8.5cm, 9cm''
|}

The TEMOD/PT1000 temperature sensor gets connected through the 5V I2C connector.

{|border="1"
|-valign="top"
||'''Multi I2C_5V pin'''||'''Multi I2C_5V'''
|-
|1
|GND
|-
|2
| +5V
|-
|3
|SDA
|-
|4
|SCL
|}

=== Logger ===
[[Image:Umarim_logger_spi.jpg|thumb|right|Umarim with logger]]

The Umarim autopilot and the TWOG logger communicate through a bi-directional SPI connection. See the TWOG [[TWOG/v1.0#Pinout|page]] for detailed info on the logger pinout.

{|border="1"
|-valign="top"
||'''Umarim SPI1 pin'''||'''Umarim SPI1'''||'''TWOG'''||'''TWOG conn.'''||'''TWOG name'''||'''TWOG pin'''
|-
|1
|
|
|
|
|
|-
|2
|
|
|
|
|
|-
|3
|SSEL1
|SSEL0
|USB
|BUTTON
|6
|-
|4
|MOSI1
|MOSI0
|PPM
|PPM_IN
|3
|-
|5
|MISO1
|MISO0
|PPM
|SERV_CLK
|5
|-
|6
|
|
|
|
|
|-
|7
|SCK1
|SCK0
|ADC1
|ADC_3
|5
|-
|''Molex 7pin''
|
|
|
|
|''various Molex''
|-
|colspan="6" align="left"|''Cable length 6cm''
|}

The TWOG can be supplied through its original power supply connector or through 5V from the Umarim if the switching supply board is removed from the TWOG:

{|border="1"
|-valign="top"
||'''Umarim SRV0 pin'''||'''Umarim SRV0'''||'''TWOG ADC1'''||'''TWOG ADC1 pin'''
|-
|1
|GND
|GND
|1
|-
|2
| +5V
| +5V
|2
|-
|3
|
|
|
|-
|''Molex 3pin''
|
|
|''Molex 5pin''
|-
|colspan="4" align="left"|''Cable length 6cm''
|}

Solder the cables to the USB breakout board for the TWOG logger, plug cables in 8-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''TWOG USB (J9) pin'''||'''TWOG USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
|USB+
|D+
|-
|4
|USB-
|D-
|-
|5
|USB_VBUS
|VCC
|-
|5
|
|
|-
|6
|
|
|-
|7
|
|
|-
|8
|
|
|-
|''Molex 8pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

[[Image:Sd_card_twog.jpg|thumb|right|micro SD card adapter]]
[[Image:Sd_card_twog_shrink.jpg|thumb|right|micro SD card adapter in tube]]

The micro SD card adapter is connected to the TWOGs SPI connector. Wrap the board in shrink tube so that the micro SD card can be plugged/unplugged.

{|border="1"
|-valign="top"
||'''TWOG SPI pin'''||'''TWOG SPI'''||'''microSD card board'''||'''microSD board pin'''
|-
|1
|GND
|GND
|5
|-
|2
| +3.3V
|VCC
|3
|-
|3
|SSEL
|CS
|1
|-
|4
|MOSI
|DI
|2
|-
|5
|MISO
|DO
|6
|-
|6
|
|
|
|-
|7
|SCK
|SCK
|4
|-
|''Molex 7pin''
|
|
|''solder''
|-
|colspan="4" align="left"|''Cable length 6cm''
|-
|colspan="4" align="left"|''Shrink tube 24mm / 37mm''
|}

SUMO/prepare electronics

2014-02-04T18:02:45Z

Martinmm: add umarim reference

__NOTOC__

== What you need ==

<small>
{|border="1" cellspacing="0" style="text-align:center" width="80%" valign="top"
|-style="background:LightYellow; color:black"
!Qty!!Manufacturer<br>part number!!Description!!Manufacturer!!Digikey<br>part number!!Other distributor
|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Autopilot''
|-
|1||Umarim Lite v2||Autopilot||Paparazzi|| ||
|-
|1||BEC cable female||Autopilot power supply|| || ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Modem''
|-
|1||(1P)XBP24-PKC-001-UA||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-PKC-001-UA-ND||Mouser 888-XBP24-PKC-001-UA
|-
|1||XBP24-AWI-001||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-AWI-001-ND||Mouser 888-XBP24-AWI-001
|-
|1||WRL-11373||XBee Explorer Regulated board||Sparkfun|| ||Sparkfun WRL-11373
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''GPS''
|-
|1||#387000004 (31135)||NEO-6M GPS Module||Hobbyking|| ||Navilock NL-652ETTL
|-

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors''
|-
|1||SHT75||Humidity Sensor||Sensirion|| ||Farnell #1590514
|-
|1||SHT75 adapter||SHT75 breakout board||Paparazzi|| ||
|-
|1||MLX90614||Infrared Thermometer||Melexis|| ||Sparkfun SEN-09570<br>FutureElectronics MLX90614ESF-BAA-000-TU
|-
|1||MLX90614 adapter||MLX90614 breakout board||Paparazzi|| ||paparazzi-hardware misc/mlx90614_small
|-
|1||ETS airspeed||Eagletree airspeed v3||Eagletree|| ||
|-
|1||PT1000 M222||PT1000 M222 temperature sensor||Heraeus|| ||Conrad #172041
|-
|1||TEMOD-I2C-R1||PT1000 converter board ||Hygrosens|| ||Conrad #502001
|-
|1||Multi I2C||Multi adapter Board||Paparazzi|| ||paparazzi-hardware misc/servo_i2c_multi

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors (optional version)''
|-
|1||BOB-08745||Logic Level Converter||Sparkfun|| ||Sparkfun BOB-08745
|-
|1||MS5611||Barometric pressure sensor||Meas Spec|| ||CSG #96<br>Drotek #44

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Logger''
|-
|1||TWOG v1.0||Logger||Paparazzi|| ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-
|1||BOB-00544||Board for microSD Transflash||Sparkfun|| ||Sparkfun BOB-00544

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Shrink tube (shrunken / not shrunken)''
|-
|1||PVC|| 13mm / 20mm || || ||Muldental Elektronik 64115
|-
|1||PVC|| 24mm / 37mm || || ||Muldental Elektronik 64246
|-
|1||PVC|| 29mm / 45mm || || ||Muldental Elektronik 64347
|-
|1||PVC|| 31mm / 51mm || || ||Muldental Elektronik 64446

|}

</small>

Shopping list

== Mounting ==

Use high quality cable, PVC cable gets very stiff in cold temperatures. All parts have to be put into shrink tube to isolate it from any conductive or electrostatic plastic. Some pictures below do not show this tube for better visibility.

=== Autopilot ===
[[Image:Umarim_bec.jpg|thumb|right|Umarim with BEC cable]]
[[Image:Umarim_usb.jpg|thumb|right|USB connector for Umarim]]

Solder the BEC to the Umarim. Cover the Umarim in shrink tube. Cut free the Molex connector openings. See the Umarim [[Umarim_Lite_v2#Pinout|page]] for detailed info on the pinout.

{|border="1"
|-valign="top"
||'''Umarim Supply (J15) pin'''||'''Umarim Supply'''||'''BEC male'''
|-
|1
|VBAT
| +
|-
|2
|GND
|
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Solder the cables to the USB breakout board, plug cables in 4-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''Umarim USB (J8) pin'''||'''Umarim USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|USB+
|D+
|-
|3
|USB-
|D-
|-
|4
|USB_VBUS
|VCC
|-
|''Molex 4pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 21cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

=== GPS ===
[[Image:Hk neo gps.jpg|thumb|right|NEO-6M GPS receiver]]

Connect the u-blox type GPS receiver to the UART0 of the Umarim. Put the GPS in shrink tube. Attach any HF cable with tape. Secure GPS connector with hot glue if needed.

{|border="1"
|-valign="top"
||'''Umarim UART0 (J9) pin'''||'''Umarim UART0'''||'''GPS receiver'''||'''HK NEO-6M pin'''
|-
|1
|GND
|GND
|1
|-
|2
|5V
|5V
|4
|-
|3
|
|
|
|-
|4
|RX0
|TX
|2
|-
|5
|TX0
|RX
|3
|-
|''Molex 5pin''
|
|
|''Molex 4pin''
|-
|colspan="4" align="left"|''Cable length 18cm''
|-
|colspan="4" align="left"|''Shrink tube 31mm / 51mm''
|}

=== Modem ===
[[Image:Xbee_cable.jpg|thumb|right|XBee pro modem]]

Solder the cables to the XBee explorer board, plug cables in 5-pin Molex connector. Secure cables on explorer board with hot glue. Plug XBee modem into explorer board and secure with shrink tube.

Recent Sparkfun boards (v14) are equipped with 3.3V to 5V converters. Although the Umarim/LPC2148 should be able to handle 5V it is safe to not use the converters. Remove R5, R6, R7, R8, Q1, and Q2 from the XBee explorer regulated breakout board. Bridge OUT-DOUT and IN-DIN within the transistor footprint.

{|border="1"
|-valign="top"
||'''Umarim UART1 (J10) pin'''||'''Umarim UART1'''||'''XBee Explorer Regulated'''
|-
|1
|GND
|GND
|-
|2
|5V
|5V
|-
|3
|
|
|-
|4
|RX1
|DOUT
|-
|5
|TX1
|DIN
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|-
|colspan="3" align="left"|''Shrink tube 29mm / 45mm''
|}

Solder a second wire (not shown in picture) from the XBee to the TWOG so that the data sent by the Umarim can be logged. That means that two wires are to be connected at the XBee DIN pin.

{|border="1"
|-valign="top"
||'''TWOG Download/GPS (J7) pin'''||'''TWOG Download/GPS'''||'''XBee Explorer Regulated'''
|-
|1
|
|
|-
|2
|
|
|-
|3
|
|
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD0
|DIN
|-
|''Molex 7pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|}

=== SHT75 humidity sensor ===
[[Image:Sht75_breakout_bot_90deg.jpg|thumb|right|SHT75 soldered to adapter board]]

Use SHT75 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/sht75_small repository]. Solder parts, secure sensor with hot glue to adapter board on the bottom side (not shown in picture).

{|border="1"
|-valign="top"
||'''Umarim AUX (J14) pin'''||'''Umarim AUX'''||'''SHT75'''||'''SHT75 pin'''||'''SHT75 adapter pin'''
|-
|1
|GND
|GND
|(3)
|1
|-
|2
|
|
|
|
|-
|3
| +3.3V
|VDD
|(2)
|2
|-
|4
|AUX1 (P0.13)
|DATA
|(4)
|3
|-
|5
|AUX2 (P0.15)
|SCK
|(1)
|4
|-
|6
|
|
|
|
|-
|7
|
|
|
|
|-
|''Molex 7pin''
|
|
|
|''Molex 4pin''
|-
|colspan="5" align="left"|''Cable length 17cm''
|-
|colspan="5" align="left"|''no shrink tube''
|}

=== MLX90614 infrared thermometer ===
[[Image:Mlx90614_bot.jpg‎|thumb|right|MLX90614 soldered to adapter board]]

Use MLX90614 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/mlx90614_small repository]. Solder parts, take care of sensor polarity. The I2C address of the MLX90614 needs to be programmed once before it can be used. Connect it as the only sensor to I2C and flash/run it with the IR_MLX_ONE_TIME_CONFIG option set (currently available in the master and campaign2013 branch). See [http://paparazzi.enac.fr/wiki/Module/Melexis_MLX90614#One-time_configuration Module/Melexis_MLX90614].

