PaparazziUAV - User contributions [en]

Module/guidance vector field

2019-10-02T23:31:57Z

Mayrit: missing slash added, that will remove the compilation error when copy+pasted...

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>

== Introduction ==
We have written an algorithm for solving the problem of tracking smooth curves by an unmanned aerial vehicle travelling with a constant airspeed and under a wind disturbance. The algorithm is based on the idea of following a guiding vector field which is constructed from the implicit function that describes the desired (possibly time-varying) trajectory.

For fixed-wings the output of the algorithm can be directly expressed in terms of the bank angle of the UAV in order to achieve coordinated turns. Furthermore, the algorithm can be tuned offline such that physical constraints of the UAV, e.g., the maximum bank angle, will not be violated in a neighborhood of the desired trajectory.

The implementation for rotorcraft is still in the TO DO list.

This work is based on the paper [https://arxiv.org/abs/1610.02797 Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows], presented at ICRA 2017. A more rigorous and detailed analysis can be found in the paper [https://www.researchgate.net/publication/309191959_A_guiding_vector_field_algorithm_for_path_following_control_of_nonholonomic_mobile_robots A guiding vector field algorithm for path following control of nonholonomic mobile robots].

We can further exploit the convergence properties of the fixed-wing aircraft to the desired trajectory for controlling formations of several aircraft. Check the subsection python Apps. A detailed analysis can be found in the paper [https://www.researchgate.net/publication/315514301_Circular_formation_control_of_fixed-wing_UAVs_with_constant_speeds Circular formation control of fixed-wing UAVs with constant speeds] (submitted to IROS 2017). A video about how the circular formation algorithm works https://www.youtube.com/watch?v=q4b8JRU1Gbw .

Here we show an animation of an airplane following an ellipse and a sinudoidal track.
[[File:gvfGif.gif|center]]

== How does the algorithm work? ==
We start from the implicit equation of the trajectory, for example for a circumference we have that <math>\varphi(x,y) = x^2 + y^2 - R^2</math>, where <math>x, y</math> and <math>R</math> are the x, y coordinates with respect to HOME (<math>O</math> in the following figure) and R is the radius of the circumference. Note that when the vehicle is over the desired trajectory, then <math>\varphi(x,y) = 0</math>, otherwise it will be different from zero. We will use this concept of "level set" to define the notion of distance to the trajectory, namely <math>e := \varphi(x,y)</math>. It has to be noted that this is different from the Euclidean distance (see figure below).

For the sake of clarity we will consider just 2D trajectories and parallel to the ground. Let us stack the x and y coordinates in <math>p := \begin{bmatrix}x & y\end{bmatrix}^T</math> and consider the following kinematical model for our vehicle

<math>\begin{cases} \dot p &= sm(\psi) + w \\ \dot\psi &= u, \end{cases}</math>

where <math>s\in\mathbb{R}^+</math> is a constant that can be considered as the airspeed, <math>m = \begin{bmatrix}\cos(\psi) & \sin(\psi)\end{bmatrix}^T</math> with <math>\psi\in(-\pi, \pi]</math> being the attitude yaw angle, <math>w\in\mathbb{R}^2</math> is a constant with respect to <math>O</math> representing the wind and <math>u</math> is the control action that will make the vehicle to turn. We also notice that the course heading <math>\chi\in(-\pi, \pi]</math>, i.e. the direction the velocity vector <math>\dot p</math> is pointing at, in general is different from the yaw angle <math>\psi</math> because of the wind.

[[File:GVF.png|center]]

Given a desired trajectory, we compute its normal <math>n(p) := \nabla \varphi(p)</math> and its tangent <math>\tau(p) = En(p), \quad E=\begin{bmatrix}0 & 1 \\ -1 & 0\end{bmatrix}</math>. The idea is to steer the vehicle such that it follows the direction given by the unit vector calculated from

<math>\dot p_d(p) := \tau(p) - k_e e(p)n(p),</math>

where <math>k_e</math> is a positive gain. At each point <math>p</math> we can build a unit vector from <math>\dot p_d(p)</math>. This collection of vectors is our Guidance Vector Field. Note that when the error is zero, then we are just tracking the tangent to the trajectory.

We assume that the trajectory is twice differentiable (so its gradient and Hessian exists) and that it is regular in a neighborhood of <math>\mathcal{P}</math>, i.e.

<math>\nabla\varphi(p) \neq 0, \quad p\in \mathcal{N}_{\mathcal{P}},\quad \mathcal{N}_{\mathcal{P}} := \{p \, : \, |\varphi(p)| \leq c^* > 0\}</math>.

The algorithm needs for work the measurements of <math>\dot p</math> (typically derived from GPS), position <math>p</math> w.r.t. HOME (typically derived from GPS) and yaw angle <math>\psi</math> or sideslip angle <math>\beta = (\psi - \chi)</math>. The algorithm still works quite well in practice with only <math>\dot p</math> and <math>p</math>, in other words, you will only need to have installed a GPS. The latter is the implemented version in pprz/master.