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''MLX90614'''||'''MLX90614 adapter pin'''
|-
|1
|GND
|Vss
|1
|-
|2
|
|
|
|-
|3
| +3.3V
|Vdd
|3
|-
|4
|SDA
|SDA
|4
|-
|5
|SCL
|SCL
|5
|-
|''Molex 5pin''
|
|
|''Molex 5pin''
|-
|colspan="5" align="left"|''Cable length 9cm''
|-
|colspan="5" align="left"|''Shrink tube 24mm / 37mm''
|}

=== Eagletree Airspeed v3 Sensor ===
[[Image:Ets_airspeed_v3.jpg|thumb|right|Eagletree Airspeed v3]]

Extend the sensor cable. Cut off the four outstanding pins.

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''ETS Airspeed wire colour'''
|-
|1
|GND
|white
|-
|2
| +5V
|red
|-
|3
|
|
|-
|4
|SDA
|yellow
|-
|5
|SCL
|brown
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 40cm''
|-
|colspan="3" align="left"|''keep original shrink tube''
|}

=== PT1000 temperature sensor ===
[[Image:Temod_i2c.jpg‎|thumb|right|Hygrosens TEMOD-I2C-R1]]

Solder the PT1000 sensor (little blue on the picture) to the two correct pads at the edge of the TEMOD-I2C-R1 board, where the pin plugs are. The pads on both side are not connected through. It has to be soldered to the side '''not''' carrying the chip. Remove pin header from TEMOD board. Solder 4pin cable to TEMOD, it will be connected to the Umarim through the multi_i2c board below. Fix cables with hot glue. Put some hot glue on the top of teh board, just behind the PT1000. Seal the board with shrink tube.

{|border="1"
|-valign="top"
||'''Multi board I2C_5V pin'''||'''Multi board I2C_5V'''||'''TEMOD-I2C-R1'''||'''TEMOD-I2C-R1 pin'''
|-
|1
|GND
|GND
|2
|-
|2
| +5V
|Vdd
|1
|-
|3
|SDA_5V
|SDA
|3
|-
|4
|SCL_5V
|SCL
|4
|-
|''Molex 4pin''
|
|
|''solder''
|-
|colspan="5" align="left"|''Cable length 18cm''
|-
|colspan="5" align="left"|''Shrink tube 13mm / 20mm''
|}

=== Multi Board ===
[[Image:Multi_i2c_ms5611.jpg‎‎|thumb|right|Multi connector board]]
[[Image:Multi_board_umarim.jpg|thumb|right|Multi board to Umarim]]
[[Image:Multi_wiring.jpg|thumb|right|Multi board connections]]

Use the multi board from the Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/servo_i2c_multi repository] to have multiple I2C connections, a MS5611 barometric pressure sensor, a 3.3V to 5V level shifter and servo JR connectors for BEC supply through the motor controller. Drill/burn holes into the shrink tube at the hole locations to attach the board with screws later on.

Connection between Multi Board I2C and Umarim I2C0.

{|border="1"
|-valign="top"
||'''Umarim I2C0 pin'''||'''I2C'''||'''Multi board I2C pin'''
|-
|1
|GND
|1
|-
|2
| +5V
|2
|-
|3
| +3.3V
|3
|-
|4
|SDA
|4
|-
|5
|SCL
|5
|-
|''Molex 5pin''
|
|''Molex 5pin''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Connection between Multi Board and Umarim for the servo signals.

{|border="1"
|-valign="top"
||'''Multi board Servo pin'''||'''Multi board Servo'''||'''Umarim Servo'''
|-
|1
|GND
|GND_SRV5
|-
|2
|
|
|-
|3
|
|
|-
|4
|S2
|SRV2
|-
|5
|S3
|SRV3
|-
|6
|S4
|SRV4
|-
|7
|S5
|SRV5
|-
|colspan="3" align="left"|''Cable length 7.5cm, 7.5cm, 8cm, 8.5cm, 9cm''
|}

The TEMOD/PT1000 temperature sensor gets connected through the 5V I2C connector.

{|border="1"
|-valign="top"
||'''Multi I2C_5V pin'''||'''Multi I2C_5V'''
|-
|1
|GND
|-
|2
| +5V
|-
|3
|SDA
|-
|4
|SCL
|}

=== Logger ===
[[Image:Umarim_logger_spi.jpg|thumb|right|Umarim with logger]]

The Umarim autopilot and the TWOG logger communicate through a bi-directional SPI connection.

{|border="1"
|-valign="top"
||'''Umarim SPI1 pin'''||'''Umarim SPI1'''||'''TWOG'''||'''TWOG conn.'''||'''TWOG name'''||'''TWOG pin'''
|-
|1
|
|
|
|
|
|-
|2
|
|
|
|
|
|-
|3
|SSEL1
|SSEL0
|USB
|BUTTON
|6
|-
|4
|MOSI1
|MOSI0
|PPM
|PPM_IN
|3
|-
|5
|MISO1
|MISO0
|PPM
|SERV_CLK
|5
|-
|6
|
|
|
|
|
|-
|7
|SCK1
|SCK0
|ADC1
|ADC_3
|5
|-
|''Molex 7pin''
|
|
|
|
|''various Molex''
|-
|colspan="6" align="left"|''Cable length 6cm''
|}

The TWOG can be supplied through its original power supply connector or through 5V from the Umarim if the switching supply board is removed from the TWOG:

{|border="1"
|-valign="top"
||'''Umarim SRV0 pin'''||'''Umarim SRV0'''||'''TWOG ADC1'''||'''TWOG ADC1 pin'''
|-
|1
|GND
|GND
|1
|-
|2
| +5V
| +5V
|2
|-
|3
|
|
|
|-
|''Molex 3pin''
|
|
|''Molex 5pin''
|-
|colspan="4" align="left"|''Cable length 6cm''
|}

Solder the cables to the USB breakout board for the TWOG logger, plug cables in 8-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''TWOG USB (J9) pin'''||'''TWOG USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
|USB+
|D+
|-
|4
|USB-
|D-
|-
|5
|USB_VBUS
|VCC
|-
|5
|
|
|-
|6
|
|
|-
|7
|
|
|-
|8
|
|
|-
|''Molex 8pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

[[Image:Sd_card_twog.jpg|thumb|right|micro SD card adapter]]
[[Image:Sd_card_twog_shrink.jpg|thumb|right|micro SD card adapter in tube]]

The micro SD card adapter is connected to the TWOGs SPI connector. Wrap the board in shrink tube so that the micro SD card can be plugged/unplugged.

{|border="1"
|-valign="top"
||'''TWOG SPI pin'''||'''TWOG SPI'''||'''microSD card board'''||'''microSD board pin'''
|-
|1
|GND
|GND
|5
|-
|2
| +3.3V
|VCC
|3
|-
|3
|SSEL
|CS
|1
|-
|4
|MOSI
|DI
|2
|-
|5
|MISO
|DO
|6
|-
|6
|
|
|
|-
|7
|SCK
|SCK
|4
|-
|''Molex 7pin''
|
|
|''solder''
|-
|colspan="4" align="left"|''Cable length 6cm''
|-
|colspan="4" align="left"|''Shrink tube 24mm / 37mm''
|}

SUMO/logger

2014-02-02T17:31:19Z

Martinmm: clarify decoding time stamp

==Setup==

The logger contains its own processor and USB connector but only needs to be flashed once. It is flashed just like an airframe: clean, build, plug USB to the rear connection, power up and click upload. The configuration can be found as LOGGER in the example file conf/conf.xml.sumo

You might need to reflash the logger in case you accidently overwrite it with an airframe configuration. That should not happen again as the USB connectors are clearly separated and not next to each other as they used to be.

==Start/Stop==

The logger will automatically start writing the autopilots (and Aeroprobe) data to the SD card. To stop the logging there is no longer a mechanical button. It will be stopped through the gcs. Go to the gcs middle panel -> Settings -> Modules. There is an entry "log_sd_spi". The number next to it shows if the logger is running or not, click on the number to update or if there is N/A. It will be "1"/"START" if the logger runs or "0"/"STOP" if stopped. Check the "STOP" radio button and press the green commit button to stop the logger, see attached picture. Once the logger is stopped it can for now not be restarted through the gcs. The aircraft has to be power-cycled.

[[Image:Gcs_logger.png|400px]]

==Decoding==

To download and convert the data you need to stop the logger (now through the gcs), connect the logger USB connector to the laptop while aircraft power is still on and wait for the mass storage device to appear.

The telemetry is written in the Paparazzi .tlm [[Messages_Format|format]] that adds a timestamp to each message. The local laptop decoding-time is used if no GPS signal was received during the flight (e.g. when testing indoors). The logger starts with 00000000.TLM in the main folder of the SD and increases the number with each log session. Already used numbers will not be overwritten.

Make sure [[Installation#Environment_Variables|environment variables]] are set before running pprz programs from the commandline

me@home:~$ export PAPARAZZI_HOME=~/paparazzi
me@home:~$ export PAPARAZZI_SRC=~/paparazzi

The data is converted back to the Paparazzi .log and .data format using sd2log

me@home:~/media/usbstick$ ~/paparazzi/sw/logalizer/sd2log 00000002.TLM
Renaming produced file ...
09_08_13__20_55_03_SD.data file produced
09_08_13__20_55_03_SD.log file produced
09_08_13__20_55_03_SD.tlm file saved

It creates timestamps from the .tlm and changes the filename to the take-off time if a GPS message with correct time was available in the file or the current local PC time if no GPS was available. The .log file will be re-created either from the current configuration (if still in existence) or the MD5-labeled files that are stored in var/conf each time you build an aircraft. All resulting files are stored in var/logs with an _SD extension.

See [[Data_Logger|data logger]] for more details.

SUMO

2014-02-02T17:29:31Z

Martinmm: add logger

__NOTOC__

The Small Unmanned Observer (SUMO) has been developed by the Paparazzi community together with the Geophysical Institute of the University of Bergen, Norway. It is designed to support research in the lower atmospheric boundary layer. It uses industry standard sensors for temperature, air pressure, humidity and wind speed/direction as well as more specialized sensors as infrared/visible light radiation, particle concentration or ionizing radiation ([[Modules_list|full list]]). It has been used in many measurement campaigns by various research institutions.

[http://www.uib.no/rg/meten/research/field-instrumentation/sumo SUMO homepage at the Geophysical Institute]

<center>
<gallery>
Image:Funjetgfi.jpg|The SUMO
Image:Kerlingafjoll.jpg|Near Hofsjökull glacier, Iceland 2007
Image:Hangar.jpg|KV Svalbard, Barents Sea 2008
Image:Adventalen.jpg|Adventalen, Svalbard 2009
Image:Finnarp.jpg|Finnish Aboa station Antarctica 2010
Image:Troll_station.jpg|Norwegian Troll station Antarctica 2011
Image:Sumo_launch.jpg|US McMurdo station Antarctica 2012
Image:Weddell_sea.jpg|RV Polarstern in the Weddell Sea/Antarctica 2013
Image:Sumo_tall_tower.jpg|Remote camp on Ross Ice Shelf/Antarctica 2014

</gallery>
</center>

== Legal Disclaimer ==

'''As with all Paparazzi software and hardware this does not come with any guarantee. Make sure you follow all applicable rules and laws (safety, radio regulation, ...). No part of the system is certified by any national or international authority. Please refer to the national aviation regulation for Remotely Piloted Aircraft Systems of the accountable country before you start operating. A special permit is usually needed for any activity not related to hobby/recreational usage and especially important if you intend to fly at high altitudes. The experience is that the necessary consultations need quite some time and effort.'''

== Build your own ==

The SUMO is bascially an RC airplane equipped with additional hardware for automatic flight and to collect data for scientific usage. It needs some knowledge in the fields of model airplanes, electronics, hard- and software to build and operate it. One successful strategy for an university research group might be to team up with the engineering department. Get in contact with local RC enthusiasts and ask them to support you in safety piloting the aircrafts. There are many different ways to assemble a Paparazzi aircraft. We are describing a way hat has shown great results in the past years.

=== Ground station ===

The groundstation consists of a laptop, a bi-directional modem, a standard RC transmitter and battery chargers.

==== Laptop ====

The computer should be able to operate outdoors and cope with dust, water, temperature, etc. We have mainly used Panasonic Toughbook CF-19 laptops that never showed any weakness. The recommended operating system is Ubuntu 12.04 LTS.

[[SUMO/Software_installation|Software installation instructions]]

==== Ground Modem ====

The [[Modems|modems section]] describes an overwhelming number of various modems that are available for all sorts of applications. The 2.4GHz Digi XBee Series 1 are proven all-purpose modems that can be used almost world wide. For the ground station we use the readily available Digi XBee USB modem in a robust metal case. It is connected to the laptop through a standard USB A-B cable and brings its own whip antenna.

[[SUMO/Ground_modem|Ground modem setup]]

==== RC Transmitter ====

The RC world gives you many options to control your aircraft. If you or any supporting team member already owns an RC system, you might try to get this to work. It is important that your RC receiver supports the output of a sum signal that contains all servo data in one signal. You need an extra channel for switching the flight mode. If you start from scratch the Futaba/robbe system is a good option.

[[SUMO/rc_transmitter|RC transmitter setup]]

==== Battery Chargers ====

There are many different brands and types available and we can not really give a suggestion. We were happy with devices from evoTech or Schulze. Get in contact with your local RC dealer and find a device suitable for you. It is important that the device fits to the power requirements you will see in the field (12V DC/115V AC/230V AC). Do not buy the cheapest available. Follow the instructions carefully, Lithium Polymer batteries can be dangerous.

=== Airborne System ===

==== Mechanical Parts ====

We chose to use the Multiplex Funjet right after it appeared in 2006. The goal was to have an aircraft that can fly fast to be able to operate in wind conditions up to 15m/s. To achieve an easy take-off for non-RC-enthusiasts we equipped it with a bigger propeller than normal (9x6). Some outer parts have been strengthend with glass fiber. The recent Funjet Ultra can also be used but we do not see much improvement for our goals. It is heavier and the visibility is poor.

The Funjet is not a beginners airplane. Get some piloting help when you are new to RC. You always need a safety pilot that can take over the aircraft.

[[SUMO/mechanical_assembly|SUMO mechanical assembly]]

==== RC Parts ====

Use the best RC parts you can get. There is no use in saving some Euros on this. We use Graupner servos, an AXI motor and Jeti motor controller.

[[SUMO/install_rc|Installing servos, motor and motor controller]]

==== Prepare specific electronic parts ====

These are the non-standard parts you need. Look in the [[Get_Hardware|get hardware]] section for a source of these parts. In the current version of the SUMO we use the Umarim Lite v2 autopilot, a TWOG board as data logger, a Digi XBee Pro Series 1 modem, a Hygrosens temperature sensor, Sensirion humidity sensor, Meas Spec pressure sensor and an optional Eagletree airspeed v3 sensor.

[[SUMO/prepare_electronics|Prepare Paparazzi electronics]]

==== Install electronic parts ====

This describes how the electronics are installed in the aircraft.

[[SUMO/install_electronics|Install Paparazzi electronics]]

==== Software configuration setup ====

Describes the software setup for the SUMO.

[[SUMO/sw_configuration|Software configuration]]

==== Operating the logger ====

This page describes how to setup and use the on-board logger.

[[SUMO/logger|Logger setup]]

SUMO/logger

2014-02-02T17:28:01Z

Martinmm: Created page with "==Setup== The logger contains its own processor and USB connector but only needs to be flashed once. It is flashed just like an airframe: clean, build, plug USB to the rear c..."

==Setup==

The logger contains its own processor and USB connector but only needs to be flashed once. It is flashed just like an airframe: clean, build, plug USB to the rear connection, power up and click upload. The configuration can be found as LOGGER in the example file conf/conf.xml.sumo

You might need to reflash the logger in case you accidently overwrite it with an airframe configuration. That should not happen again as the USB connectors are clearly separated and not next to each other as they used to be.

==Start/Stop==

The logger will automatically start writing the autopilots (and Aeroprobe) data to the SD card. To stop the logging there is no longer a mechanical button. It will be stopped through the gcs. Go to the gcs middle panel -> Settings -> Modules. There is an entry "log_sd_spi". The number next to it shows if the logger is running or not, click on the number to update or if there is N/A. It will be "1"/"START" if the logger runs or "0"/"STOP" if stopped. Check the "STOP" radio button and press the green commit button to stop the logger, see attached picture. Once the logger is stopped it can for now not be restarted through the gcs. The aircraft has to be power-cycled.

[[Image:Gcs_logger.png|400px]]

==Decoding==

To download and convert the data you need to stop the logger (now through the gcs), connect the logger USB connector to the laptop while aircraft power is still on and wait for the mass storage device to appear.

The telemetry is written in the Paparazzi .tlm [[Messages_Format|format]] that adds a timestamp to each message. The logger starts with 00000000.TLM in the main folder of the SD and increases the number with each log session. Already used numbers will not be overwritten.

Make sure [[Installation#Environment_Variables|environment variables]] are set before running pprz programs from the commandline

me@home:~$ export PAPARAZZI_HOME=~/paparazzi
me@home:~$ export PAPARAZZI_SRC=~/paparazzi

The data is converted back to the Paparazzi .log and .data format using sd2log

me@home:~/media/usbstick$ ~/paparazzi/sw/logalizer/sd2log 00000002.TLM
Renaming produced file ...
09_08_13__20_55_03_SD.data file produced
09_08_13__20_55_03_SD.log file produced
09_08_13__20_55_03_SD.tlm file saved

It creates timestamps from the .tlm and changes the filename to the take-off time if a GPS message with correct time was available in the file or the current local PC time if no GPS was available. The .log file will be re-created either from the current configuration (if still in existence) or the MD5-labeled files that are stored in var/conf each time you build an aircraft. All resulting files are stored in var/logs with an _SD extension.

See [[Data_Logger|data logger]] for more details.

File:Gcs logger.png

2014-02-02T17:27:24Z

Martinmm:

SUMO

2014-01-29T07:42:39Z

Martinmm:

__NOTOC__

The Small Unmanned Observer (SUMO) has been developed by the Paparazzi community together with the Geophysical Institute of the University of Bergen, Norway. It is designed to support research in the lower atmospheric boundary layer. It uses industry standard sensors for temperature, air pressure, humidity and wind speed/direction as well as more specialized sensors as infrared/visible light radiation, particle concentration or ionizing radiation ([[Modules_list|full list]]). It has been used in many measurement campaigns by various research institutions.

[http://www.uib.no/rg/meten/research/field-instrumentation/sumo SUMO homepage at the Geophysical Institute]

<center>
<gallery>
Image:Funjetgfi.jpg|The SUMO
Image:Kerlingafjoll.jpg|Near Hofsjökull glacier, Iceland 2007
Image:Hangar.jpg|KV Svalbard, Barents Sea 2008
Image:Adventalen.jpg|Adventalen, Svalbard 2009
Image:Finnarp.jpg|Finnish Aboa station Antarctica 2010
Image:Troll_station.jpg|Norwegian Troll station Antarctica 2011
Image:Sumo_launch.jpg|US McMurdo station Antarctica 2012
Image:Weddell_sea.jpg|RV Polarstern in the Weddell Sea/Antarctica 2013
Image:Sumo_tall_tower.jpg|Remote camp on Ross Ice Shelf/Antarctica 2014

</gallery>
</center>

== Legal Disclaimer ==

'''As with all Paparazzi software and hardware this does not come with any guarantee. Make sure you follow all applicable rules and laws (safety, radio regulation, ...). No part of the system is certified by any national or international authority. Please refer to the national aviation regulation for Remotely Piloted Aircraft Systems of the accountable country before you start operating. A special permit is usually needed for any activity not related to hobby/recreational usage and especially important if you intend to fly at high altitudes. The experience is that the necessary consultations need quite some time and effort.'''

== Build your own ==

The SUMO is bascially an RC airplane equipped with additional hardware for automatic flight and to collect data for scientific usage. It needs some knowledge in the fields of model airplanes, electronics, hard- and software to build and operate it. One successful strategy for an university research group might be to team up with the engineering department. Get in contact with local RC enthusiasts and ask them to support you in safety piloting the aircrafts. There are many different ways to assemble a Paparazzi aircraft. We are describing a way hat has shown great results in the past years.

=== Ground station ===

The groundstation consists of a laptop, a bi-directional modem, a standard RC transmitter and battery chargers.

==== Laptop ====

The computer should be able to operate outdoors and cope with dust, water, temperature, etc. We have mainly used Panasonic Toughbook CF-19 laptops that never showed any weakness. The recommended operating system is Ubuntu 12.04 LTS.

[[SUMO/Software_installation|Software installation instructions]]

==== Ground Modem ====

The [[Modems|modems section]] describes an overwhelming number of various modems that are available for all sorts of applications. The 2.4GHz Digi XBee Series 1 are proven all-purpose modems that can be used almost world wide. For the ground station we use the readily available Digi XBee USB modem in a robust metal case. It is connected to the laptop through a standard USB A-B cable and brings its own whip antenna.

[[SUMO/Ground_modem|Ground modem setup]]

==== RC Transmitter ====

The RC world gives you many options to control your aircraft. If you or any supporting team member already owns an RC system, you might try to get this to work. It is important that your RC receiver supports the output of a sum signal that contains all servo data in one signal. You need an extra channel for switching the flight mode. If you start from scratch the Futaba/robbe system is a good option.

[[SUMO/rc_transmitter|RC transmitter setup]]

==== Battery Chargers ====

There are many different brands and types available and we can not really give a suggestion. We were happy with devices from evoTech or Schulze. Get in contact with your local RC dealer and find a device suitable for you. It is important that the device fits to the power requirements you will see in the field (12V DC/115V AC/230V AC). Do not buy the cheapest available. Follow the instructions carefully, Lithium Polymer batteries can be dangerous.

=== Airborne System ===

==== Mechanical Parts ====

We chose to use the Multiplex Funjet right after it appeared in 2006. The goal was to have an aircraft that can fly fast to be able to operate in wind conditions up to 15m/s. To achieve an easy take-off for non-RC-enthusiasts we equipped it with a bigger propeller than normal (9x6). Some outer parts have been strengthend with glass fiber. The recent Funjet Ultra can also be used but we do not see much improvement for our goals. It is heavier and the visibility is poor.

The Funjet is not a beginners airplane. Get some piloting help when you are new to RC. You always need a safety pilot that can take over the aircraft.

[[SUMO/mechanical_assembly|SUMO mechanical assembly]]

==== RC Parts ====

Use the best RC parts you can get. There is no use in saving some Euros on this. We use Graupner servos, an AXI motor and Jeti motor controller.

[[SUMO/install_rc|Installing servos, motor and motor controller]]

==== Prepare specific electronic parts ====

These are the non-standard parts you need. Look in the [[Get_Hardware|get hardware]] section for a source of these parts. In the current version of the SUMO we use the Umarim Lite v2 autopilot, a TWOG board as data logger, a Digi XBee Pro Series 1 modem, a Hygrosens temperature sensor, Sensirion humidity sensor, Meas Spec pressure sensor and an optional Eagletree airspeed v3 sensor.

[[SUMO/prepare_electronics|Prepare Paparazzi electronics]]

==== Install electronic parts ====

This describes how the electronics are installed in the aircraft.

[[SUMO/install_electronics|Install Paparazzi electronics]]

==== Software configuration setup ====

Describes the software setup for the SUMO.