== Using the GVF in the flight plan ==

Before starting, make sure that the environment variable "PAPARAZZI_HOME" is set. It must point to your paparazzi directory.
To check if this variable is set, enter in a terminal the following command:
<source>echo $PAPARAZZI_HOME</source>
This command must return the path to your paparazzi directory. If it returns nothing, edit your .bashrc:
<source>gedit ~/.bashrc</source>
and add the following line by replacing "<path/to/your/paparazzi/directory>" by the corresponding path:
<source>export PAPARAZZI_HOME="<path/to/your/paparazzi/directory>"</source>
Then, reload the .bashrc:
<source>source ~/.bashrc</source>

Now, lets start.

First of all, do not forget to include the module in your flightplan file.
<source lang="html">
<module name="gvf_module"/>
</source>
and in your telemetry file (already in default_fixedwing_gvf.xml)
<source lang="html">
<message name="GVF" period="1"/>
</source>

Later, you can set individually the gains for your particular aircraft in the airframe file. For example
<source lang="html">
<section name="GVF" prefix="GVF_">
<define name="LINE_KE" value="2.5"/>
</section>
</source>

===Disclaimer===
The Guidance Vector Field is not fully integrated (yet) with the flight plan. This means that you will need to call explicitly C functions and many variables are not set by default. For example,
the GVF does not control settings such as altitude or 'nav_pitch' (default pitch). You need to set manually the desired variables in the flight plan before a GVF function is called. In other words, the GVF '''ONLY''' controls (for fixed-wings) the bank-angle to be tracked such that the airplane converges to the desired trajectory.

Particular example: Your airplane is going to land and the 'altitude' is set to be 0 AGL. Then you change your mind and choose (for example by clicking on the corresponding block in the flight plan at the GCS) to track an ellipse. The altitude to be tracked will continue being zero. Be careful with these kind of situations.

List of available functions (updated June 2017) for the user to be called from the flight plan. There is a demo called ''demo_gvf.xml'' in the ''conf/flightplan'' folder.

===Ellipses===
<source lang="html">
<call fun="gvf_ellipse_wp(WP_mywaypoint, gvf_ellipse_par.a, gvf_ellipse_par.b, gvf_ellipse_par.alpha)"/>
<call fun="gvf_ellipse_XY(float x, float y, gvf_ellipse_par.a, gvf_ellipse_par.b, gvf_ellipse_par.alpha)"/>
</source>

===Straight lines===

<source lang="html">
<call fun="gvf_line_wp_heading(WP_mywaypoint, gvf_line_par.heading)"/>
<call fun="gvf_line_XY_heading(float x, float y, gvf_line_par.heading)"/>
<call fun="gvf_line_XY1_XY2(float x1, float y1, float x2, float y2)"/>
<call fun="gvf_line_wp1_wp2(WP_mywaypoint1, WP_mywaypoint2)"/>
<call fun="gvf_segment_XY1_XY2(float x1, float y1, float x2, float y2)"/>
<call fun="gvf_segment_wp1_wp2(WP_mywaypoint1, WP_mywaypoint2)"/>
<call fun="gvf_segment_loop_XY1_XY2(float x1, float y1, float x2, float y2, float gvf_segment_par.d1, gvf_segment_par.d2)"/>
<call fun="gvf_segment_loop_wp1_wp2(WP_mywaypoint1, WP_mywaypoint2, float d1, float d2)"/>
</source>

'''Watch out'''.
* `line' means that the aircraft tracks an infinite line.
* `segment' means that the aircraft tracks a segment defined by two (way)points. The first (way)point of the segment function ('''no''' for the segment_loop) defines the starting point and the second one the ending point. Once the aircraft crosses the imaginary line perpendicular to the segment at the ending point, the flight plan jumps to the next block.
* `segment_loop' means that the aircraft tracks the segment defined by two (way)points in an endless loop. The values 'd1' and 'd2' mean how far the aircraft will go beyond the end of the segment before turning back (useful when it is windy and you want to be sure that your aircraft tracks the segment by converging to it before been in the middle of the two points).

=== Sinusoidal ===

<source lang="html">
<call fun="gvf_sin_XY_alpha(float x, float y, gvf_sin_par.alpha, gvf_sin_par.w, gvf_sin_par.off, gvf_sin_par.A)"/>
<call fun="gvf_sin_wp_alpha(WP_mywaypoint, gvf_sin_par.alpha, gvf_sin_par.w, gvf_sin_par.off, gvf_sin_par.A)"/>
<call fun="gvf_sin_wp1_wp2(WP_maywaypoiny1, WP_mywaypoint2, gvf_sin_par.alpha, gvf_sin_par.w, gvf_sin_par.off, gvf_sin_par.A)"/>
</source>

'''Watch out'''

As with lines, to track a sinusoidal means that the aircraft follows an open and endless trajectory.