[[SUMO/sw_configuration|Software configuration]]

Main Page

2014-01-29T07:37:58Z

Martinmm:

__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:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2>

|-valign="top"
|
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[General|General]]
</h3>
<div style="padding:6px;">
{{General}}
</div>
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Hardware|Hardware]]
</h3>
<div style="padding:6px;">
{{Hardware}}
</div>
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] [[Software|Software]]
</h3>
<div style="padding:6px;">
{{Software}}
</div>
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;
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"
|-
|align="center" colspan="2" background-color=#82add9 | {{Hotbar}}
|-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"|'''Paparazzi''' is a free and open-source hardware and software project encompassing an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters. Being open enables '''you''' to add more features and improve the system. Using and improving Paparazzi is wholeheartedly encouraged by the community. Because of lots of enthousiasts like you , Paparazzi is swiftly evolving into an even more powerful system.

The project includes not only the sourcecode with great code like [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code but even all airborne hardware information needed, from Autopiot boards to zesty designed IMU's. A powerful ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control station is included as icing on the cake.
|-
|All hardware and software is open-source and freely available to you 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 for everyone.

Jump on the plane and join the Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project; Enjoy the flight and develop alongside a multitude of individuals and at numerious universities, e.g. [http://www.enac.fr/ ENAC University France], [http://www.mavlab.info/ MAVlab] of the TU-Delft and [http://aggieair.usu.edu/‎ AggieAir] of Utah State University.

|-
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2>
|-
|The Paparazzi software source and hardware design is distributed without any guarantee. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.

|}
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"
| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2>
|-
|<h3>v5.0.3_stable</h3>
|-
|Download as [https://github.com/paparazzi/paparazzi/releases/download/v5.0.3_stable/paparazzi_v5.0.3_stable.tar.gz tarball] or checkout the '''v5.0''' branch from [[git]].
Releases can be found at https://github.com/paparazzi/paparazzi/releases
|}
{| 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>January 27th, 2014</h3>
|-
|[[Image:Sumo_tall_tower.jpg|thumb|left|SUMO on the Ross Ice Shelf]]

John Cassano from the University of Colorado has been flying Paparazzi equipped [http://paparazzi.enac.fr/wiki/SUMO SUMOs] in a remote camp in Antarctica over the last two weeks. See his [http://cires.colorado.edu/blogs/antarcticuavs/ blog] for a detailed report.

|-
|<h3>January 8th, 2014</h3>
|-
|[[Image:Penguin.gif|thumb|left]]

To make documenting and learning about Paparazzi easier we have updated the Wiki to the latest Mediawiki version (1.22). This new wiki provides very improved search of the many articles, as well as video embed tags. You can easily embed a youtube video to your article by writing <nowiki>{{#ev:youtubehd|videoID}}</nowiki>, or a vimeo video by adding <nowiki>{{#ev:vimeo|videoID}}</nowiki>. The wiki is hosted on a new dedicated Paparazzi UAV server so it should be faster now too.

|-
|<h3>December 27-30th, 2013</h3>
|-
|

[[Image:30C3_small_logo.jpg|100px|left]]

The [https://events.ccc.de/congress/2013/wiki/Main_Page 30C3 – 30th Chaos Communication Congress] was held in the Congress Center Hamburg December 2013. We were present there as part of the [https://events.ccc.de/congress/2013/wiki/Assembly:PaparazziUAV Paparazzi UAV Assembly].

|-
|<h3>November 27th, 2013</h3>
|-
|[[Image:Lisa_s_v0_1_r2_top_superbit.jpg|thumb|left|link=http://1bitsquared.com]]

Due to popular demand, [[Lisa/S]] and [[SuperbitRF]] is available for early pre-order from [http://1bitsquared.com/products/lisa-s-starter-kit 1 BIT SQUARED].

|-
|<h3>October 1st, 2013</h3>
|-
|[[Image:mavlabimav2013.jpg|thumb|left]]

<span style="color:red">'''IMAV2013!'''</span>

The Mavlab team of TU Delft consisted of 12 people coming from aerospace, computer science, embedded programming and artificial intelligence. Thanks to the enormous team efforts in the last months, the team has won prizes in all the categories in which it participated:

Outdoor: 1st price

with an autonomous swarm of 12 MAVs operated by a single operator. The MAVs only had to be plugged in and started their own flight plan, while the operator could monitor their mission status and intervene where necessary. Our participation featured four main innovations: (1) a single operator for 12 MAVs, 3 hybrid UAVs, 7 Parrot AR drones and 2 mini-quadrotors, (2) onboard vision processing on the AR drone with Paparazzi, (3) hybrid UAVs able to fly under any attitude, and (4) the world's smallest open source autopilot, Lisa S (2 grams). The wind conditions were terrible on the outdoor competition day, with 6 Bft, and most teams had their MAVs blown away. Everybody was impressed how the hybrid UAVs were able to cope nicely with these conditions and were still able to perform a precision landing.

Indoor Operations: 1st price

Indoor Autonomy: 3rd price

Indoor the mission consisted of elements such as flying through a window and obstacle zone. We were the only participants to use a flapping wing MAV, which was in size and weight by far the smallest competing MAV (28 cm wing span, 20g). We demonstrated some autonomous flight capabilities such as autonomous takeoff (a world's first), and the capabilities of the DelFly as a First Person View-platform, where the operator flies the MAV on basis of its onboard images. All elements were performed by the operator.

{{#ev:youtubehd|Z7XgRK7pMoU}}

|-
|<h3>August 26th, 2013</h3>
|-
|[[Image:2013-08-22 16.19.04.jpg|thumb|left]]

<span style="color:red">'''PRESS RELEASE!'''</span>

TU Delft researchers design and build the world’s smallest autopilot for micro aircraft

Researcher Bart Remes and his team of the Micro Aerial Vehicle Laboratory at the TU Delft faculty of Aerospace Engineering have designed, built and tested the world’s smallest open source autopilot for small unmanned aircraft. A smaller – and lighter – autopilot allows these small flying robots to fly longer, fit into narrower spaces or carry more payloads, such as cameras. That makes them more suitable to be used in for example rescue operations. Remes: “Our aim? Make MAVs so small and light that every fireman can fit one in his pocket.”

More information:

Hardware electronics will be sold (from January 2014) by [http://1bitsquared.com 1bitsquared]

[[Lisa/S|Lisa/S autpilot board]]

[[SuperbitRF|SuperbitRF telemetry module]]

|-
|<h3>August 13th, 2013</h3>
|-
|[[Image:Weddell_sea.jpg|thumb|left|SUMO in the Weddell Sea]]

Over the last 9 weeks the Paparazzi autopilot has been used for operations with remotely piloted aircraft from the Finnish Meteorological Institute for scientific research on board the R.V. Polarstern in the Weddell Sea/Antarctica. You can see the course and read a short report on the homepage of the [http://www.awi.de/en/infrastruktur/schiffe/polarstern/wochenberichte/alle_expeditionen/ant_xxix/ant_xxix6/8_august_2013/ Alfred Wegener Institut].

Instructions on how to build your own small unmanned meteorological observer (SUMO) can be found [http://paparazzi.enac.fr/wiki/SUMO here] in the Wiki.

|-
|<h3>June 17th, 2013</h3>
|-
|[[Image:Penguin.gif|thumb|left]]

<span style="color:red">'''NEW RELEASE!'''</span>

For the opening of the Paris Air Show at Le Bourget, the Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v5.0 stable''' version, including the support of the [http://ardrone2.parrot.com/ Parrot AR.Drone2]. See this [[AR_Drone_2/getting_started|page]] for more instructions.

See the [https://github.com/paparazzi/paparazzi/blob/v5.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.

See the [[Release Upgrades]] page for hints on configuration changes that may be required if you are moving to v5.0.0 from v4.2.0.

If you are already using paparazzi with [[Git]], you can switch to this new branch with

'''<code>git remote update && git checkout v5.0</code>'''.

For new user, you can download a [http://paparazzi.enac.fr/tarballs/paparazzi_v5.0.0_stable.tar.gz tarball] or get the source code with

'''<code>git clone https://github.com/paparazzi/paparazzi.git && git checkout -b v5.0 origin/v5.0</code>'''.

|-
|<h3>January 22nd, 2013</h3>
|-

|[[Image:Parrot_AR_Drone_2_TUDelft_Paparazzi.jpg|thumb|left|Paparazzi on the Parrot AR Drone 2]]

<span style="color:red">'''Parrot AR Drone flies autonomous'''</span>

At the [http://www.tudelft.nl/en/ TU Delft university of technology] student teams made the impossible; possible. Now you can turn your AR Drone v2 into an autonomous drone, '''controlled by Paparazzi autopilot''' software. It's simple, Insert GPS receiver into USB port, build and upload your flightplan via WiFi, and you are done! No hardware modification needed.

[[AR_Drone_2/getting_started|Detailed instructions to get your own drone fly with a Paparazzi autopilot brain can be found '''by following this link''']]

...and remember, it is a Wiki, you are invited to improve the contents, as a matter of fact, we would love it!

|-
|<h3>December 12th, 2012</h3>
|-
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot<br>v4.2 released]]

<span style="color:red">'''NEW RELEASE!'''</span>

Just before the end of the world, discover '''Paparazzi v4.2.0 stable''' version.

Based on the last stable branch '''v4.0''', this new release offer several improvements, especially the [http://paparazzi.github.com/docs/latest/energy__ctrl_8c.html#details total energy control] developed by TUDelft. See the [https://github.com/paparazzi/paparazzi/blob/v4.2/CHANGELOG.md changelog] for an overview of new features and bugfixes.

If you are already using paparazzi with [[Git]], you can switch to this new branch with

'''<code>git remote update && git checkout v4.2</code>'''.

For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.2.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.2.0_stable Zip file] of the <tt>v4.2.0_stable</tt> source code.

|-
|<h3>July 26th, 2012</h3>
|-
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]

Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012 and [http://www.defcon.org/html/links/dc-archives/dc-20-archive.html#Esden presented] the project.

|-
|<h3>July 26th, 2012</h3>
|-
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]

<span style="color:red">'''NEW RELEASE!'''</span>

The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.

After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.

If you are already using paparazzi with [[Git]], you can switch to this new branch with

'''<code>git remote update && git checkout v4.0</code>'''.

For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.

|-
|<h3>July 2-6th, 2012</h3>
|-
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]

'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].

|-
|<h3>July 6th, 2012</h3>
|-
|[[Image:Atmos.png|thumb|left|ATMOS]]

'''ATMOS''', a hybrid airplane-quadrotor developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered ATMOS was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ].

But probably more important, the development of ATMOS has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!

|-
|<h3>May 9th, 2012</h3>
|-
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]

'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''

<span style="color:red">'''The branch "master" is now our development branch.'''</span>

* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.

Please see the [[RepositoryStructure]] page for more details.

As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].

|-
|<h3>May 8th, 2012</h3>
|-
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]

A lot of cool stuff is done with paparazzi driven UAV`s
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.

|-
|<h3>April 9th, 2012</h3>
|-
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]

In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.

|-
|<h3>March 7th, 2012</h3>
|-
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]

In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.

|-
|<h3>December 26th, 2011</h3>
|-
|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]

We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.

|-
|<h3>December 25th, 2011</h3>
|-
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]

Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].

|-
|<h3>October 5th, 2011</h3>
|-
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]

ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]

|-
|<h3>September 18th, 2011</h3>
|-
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]

This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09.
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.

|-
|<h3>August 31st, 2011</h3>
|-
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]

Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].

|-
|<h3>February 15th, 2011</h3>
|-
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]

Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.

|-
|<h3>February 10th, 2011</h3>
|-
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]

Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.

|-
|<h3>November 26th, 2010</h3>
|-
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]

There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.

|-

|-
|<h3>November 19th, 2010</h3>
|-
|[[Image:Github.png|thumb|left|[[Git]]]]
'''WE MOVED TO GIT!'''

The paparazzi software repository now has a new happy life on github:

'''https://github.com/paparazzi/paparazzi'''

We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.

More info on how to get the paparazzi code from github can be found [[Git|here]].

We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].

|
|-

|-
|<h3>August, 2010</h3>
|-
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.

To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]].

At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.

|
|-

|-
|<h3>May 22th, 2010</h3>
|-
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...

To express your grief, you may want to [[Hecto| leave a note on his wiki page]]

In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.

|
|-

|-

|<h3>February 19th, 2010</h3>
|-
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br>
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br>
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].
|
|-

|-

|-
|<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:Sumo tall tower.jpg

2014-01-29T07:36:25Z

Martinmm: SUMO in Antarctica on the Ross Ice Shelf. Photo courtesy of John Cassano, University of Colorado.

SUMO in Antarctica on the Ross Ice Shelf. Photo courtesy of John Cassano, University of Colorado.

SUMO/rc transmitter

2014-01-28T19:42:21Z

Martinmm: add T7C programming

We chose the Futaba 2.4GHz FASST system to control the SUMO. We have used classic Graupner/JR transmitters together with Futaba HFM12-x transmitter modules and the Futaba T6EX, T7C and T8FG transmitters. The T6EX is not really recommended as you might need to modify it to have a 3 position switch. With the T6EX we also had seen issues because of reduced transmission power at low temperatures (-28°C).

T7C

[[Image:T7c.jpg|400px]]

T8FG

[[Image:T8fg.jpg|400px]]

Choose your personal stick mode for the Futaba T7C or T8FG and do not reverse channels. Program the transmitter to have a 3-position switch (for manual/auto1/auto2) to appear on channel 5.

[[Image:Mode_switch.jpg|400px]]

The channels at a Futaba R6107SP should then be

1 Roll
2 Pitch
3 Throttle
4 Yaw
5 Autopilot Mode (M/A1/A2)

Use the radio/t7c.xml radio file for configuration (for a Futaba R6107SP receiver).

=== Programming the 5th channel of the T7C for Paparazzi mode ===

turn on transmitter

[[Image:T7c_mode_01.jpg|400px]]

long press Mode/Page button

[[Image:T7c_mode_02.jpg|400px]]

press Cursor/Down 2x to get to PARAMETR

[[Image:T7c_mode_03.jpg|400px]]

press big round Multi/Rotation button

[[Image:T7c_mode_04.jpg|400px]]

press Cursor/Down 2x to SCH-K5 (channel 5)

[[Image:T7c_mode_05.jpg|400px]]

turn big round Multi/Rotation button until E (3-way switch) appears

[[Image:T7c_mode_06.jpg|400px]]

press End 2x to leave

File:T7c mode 06.jpg

2014-01-28T19:39:53Z

Martinmm:

File:T7c mode 05.jpg

2014-01-28T19:39:38Z

Martinmm:

File:T7c mode 04.jpg

2014-01-28T19:39:18Z

Martinmm:

File:T7c mode 03.jpg

2014-01-28T19:39:05Z

Martinmm:

File:T7c mode 02.jpg

2014-01-28T19:38:48Z

Martinmm:

File:T7c mode 01.jpg

2014-01-28T19:38:32Z

Martinmm:

Contributing

2014-01-24T19:41:57Z

Martinmm: Reverted edits by Martinmm (talk) to last revision by Flixr

== How to contribute ==
There are of course lots of ways to contribute to Paparazzi and get involved.

Help is always welcome on all aspects of the project. May this be documentation, wiki, maintenance, electronics or code contributions/fixes.

=== Wiki ===
Just create an account and you can start adding information, cleaning it up or just fixing some typo you just noticed :-)

Some information and links on how to edit the wiki can be found at [[Help:Editing]].

Please be aware of past edits and page histories. Try not to remove this; if you are moving/renaming a page, use the '''move''' tab at the top of a page. This ensures the revision history is moved with the page.

=== Software development ===
We use the distributed version control system [http://git-scm.com/ git]. The [http://github.com/paparazzi/paparazzi/ Papaprazzi master repository is hosted on Github].

Also see the [[Git|Git wiki page]] for more details about setting up Git and cloning the source-code and data repository.

Please also have a look at the [http://docs.paparazziuav.org/latest/styleguide.html Coding Style Guide].

Here is the short version if you already know git:
# Create an account on [http://github.com/ github].
# Fork the [http://github.com/paparazzi/paparazzi/ papaprazzi repo] on github. (After logging in press the '''fork''' button).
# '''git clone git@github.com:<yourname>/paparazzi.git'''
# '''git remote add upstream https://github.com/paparazzi/paparazzi.git'''
# '''git fetch upstream'''
# checkout a new branch based on the development branch (master):<br/>'''git checkout -b upstream/master my_new_feature'''
# fix/code and commit in logical units
# push your feature/bugfix branch
# Send us a [http://help.github.com/pull-requests/ pull request] on github. (Or send patches to the mailing list).

=== Issue/Feature Tracker ===
To report bugs, issues and feature request please use either the mailing list or even better the simple [https://github.com/paparazzi/paparazzi/issues issue tracker on github]

=== Continuous Integration Builds ===
We have a [http://paparazzi.gondwana.com.au build server] running some [[Builds/Tests|CI tests]].

[[Category:Developer_Documentation]]

Contributing

2014-01-24T19:40:39Z

Martinmm: Reverted edits by Flixr (talk) to last revision by Rufus

== How to contribute ==
There are of course lots of ways to contribute to Paparazzi and get involved.

Help is always welcome on all aspects of the project. May this be documentation, wiki, maintenance, electronics or code contributions/fixes.

=== Wiki ===
Just create an account and you can start adding information, cleaning it up or just fixing some typo you just noticed :-)

Some information and links on how to edit the wiki can be found at [[Help:Editing]].

Please be aware of past edits and page histories. Try not to remove this; if you are moving/renaming a page, use the '''move''' tab at the top of a page. This ensures the revision history is moved with the page.

=== Software development ===
We use the distributed version control system [http://git-scm.com/ git]. The [http://github.com/paparazzi/paparazzi/ Papaprazzi master repository is hosted on Github].

Also see the [[Git|Git wiki page]] for more details about setting up Git and cloning the source-code and data repository.

Please also have a look at the [http://paparazzi.github.com/docs/latest/styleguide.html Coding Style Guide].

Here is the short version if you already know git:
# Create an account on [http://github.com/ github].
# Fork the [http://github.com/paparazzi/paparazzi/ papaprazzi repo] on github. (After logging in press the '''fork''' button).
# '''git clone git@github.com:<yourname>/paparazzi.git'''
# '''git remote add upstream git@github.com:paparazzi/paparazzi.git'''
# '''git fetch upstream'''
# checkout a new branch based on the development branch (master):<br/>'''git checkout -b upstream/master my_new_feature'''
# fix/code and commit in logical units
# push your feature/bugfix branch
# Send us a [http://help.github.com/pull-requests/ pull request] on github. (Or send patches to the mailing list).

=== Issue/Feature Tracker ===
To report bugs, issues and feature request please use either the mailing list or even better the simple [https://github.com/paparazzi/paparazzi/issues issue tracker on github]

=== Continuous Integration Builds ===
We have a [http://paparazzi.gondwana.com.au build server] running some [[Builds/Tests|CI tests]].

[[Category:Developer_Documentation]]

File:Ms5611 bmp180.png

2014-01-24T19:40:19Z

Martinmm: MS5611 and BMP180 pressure sensor comparsion

MS5611 and BMP180 pressure sensor comparsion

SUMO/prepare electronics

2014-01-11T23:13:26Z

Martinmm: add Multi Board connections

__NOTOC__

== What you need ==

<small>
{|border="1" cellspacing="0" style="text-align:center" width="80%" valign="top"
|-style="background:LightYellow; color:black"
!Qty!!Manufacturer<br>part number!!Description!!Manufacturer!!Digikey<br>part number!!Other distributor
|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Autopilot''
|-
|1||Umarim Lite v2||Autopilot||Paparazzi|| ||
|-
|1||BEC cable female||Autopilot power supply|| || ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''Modem''
|-
|1||(1P)XBP24-PKC-001-UA||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-PKC-001-UA-ND||Mouser 888-XBP24-PKC-001-UA
|-
|1||XBP24-AWI-001||Zigbee / 802.15.4 Module 2.4GHz XBee||Digi||XBP24-AWI-001-ND||Mouser 888-XBP24-AWI-001
|-
|1||WRL-11373||XBee Explorer Regulated board||Sparkfun|| ||Sparkfun WRL-11373
|-

|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''GPS''
|-
|1||#387000004 (31135)||NEO-6M GPS Module||Hobbyking|| ||Navilock NL-652ETTL
|-

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors''
|-
|1||SHT75||Humidity Sensor||Sensirion|| ||Farnell #1590514
|-
|1||SHT75 adapter||SHT75 breakout board||Paparazzi|| ||
|-
|1||MLX90614||Infrared Thermometer||Melexis|| ||Sparkfun SEN-09570<br>FutureElectronics MLX90614ESF-BAA-000-TU
|-
|1||MLX90614 adapter||MLX90614 breakout board||Paparazzi|| ||paparazzi-hardware misc/mlx90614_small
|-
|1||ETS airspeed||Eagletree airspeed v3||Eagletree|| ||
|-
|1||PT1000 M222||PT1000 M222 temperature sensor||Heraeus|| ||Conrad #172041
|-
|1||TEMOD-I2C-R1||PT1000 converter board ||Hygrosens|| ||Conrad #502001
|-
|1||Multi I2C||Multi adapter Board||Paparazzi|| ||paparazzi-hardware misc/servo_i2c_multi

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Sensors (optional version)''
|-
|1||BOB-08745||Logic Level Converter||Sparkfun|| ||Sparkfun BOB-08745
|-
|1||MS5611||Barometric pressure sensor||Meas Spec|| ||CSG #96<br>Drotek #44

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Logger''
|-
|1||TWOG v1.0||Logger||Paparazzi|| ||
|-
|1||BOB-09966||Breakout Board for USB Mini-B||Sparkfun|| ||Sparkfun BOB-09966
|-
|1||BOB-00544||Board for microSD Transflash||Sparkfun|| ||Sparkfun BOB-00544

|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Shrink tube (shrunken / not shrunken)''
|-
|1||PVC|| 13mm / 20mm || || ||Muldental Elektronik 64115
|-
|1||PVC|| 24mm / 37mm || || ||Muldental Elektronik 64246
|-
|1||PVC|| 29mm / 45mm || || ||Muldental Elektronik 64347
|-
|1||PVC|| 31mm / 51mm || || ||Muldental Elektronik 64446

|}

</small>

Shopping list

== Mounting ==

Use high quality cable, PVC cable gets very stiff in cold temperatures. All parts have to be put into shrink tube to isolate it from any conductive or electrostatic plastic. Some pictures below do not show this tube for better visibility.

=== Autopilot ===
[[Image:Umarim_bec.jpg|thumb|right|Umarim with BEC cable]]
[[Image:Umarim_usb.jpg|thumb|right|USB connector for Umarim]]

Solder the BEC to the Umarim. Cover the Umarim in shrink tube. Cut free the Molex connector openings

{|border="1"
|-valign="top"
||'''Umarim Supply (J15) pin'''||'''Umarim Supply'''||'''BEC male'''
|-
|1
|VBAT
| +
|-
|2
|GND
|
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Solder the cables to the USB breakout board, plug cables in 4-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''Umarim USB (J8) pin'''||'''Umarim USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|USB+
|D+
|-
|3
|USB-
|D-
|-
|4
|USB_VBUS
|VCC
|-
|''Molex 4pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 21cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

=== GPS ===
[[Image:Hk neo gps.jpg|thumb|right|NEO-6M GPS receiver]]

Connect the u-blox type GPS receiver to the UART0 of the Umarim. Put the GPS in shrink tube. Attach any HF cable with tape. Secure GPS connector with hot glue if needed.

{|border="1"
|-valign="top"
||'''Umarim UART0 (J9) pin'''||'''Umarim UART0'''||'''GPS receiver'''||'''HK NEO-6M pin'''
|-
|1
|GND
|GND
|1
|-
|2
|5V
|5V
|4
|-
|3
|
|
|
|-
|4
|RX0
|TX
|2
|-
|5
|TX0
|RX
|3
|-
|''Molex 5pin''
|
|
|''Molex 4pin''
|-
|colspan="4" align="left"|''Cable length 18cm''
|-
|colspan="4" align="left"|''Shrink tube 31mm / 51mm''
|}

=== Modem ===
[[Image:Xbee_cable.jpg|thumb|right|XBee pro modem]]

Solder the cables to the XBee explorer board, plug cables in 5-pin Molex connector. Secure cables on explorer board with hot glue. Plug XBee modem into explorer board and secure with shrink tube.

Recent Sparkfun boards (v14) are equipped with 3.3V to 5V converters. Although the Umarim/LPC2148 should be able to handle 5V it is safe to not use the converters. Remove R5, R6, R7, R8, Q1, and Q2 from the XBee explorer regulated breakout board. Bridge OUT-DOUT and IN-DIN within the transistor footprint.

{|border="1"
|-valign="top"
||'''Umarim UART1 (J10) pin'''||'''Umarim UART1'''||'''XBee Explorer Regulated'''
|-
|1
|GND
|GND
|-
|2
|5V
|5V
|-
|3
|
|
|-
|4
|RX1
|DOUT
|-
|5
|TX1
|DIN
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|-
|colspan="3" align="left"|''Shrink tube 29mm / 45mm''
|}

Solder a second wire (not shown in picture) from the XBee to the TWOG so that the data sent by the Umarim can be logged. That means that two wires are to be connected at the XBee DIN pin.

{|border="1"
|-valign="top"
||'''TWOG Download/GPS (J7) pin'''||'''TWOG Download/GPS'''||'''XBee Explorer Regulated'''
|-
|1
|
|
|-
|2
|
|
|-
|3
|
|
|-
|4
|
|
|-
|5
|
|
|-
|6
|
|
|-
|7
|RXD0
|DIN
|-
|''Molex 7pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 10cm''
|}

=== SHT75 humidity sensor ===
[[Image:Sht75_breakout_bot_90deg.jpg|thumb|right|SHT75 soldered to adapter board]]

Use SHT75 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/sht75_small repository]. Solder parts, secure sensor with hot glue to adapter board on the bottom side (not shown in picture).

{|border="1"
|-valign="top"
||'''Umarim AUX (J14) pin'''||'''Umarim AUX'''||'''SHT75'''||'''SHT75 pin'''||'''SHT75 adapter pin'''
|-
|1
|GND
|GND
|(3)
|1
|-
|2
|
|
|
|
|-
|3
| +3.3V
|VDD
|(2)
|2
|-
|4
|AUX1 (P0.13)
|DATA
|(4)
|3
|-
|5
|AUX2 (P0.15)
|SCK
|(1)
|4
|-
|6
|
|
|
|
|-
|7
|
|
|
|
|-
|''Molex 7pin''
|
|
|
|''Molex 4pin''
|-
|colspan="5" align="left"|''Cable length 17cm''
|-
|colspan="5" align="left"|''no shrink tube''
|}

=== MLX90614 infrared thermometer ===
[[Image:Mlx90614_bot.jpg‎|thumb|right|MLX90614 soldered to adapter board]]

Use MLX90614 adapter board from Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/mlx90614_small repository]. Solder parts, take care of sensor polarity. The I2C address of the MLX90614 needs to be programmed once before it can be used. Connect it as the only sensor to I2C and flash/run it with the IR_MLX_ONE_TIME_CONFIG option set (currently available in the master and campaign2013 branch). See [http://paparazzi.enac.fr/wiki/Module/Melexis_MLX90614#One-time_configuration Module/Melexis_MLX90614].

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''MLX90614'''||'''MLX90614 adapter pin'''
|-
|1
|GND
|Vss
|1
|-
|2
|
|
|
|-
|3
| +3.3V
|Vdd
|3
|-
|4
|SDA
|SDA
|4
|-
|5
|SCL
|SCL
|5
|-
|''Molex 5pin''
|
|
|''Molex 5pin''
|-
|colspan="5" align="left"|''Cable length 9cm''
|-
|colspan="5" align="left"|''Shrink tube 24mm / 37mm''
|}

=== Eagletree Airspeed v3 Sensor ===
[[Image:Ets_airspeed_v3.jpg|thumb|right|Eagletree Airspeed v3]]

Extend the sensor cable. Cut off the four outstanding pins.

{|border="1"
|-valign="top"
||'''Multi board I2C pin'''||'''Multi board I2C'''||'''ETS Airspeed wire colour'''
|-
|1
|GND
|white
|-
|2
| +5V
|red
|-
|3
|
|
|-
|4
|SDA
|yellow
|-
|5
|SCL
|brown
|-
|''Molex 5pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 40cm''
|-
|colspan="3" align="left"|''keep original shrink tube''
|}

=== PT1000 temperature sensor ===
[[Image:Temod_i2c.jpg‎|thumb|right|Hygrosens TEMOD-I2C-R1]]

Solder the PT1000 sensor (little blue on the picture) to the two correct pads at the edge of the TEMOD-I2C-R1 board, where the pin plugs are. The pads on both side are not connected through. It has to be soldered to the side '''not''' carrying the chip. Remove pin header from TEMOD board. Solder 4pin cable to TEMOD, it will be connected to the Umarim through the multi_i2c board below. Fix cables with hot glue. Put some hot glue on the top of teh board, just behind the PT1000. Seal the board with shrink tube.

{|border="1"
|-valign="top"
||'''Multi board I2C_5V pin'''||'''Multi board I2C_5V'''||'''TEMOD-I2C-R1'''||'''TEMOD-I2C-R1 pin'''
|-
|1
|GND
|GND
|2
|-
|2
| +5V
|Vdd
|1
|-
|3
|SDA_5V
|SDA
|3
|-
|4
|SCL_5V
|SCL
|4
|-
|''Molex 4pin''
|
|
|''solder''
|-
|colspan="5" align="left"|''Cable length 18cm''
|-
|colspan="5" align="left"|''Shrink tube 13mm / 20mm''
|}

=== Multi Board ===
[[Image:Multi_i2c_ms5611.jpg‎‎|thumb|right|Multi connector board]]
[[Image:Multi_board_umarim.jpg|thumb|right|Multi board to Umarim]]
[[Image:Multi_wiring.jpg|thumb|right|Multi board connections]]

Use the multi board from the Paparazzi hardware [http://github.com/paparazzi/paparazzi-hardware/tree/master/misc/servo_i2c_multi repository] to have multiple I2C connections, a MS5611 barometric pressure sensor, a 3.3V to 5V level shifter and servo JR connectors for BEC supply through the motor controller. Drill/burn holes into the shrink tube at the hole locations to attach the board with screws later on.

Connection between Multi Board I2C and Umarim I2C0.

{|border="1"
|-valign="top"
||'''Umarim I2C0 pin'''||'''I2C'''||'''Multi board I2C pin'''
|-
|1
|GND
|1
|-
|2
| +5V
|2
|-
|3
| +3.3V
|3
|-
|4
|SDA
|4
|-
|5
|SCL
|5
|-
|''Molex 5pin''
|
|''Molex 5pin''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

Connection between Multi Board and Umarim for the servo signals.

{|border="1"
|-valign="top"
||'''Multi board Servo pin'''||'''Multi board Servo'''||'''Umarim Servo'''
|-
|1
|GND
|GND_SRV5
|-
|2
|
|
|-
|3
|
|
|-
|4
|S2
|SRV2
|-
|5
|S3
|SRV3
|-
|6
|S4
|SRV4
|-
|7
|S5
|SRV5
|-
|colspan="3" align="left"|''Cable length 7.5cm, 7.5cm, 8cm, 8.5cm, 9cm''
|}

The TEMOD/PT1000 temperature sensor gets connected through the 5V I2C connector.

{|border="1"
|-valign="top"
||'''Multi I2C_5V pin'''||'''Multi I2C_5V'''
|-
|1
|GND
|-
|2
| +5V
|-
|3
|SDA
|-
|4
|SCL
|}

=== Logger ===
[[Image:Umarim_logger_spi.jpg|thumb|right|Umarim with logger]]

The Umarim autopilot and the TWOG logger communicate through a bi-directional SPI connection.

{|border="1"
|-valign="top"
||'''Umarim SPI1 pin'''||'''Umarim SPI1'''||'''TWOG'''||'''TWOG conn.'''||'''TWOG name'''||'''TWOG pin'''
|-
|1
|
|
|
|
|
|-
|2
|
|
|
|
|
|-
|3
|SSEL1
|SSEL0
|USB
|BUTTON
|6
|-
|4
|MOSI1
|MOSI0
|PPM
|PPM_IN
|3
|-
|5
|MISO1
|MISO0
|PPM
|SERV_CLK
|5
|-
|6
|
|
|
|
|
|-
|7
|SCK1
|SCK0
|ADC1
|ADC_3
|5
|-
|''Molex 7pin''
|
|
|
|
|''various Molex''
|-
|colspan="6" align="left"|''Cable length 6cm''
|}

The TWOG can be supplied through its original power supply connector or through 5V from the Umarim if the switching supply board is removed from the TWOG:

{|border="1"
|-valign="top"
||'''Umarim SRV0 pin'''||'''Umarim SRV0'''||'''TWOG ADC1'''||'''TWOG ADC1 pin'''
|-
|1
|GND
|GND
|1
|-
|2
| +5V
| +5V
|2
|-
|3
|
|
|
|-
|''Molex 3pin''
|
|
|''Molex 5pin''
|-
|colspan="4" align="left"|''Cable length 6cm''
|}

Solder the cables to the USB breakout board for the TWOG logger, plug cables in 8-pin Molex connector. Secure cables on USB with hot glue. Cover the USB breakout board in shrink tube.

{|border="1"
|-valign="top"
||'''TWOG USB (J9) pin'''||'''TWOG USB'''||'''USB mini breakout'''
|-
|1
|GND
|GND
|-
|2
|
|
|-
|3
|USB+
|D+
|-
|4
|USB-
|D-
|-
|5
|USB_VBUS
|VCC
|-
|5
|
|
|-
|6
|
|
|-
|7
|
|
|-
|8
|
|
|-
|''Molex 8pin''
|
|''solder''
|-
|colspan="3" align="left"|''Cable length 9cm''
|-
|colspan="3" align="left"|''Shrink tube 24mm / 37mm''
|}

[[Image:Sd_card_twog.jpg|thumb|right|micro SD card adapter]]
[[Image:Sd_card_twog_shrink.jpg|thumb|right|micro SD card adapter in tube]]

The micro SD card adapter is connected to the TWOGs SPI connector. Wrap the board in shrink tube so that the micro SD card can be plugged/unplugged.

{|border="1"
|-valign="top"
||'''TWOG SPI pin'''||'''TWOG SPI'''||'''microSD card board'''||'''microSD board pin'''
|-
|1
|GND
|GND
|5
|-
|2
| +3.3V
|VCC
|3
|-
|3
|SSEL
|CS
|1
|-
|4
|MOSI
|DI
|2
|-
|5
|MISO
|DO
|6
|-
|6
|
|
|
|-
|7
|SCK
|SCK
|4
|-
|''Molex 7pin''
|
|
|''solder''
|-
|colspan="4" align="left"|''Cable length 6cm''
|-
|colspan="4" align="left"|''Shrink tube 24mm / 37mm''
|}

File:Multi wiring.jpg

2014-01-11T23:12:51Z

Martinmm:

Modules list

2013-12-17T21:56:18Z

Martinmm: fix doxygen link

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>
Some part of the code is already available as [[Modules|modules]]. Some other parts could be easily adapted. A module may have several configuration files for the most common uses. The code of the modules is placed in sw/airborne/modules/<directory name>.

'''The auto-generated list and short doc for all modules in the master branch can be found at the [http://paparazzi.github.com/latest/onboard_modules.html onboard modules page of the doxygen docs].'''

== Available modules ==

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|Demo || demo_module || demo_module.xml || FW || basic example with blinking leds
|-
|Booz cam<br>([[Module/Rotorcraft_cam|Rotorcraft cam]]) || cam_control || booz_cam.xml<br>(rotorcraft_cam.xml) || Rotor || pointing of a simple camera on booz (servo for tilt, heading for pan
|-
|Cam point || cam_control || cam_point.xml || FW || pointing of a camera
|-
|Cam roll || cam_control || cam_roll.xml || FW || roll camera
|-
|Booz drop || drop || booz_drop.xml || Booz || drop mechanism on booz
|-
|light || light || light.xml || FW || control blinking speed of the LEDs for night flights
|-
|[[Module/Servo_switch|servo switch]] || servo_switch || servo_switch.xml || FW || simply switch a servo to "on" or "off" position, e.g. trigger camera or open hatch
|-
|Formation flight || multi || formation_flight.xml || FW || formation flight control for fixed-wing aircraft
|-
|Gps i2c || gps_i2c || gps_i2c.xml || FW || i2c driver for Ubx GPS modules
|-
|[[Module/GPS_UBlox_UCenter|GPS UBX µcenter]] || gps || gps_ubx_ucenter.xml || FW/Rotor || Module to initialise µ-blox GPS at every power on
|-
|Xsens || ins || ins_xsens.xml<br>ins_xsens_MTi_Uart0.xml<br>ins_xsens_MTiG_Uart0.xml || || driver for the Xsens AHRS/INS (for fixedwing it provides a full navigation solution, for rotorcraft it is a bit slow)
|-
|[[ArduIMU|ins_ArduIMU]] || ins || ins_arduimu.xml || FW || ArduIMU V2+ (Flat) INS (should probably be renamed to AHRS and adhere to the ahrs interface)
|-
|imu_ppzauv || sensors || imu_ppzuav.xml || FW/rotor || module to read the PPZIMU
|-
|imu_aspirin_i2c || sensors || imu_aspirin_i2c.xml || FW/rotor || module to read the aspirin IMU via I2C
|-
|VN-100 || ins || ins_vn100.xml || FW RW? || VectorNav VN-100 AHRS (should probably be renamed to AHRS and adhere to the ahrs interface)
|-
|Max 3100 || max3100 || max3100.xml || FW || max3100 driver (spi<->uart converter)
|-
|MPPT || MPPT || MPPT.xml || FW || maximum power point tracker (control board for solar cells, i2C interface)
|-
|Poles || poles || poles.xml || FW || special navigation functions to fly around poles and counting loops
|-
|Potential || multi || potential.xml || FW || use potential fields for collision avoidance
|-
|Sonar || sonar || sonar_maxbotix_booz.xml || Booz || driver for a Maxbotix ultrasonic sensor
|-
|[[Module/infrared|infrared_adc]] || sensors || [http://paparazzi.github.com/docs/latest/module__infrared_adc.html infrared_adc.xml] || FW || driver for infrared sensors based on analog voltage
|-
|[[Module/infrared|infrared_i2c]] || sensors || [http://paparazzi.github.com/docs/latest/module__infrared_i2c.html infrared_i2c.xml] || FW || driver for infrared sensors with i2c connection
|-
|alt_srf08 || sensors || alt_srf08.xml || FW || driver for Devantech Ultrasonic Range Finder SRF08
|-
|mag_micromag_fw || sensors || mag_micromag_fw.xml || FW || driver for PNI Micromag magnetic sensor
|-
|trigger_ext || sensors || trigger_ext.xml || FW || driver to measure external events/durations
|-
|[[Module/Xtend_rssi|xtend_rssi]] || datalink || xtend_rssi.xml || FW || driver to measure and report rssi from Digi 9Xtend radio with pwm input, currently only LPC21xx arch
|-
|[[Module/Pwm_meas|pwm_meas]] || core || pwm_meas.xml || FW || driver wrapper to measure duty and period of pwm input, currently only LPC21xx arch
|-
|[[Module/System_monitor|sys mon]] || core || [http://paparazzi.github.com/docs/latest/module__sys_mon.html sys_mon.xml] || FW & Booz || measures CPU load & activity
|-
|DC || digital_cam || digital_cam.xml<br>digital_cam_i2c.xml || FW & RW || Controls Digital Camera Functions (buttons) like shoot/zoom/onoff/take pictures at regular intervals
|-
|[[Module/AOA_adc|AOA adc]] || sensors || [http://paparazzi.github.com/docs/latest/module__aoa_adc.html AOA_adc.xml] || FW || Reads the value of an US DIGITAL MA3-A10-236-N AoA Sensor and controls the elevator with its value
|-
|[[Module/FlightBenchmark|flight_benchmark]] || benchmark || [http://paparazzi.github.com/docs/latest/module__flight_benchmark.html flight_benchmark.xml] || FW || quantitative assessments of flights
|-
|[[Openlog|openlog]] || openlog || [http://paparazzi.github.com/docs/latest/module__openlog.html openlog.xml] || FW & RW || Module for logging with a [http://www.sparkfun.com/products/9530 Sparkfun OpenLog]
|}

=== Analog-digital converters ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|[[Module/ADC_generic|ADC generic]] || adcs || adc_generic.xml || FW || autopilot internal 10 bit AD converter
|-
|max11040 || adcs || max11040.xml || FW || 24 bit 16 channel AD converter
|-
|mcp355x || adcs || mcp355x.xml || FW || 22 bit 1 channel AD converter
|-
|}

=== Temperature sensors ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|[[Module/LM75‎|temp_lm75]] || meteo || temp_lm75.xml || FW || driver for National LM75 temperature sensor
|-
|[[Module/Hygrosens TEMOD-I2C-R1‎|temp_temod]] || meteo || temp_temod.xml || FW || Hygrosens TEMOD-I2C-Rx temperature sensor for PT1000
|-
|[[Module/TI_TMP102|temp_tmp102]] || meteo || temp_tmp102.xml || FW || driver for TI TMP102 temperature sensor
|-
|[[Module/Melexis MLX90614‎|ir_mlx]] || meteo || ir_mlx.xml || FW || driver for Melexis 90614 infrared radiation sensor
|}

=== Barometric pressure/altitude sensors ===

Simple static [[Baro_comparsion|comparsion]] of recent digital barometric sensors.

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|[[Module/Bosch BMP085‎|baro_bmp]] || sensors || baro_bmp.xml || FW || driver for Bosch BMP085 pressure sensor
|-
|baro_ets || sensors || baro_ets.xml || FW || Eagle Tree Systems pressure sensor
|-
|baro_MS5534A || sensors || baro_MS5334A.xml || FW || driver for Intersema MS5534A pressure sensor
|-
|[[Module/Meas Spec MS5611 I2C‎|baro_ms5611_i2c]] || sensors || baro_ms5611_i2c.xml || FW || driver for Measurement Specialties MS5611-01BA pressure sensor
|-
|[[Module/VTI SCP1000 SPI|baro_scp]] || sensors || baro_scp.xml || FW || driver for VTI SCP1000 (SPI) pressure sensor
|-
|[[Module/VTI SCP1000 I2C‎|baro_scp_i2c]] || sensors || baro_scp_i2c.xml || FW || driver for VTI SCP1000 (I2C) pressure sensor
|-
|[[Sensors/AMSYS|baro_amsys]] || sensors || [http://paparazzi.github.com/docs/latest/module__baro_amsys.html baro_amsys.xml] || FW || driver for AMS 5812-0150-A (Baro) pressure sensors
|-
|}

=== Airspeed sensors ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|airspeed_adc || sensors || airspeed_adc.xml || FW || driver for airspeed sensor based on analog voltage
|-
|[[Module/Airspeed_ETS|airspeed_ets]] || sensors || airspeed_ets.xml || FW || Eagle Tree Systems airspeed sensor
|-
|[[Sensors/AMSYS|airspeed_amsys]] || sensors || [http://paparazzi.github.com/docs/latest/module__airspeed_amsys.html airspeed_amsys.xml] || FW || driver for AMS 5812-0003-D (Airspeed) pressure sensors
|-
|[[Module/Aeroprobe_OTF|airspeed_otf]] || sensors || airspeed_otf.xml || FW || Aeroprobe On-The-Fly! air data computer
|-
|}

=== Humidity sensors ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|[[Module/IST DigiPicco‎|humid_dpicco]] || meteo || humid_dpicco.xml || FW || driver for IST DigiPicco humidity sensor
|-
|[[Module/Honeywell_HIH-4030|humid_hih]] || meteo || humid_hih.xml || FW || driver for Honeywell HIH-4030 humidity sensor
|-
|[[ Module/TronSens HTM B71|humid_htm_b71]] || meteo || humid_htm_b71.xml || FW || driver for TronSens HTM-B71 humidity sensor
|-
|[[Module/Sensirion SHT75‎|humid_sht]] || meteo || humid_sht.xml || FW || driver for Sensirion SHT75 humidity sensor
|-
|[[Module/Sensirion SHT25‎|humid_sht_i2c]] || meteo || humid_sht_i2c.xml || FW || driver for Sensirion SHT25 humidity sensor (I2C)
|}

=== Other environment sensors ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|enose || enose || enose.xml || FW || chemical gas sensor
|-
|dust_gp2y || meteo || dust_gp2y.xml || FW || driver for Sharp GP2Y1010AU0F dust sensor
|-
|light_temt || meteo || light_temt.xml || FW || driver for Vishay TEMT6000 ambient light sensor
|-
|}

=== Possible modules ===

A list of the parts of the FW airborne code that could be changed to modules.

{| class="wikitable" style="text-align:center" border="1"
! Name !! header !! init !! periodic !! event !! datalink !! description
|-
|Led || X || X || || || || control leds and GPIO
|-
|I2C || X || X || || || ||
|-
|SPI || X || X || || || ||
|-
|Traffic || X || || || || X || update traffic information from datalink
|-
|TCAS || X || X || 1Hz - 4Hz || || ? || vertical collision avoidance
|-
|GPS || X || X || || X || ||
|-
|Joystick || X || X || || X || X|| control a plane from telemetry
|}

[[Category:User_Documentation]] [[Category:Modules]]

Modules list

2013-12-17T21:54:09Z

Martinmm: fix doxygen link

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>
Some part of the code is already available as [[Modules|modules]]. Some other parts could be easily adapted. A module may have several configuration files for the most common uses. The code of the modules is placed in sw/airborne/modules/<directory name>.

'''The auto-generated list and short doc for all modules in the master branch can be found at the [http://docs.paparazziuav.org/latest/onboard_modules.html onboard modules page of the doxygen docs].'''

== Available modules ==

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|Demo || demo_module || demo_module.xml || FW || basic example with blinking leds
|-
|Booz cam<br>([[Module/Rotorcraft_cam|Rotorcraft cam]]) || cam_control || booz_cam.xml<br>(rotorcraft_cam.xml) || Rotor || pointing of a simple camera on booz (servo for tilt, heading for pan
|-
|Cam point || cam_control || cam_point.xml || FW || pointing of a camera
|-
|Cam roll || cam_control || cam_roll.xml || FW || roll camera
|-
|Booz drop || drop || booz_drop.xml || Booz || drop mechanism on booz
|-
|light || light || light.xml || FW || control blinking speed of the LEDs for night flights
|-
|[[Module/Servo_switch|servo switch]] || servo_switch || servo_switch.xml || FW || simply switch a servo to "on" or "off" position, e.g. trigger camera or open hatch
|-
|Formation flight || multi || formation_flight.xml || FW || formation flight control for fixed-wing aircraft
|-
|Gps i2c || gps_i2c || gps_i2c.xml || FW || i2c driver for Ubx GPS modules
|-
|[[Module/GPS_UBlox_UCenter|GPS UBX µcenter]] || gps || gps_ubx_ucenter.xml || FW/Rotor || Module to initialise µ-blox GPS at every power on
|-
|Xsens || ins || ins_xsens.xml<br>ins_xsens_MTi_Uart0.xml<br>ins_xsens_MTiG_Uart0.xml || || driver for the Xsens AHRS/INS (for fixedwing it provides a full navigation solution, for rotorcraft it is a bit slow)
|-
|[[ArduIMU|ins_ArduIMU]] || ins || ins_arduimu.xml || FW || ArduIMU V2+ (Flat) INS (should probably be renamed to AHRS and adhere to the ahrs interface)
|-
|imu_ppzauv || sensors || imu_ppzuav.xml || FW/rotor || module to read the PPZIMU
|-
|imu_aspirin_i2c || sensors || imu_aspirin_i2c.xml || FW/rotor || module to read the aspirin IMU via I2C
|-
|VN-100 || ins || ins_vn100.xml || FW RW? || VectorNav VN-100 AHRS (should probably be renamed to AHRS and adhere to the ahrs interface)
|-
|Max 3100 || max3100 || max3100.xml || FW || max3100 driver (spi<->uart converter)
|-
|MPPT || MPPT || MPPT.xml || FW || maximum power point tracker (control board for solar cells, i2C interface)
|-
|Poles || poles || poles.xml || FW || special navigation functions to fly around poles and counting loops
|-
|Potential || multi || potential.xml || FW || use potential fields for collision avoidance
|-
|Sonar || sonar || sonar_maxbotix_booz.xml || Booz || driver for a Maxbotix ultrasonic sensor
|-
|[[Module/infrared|infrared_adc]] || sensors || [http://paparazzi.github.com/docs/latest/module__infrared_adc.html infrared_adc.xml] || FW || driver for infrared sensors based on analog voltage
|-
|[[Module/infrared|infrared_i2c]] || sensors || [http://paparazzi.github.com/docs/latest/module__infrared_i2c.html infrared_i2c.xml] || FW || driver for infrared sensors with i2c connection
|-
|alt_srf08 || sensors || alt_srf08.xml || FW || driver for Devantech Ultrasonic Range Finder SRF08
|-
|mag_micromag_fw || sensors || mag_micromag_fw.xml || FW || driver for PNI Micromag magnetic sensor
|-
|trigger_ext || sensors || trigger_ext.xml || FW || driver to measure external events/durations
|-
|[[Module/Xtend_rssi|xtend_rssi]] || datalink || xtend_rssi.xml || FW || driver to measure and report rssi from Digi 9Xtend radio with pwm input, currently only LPC21xx arch
|-
|[[Module/Pwm_meas|pwm_meas]] || core || pwm_meas.xml || FW || driver wrapper to measure duty and period of pwm input, currently only LPC21xx arch
|-
|[[Module/System_monitor|sys mon]] || core || [http://paparazzi.github.com/docs/latest/module__sys_mon.html sys_mon.xml] || FW & Booz || measures CPU load & activity
|-
|DC || digital_cam || digital_cam.xml<br>digital_cam_i2c.xml || FW & RW || Controls Digital Camera Functions (buttons) like shoot/zoom/onoff/take pictures at regular intervals
|-
|[[Module/AOA_adc|AOA adc]] || sensors || [http://paparazzi.github.com/docs/latest/module__aoa_adc.html AOA_adc.xml] || FW || Reads the value of an US DIGITAL MA3-A10-236-N AoA Sensor and controls the elevator with its value
|-
|[[Module/FlightBenchmark|flight_benchmark]] || benchmark || [http://paparazzi.github.com/docs/latest/module__flight_benchmark.html flight_benchmark.xml] || FW || quantitative assessments of flights
|-
|[[Openlog|openlog]] || openlog || [http://paparazzi.github.com/docs/latest/module__openlog.html openlog.xml] || FW & RW || Module for logging with a [http://www.sparkfun.com/products/9530 Sparkfun OpenLog]
|}

=== Analog-digital converters ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|[[Module/ADC_generic|ADC generic]] || adcs || adc_generic.xml || FW || autopilot internal 10 bit AD converter
|-
|max11040 || adcs || max11040.xml || FW || 24 bit 16 channel AD converter
|-
|mcp355x || adcs || mcp355x.xml || FW || 22 bit 1 channel AD converter
|-
|}

=== Temperature sensors ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|[[Module/LM75‎|temp_lm75]] || meteo || temp_lm75.xml || FW || driver for National LM75 temperature sensor
|-
|[[Module/Hygrosens TEMOD-I2C-R1‎|temp_temod]] || meteo || temp_temod.xml || FW || Hygrosens TEMOD-I2C-Rx temperature sensor for PT1000
|-
|[[Module/TI_TMP102|temp_tmp102]] || meteo || temp_tmp102.xml || FW || driver for TI TMP102 temperature sensor
|-
|[[Module/Melexis MLX90614‎|ir_mlx]] || meteo || ir_mlx.xml || FW || driver for Melexis 90614 infrared radiation sensor
|}

=== Barometric pressure/altitude sensors ===

Simple static [[Baro_comparsion|comparsion]] of recent digital barometric sensors.

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|[[Module/Bosch BMP085‎|baro_bmp]] || sensors || baro_bmp.xml || FW || driver for Bosch BMP085 pressure sensor
|-
|baro_ets || sensors || baro_ets.xml || FW || Eagle Tree Systems pressure sensor
|-
|baro_MS5534A || sensors || baro_MS5334A.xml || FW || driver for Intersema MS5534A pressure sensor
|-
|[[Module/Meas Spec MS5611 I2C‎|baro_ms5611_i2c]] || sensors || baro_ms5611_i2c.xml || FW || driver for Measurement Specialties MS5611-01BA pressure sensor
|-
|[[Module/VTI SCP1000 SPI|baro_scp]] || sensors || baro_scp.xml || FW || driver for VTI SCP1000 (SPI) pressure sensor
|-
|[[Module/VTI SCP1000 I2C‎|baro_scp_i2c]] || sensors || baro_scp_i2c.xml || FW || driver for VTI SCP1000 (I2C) pressure sensor
|-
|[[Sensors/AMSYS|baro_amsys]] || sensors || [http://paparazzi.github.com/docs/latest/module__baro_amsys.html baro_amsys.xml] || FW || driver for AMS 5812-0150-A (Baro) pressure sensors
|-
|}

=== Airspeed sensors ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|airspeed_adc || sensors || airspeed_adc.xml || FW || driver for airspeed sensor based on analog voltage
|-
|[[Module/Airspeed_ETS|airspeed_ets]] || sensors || airspeed_ets.xml || FW || Eagle Tree Systems airspeed sensor
|-
|[[Sensors/AMSYS|airspeed_amsys]] || sensors || [http://paparazzi.github.com/docs/latest/module__airspeed_amsys.html airspeed_amsys.xml] || FW || driver for AMS 5812-0003-D (Airspeed) pressure sensors
|-
|[[Module/Aeroprobe_OTF|airspeed_otf]] || sensors || airspeed_otf.xml || FW || Aeroprobe On-The-Fly! air data computer
|-
|}

=== Humidity sensors ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|[[Module/IST DigiPicco‎|humid_dpicco]] || meteo || humid_dpicco.xml || FW || driver for IST DigiPicco humidity sensor
|-
|[[Module/Honeywell_HIH-4030|humid_hih]] || meteo || humid_hih.xml || FW || driver for Honeywell HIH-4030 humidity sensor
|-
|[[ Module/TronSens HTM B71|humid_htm_b71]] || meteo || humid_htm_b71.xml || FW || driver for TronSens HTM-B71 humidity sensor
|-
|[[Module/Sensirion SHT75‎|humid_sht]] || meteo || humid_sht.xml || FW || driver for Sensirion SHT75 humidity sensor
|-
|[[Module/Sensirion SHT25‎|humid_sht_i2c]] || meteo || humid_sht_i2c.xml || FW || driver for Sensirion SHT25 humidity sensor (I2C)
|}

=== Other environment sensors ===

{| class="wikitable" style="text-align:center" border="1"
! Name !! directory !! configuration files !! airframe(s) !! description
|-
|enose || enose || enose.xml || FW || chemical gas sensor
|-
|dust_gp2y || meteo || dust_gp2y.xml || FW || driver for Sharp GP2Y1010AU0F dust sensor
|-
|light_temt || meteo || light_temt.xml || FW || driver for Vishay TEMT6000 ambient light sensor
|-
|}

=== Possible modules ===

A list of the parts of the FW airborne code that could be changed to modules.

{| class="wikitable" style="text-align:center" border="1"
! Name !! header !! init !! periodic !! event !! datalink !! description
|-
|Led || X || X || || || || control leds and GPIO
|-
|I2C || X || X || || || ||
|-
|SPI || X || X || || || ||
|-
|Traffic || X || || || || X || update traffic information from datalink
|-
|TCAS || X || X || 1Hz - 4Hz || || ? || vertical collision avoidance
|-
|GPS || X || X || || X || ||
|-
|Joystick || X || X || || X || X|| control a plane from telemetry
|}

[[Category:User_Documentation]] [[Category:Modules]]

SUMO/install electronics

2013-12-12T15:28:41Z

Martinmm: add link to prepare electronics

See [[SUMO/prepare_electronics|Prepare Paparazzi electronics]] for a detailed description of where exactly the connectors/plugs go to.

Glue the USB Mini-B board for the Umarim lite to the right side of the end of the battery compartment.

[[Image:Funjet_usb.jpg|600px]]

Install two 3mm plywood boards 41mm by 10mm centered behind the fiber rod and aligned to the distance of the Umarim lite drill holes with CA. Fix the XBee pro with the Sparkfun board below the boards with Velcro.

[[Image:Umarim_board_xbee.jpg|600px]]

Add a 3mm plywood board 41mm by 26mm one centimeter above the base of the fuselage. Drill holes to hold the Multi board before mounting. Install the Umarim lite with 1.6mm screws and servo rubbers in between.

[[Image:Umarim_board_multi.jpg|600px]]

Fix the Multi board with four screws and and servo rubbers.

[[Image:Multi_board_install.jpg|600px]]

The logger holding 3mm plywood board is 41mm by 30mm and installed 5mm behind the Umarim lite at the same level.

[[Image:Logger_board.jpg|600px]]

Add a 10mm EPP separator between the autopilot and the motor compartment. Connect the logger to the Umarim, add the micro SD card holder and the USB Mini-B behind the separator. Fix the logger on the board with Velcro.

[[Image:Logger_shrink.jpg|600px]]

Put the GPS receiver with the ceramic antenna upwards into the pocket under the front turtle deck (picture shows not-yet attached deck).

[[Image:Funjet_gps_b.jpg|600px]]

Glue the MLX90614 infrared thermometer into the 25mm x 20mm pocket. Seal the metal sensor with the EPP to make it watertight. Bring the connecting cable to the fuselage. Close the pocket with the original (colored) EPP.

[[Image:Mlx_install.jpg|600px]]

Insert the PT1000 temperature sensor into the ABS holder and fix it to the right wing.

[[Image:Temperature_sensor_holder.jpg|600px]]

[[Image:Temperature_sensor_inside.jpg|600px]]

[[Image:Temperature_installed.jpg|600px]]

The same applies to the SHT75 humidity sensor on the left wing.

[[Image:Humidity_sensor_holder.jpg|600px]]

[[Image:Humidity_sensor_inside.jpg|600px]]

[[Image:Humidity_installed.jpg|600px]]

Overview.

[[Image:Funjet_sensors.jpg|600px]]