=== Direction ===
For setting the tracking direction (the direction of the tangent vector <math>\tau</math> in the above figure)
<source lang="html">
<call fun="gvf_set_direction(s)"/>
</source>
where s is an integer number 1 or -1.

== Gain tuning ==

An aircraft has its own set of two gains <math>k_n, k_e</math> for each trajectory.

* KN determines the convergence rate for aligning the vehicle to the vector field. A typical value for starting tuning <math>k_n</math> should be between 0.2 and 1.
* KE determines how aggressive is the vector field. For example, in the following figure we have an ellipse with two different values of <math>k_e</math>, at the left we have a value of 3 and at the right 0.4. Note how in left one the vectors are "more aggressive" towards the trajectory. While a big value can make the vehicle to converge quickly to the trajectory, it can make the tracking unstable once the vehicle is close it. This is because the vector field might change so quick that physically the vehicle cannot follow it. Check the Section IV in the original paper in the introduction.

== Python Apps ==

=== Visualizing the desired trajectory and the aircraft within the vector field===
Until the "visual integration" of the GVF into the ground station is ready, one can track the vehicle and the trajectory by using the python script at "$PAPARAZZI_HOME/sw/ground_segment/python/gvf/gvfApp ac_id", where ac_id is the ID of the fixedwing to be tracked by the App.

<gallery mode=packed heights=300px>
File:gvf_ellipse.png
File:gvf_Sin.png
</gallery>

=== Circular formations (centralized from the GCS) ===
One can synchronize or arrange a group of fixed-wing aircraft (assuming they have equal ground speed) in a desired circle by using the python script at "$PAPARAZZI_HOME/sw/ground_segment/python/gvf/gvfFormation". For running the script, all your aircraft '''MUST''' follow a circle employing the guidance vector field, i.e.,
<source lang="html">
<call fun="gvf_ellipse_wp(WP_CIRCLE, gvf_ellipse_par.a, gvf_ellipse_par.b, gvf_ellipse_par.alpha)"/>
</source>
the values of gvf_ellipse_a, gvf_ellipse_b will be modified by the formation control script, and the value of gvf_ellipse_alpha is irrelevant. Note that the aircraft do not need necessarily to orbit around the same waypoint.

We need to configure three fields in a json configuration file (look at the examples in the subfolder ./formation):
* ids: it labels the aircrafts. For example, if the file contains '14 56 34', then the aircraft with ids 14, 56 and 34 are labeled with the tags 1, 2 and 3 respectively.
* topology: it defines the links between the aircraft. The file contains a matrix where the number of rows is the number of aircraft, and the number of columns is the number of desired links. A link is defined by setting 1 and -1 in a column. Following the example, the matrix <math>\begin{bmatrix}1 & 0 \\ -1 & 1 \\ 0 & -1\end{bmatrix}</math> defines two links. The first one between the aircraft 1 and 2, and the second one between the aircraft 2 and 3.
* desired_intervehicle_angles (also known as 'sigmas'): they define the desired angles <math>\sigma_k</math> between aircraft for each link <math>k</math>. Following the example, if the file contains '0 900', then the desired angle for the first link is 0.0 degrees (e.g., the aircraft 1 and 2 will meet each other) and the second desired angle will be +90.0 degrees. '''Only for the DISTRIBUTED version''' (next subsection): The angle is measured from the +1 aircraft to the -1 in the topology. In this example, the aircraft 3 will be 90 degrees AHEAD (positive) of aircraft 2. Note that 'ahead' means in the direction of the motion, so the order of the aircraft will be same, no matter whether they travel clockwise or counterclockwise in the circle.
* gain: this is the gain of the control algorithm. As an example, for three aircraft with the desired circumference of 80 meters, a value of <math>k=10</math> works ok.
* desired_stationary_radius: sets the desired radius of the circular formation, i.e., once the aircraft are synchronized, they will be orbiting the waypoint with this desired radius.

Some useful tips:
* Watch out for "impossible" configurations, e.g., do not set up loops in the topology such as 1 -> 2 -> 3 -> 1 <math>\begin{bmatrix}1 & 0 & -1\\ -1 & 1 & 0 \\ 0 & -1 & 1\end{bmatrix}</math>, so the desired sigmas could be asking for an impossible configuration in the circle. Avoid loops! even if the desired configuration is ok, they can introduce undesired equilibria in the system, i.e., different configurations.
* The aircraft do not need to share the same center or waypoint. This script just control the sigmas.

The algorithm works by setting different radii to the aircraft. If two aircraft orbit a waypoint with different radius (assuming equal ground speeds), then the one with bigger radius travels more distance in a completed lap. We exploit this fact in order to control the different <math>\sigma_k</math>. We refer to [https://www.researchgate.net/publication/315514301_Circular_formation_control_of_fixed-wing_UAVs_with_constant_speeds Circular formation control of fixed-wing UAVs with constant speeds] for details about the control signal and how to calculate an appropriated gain k.

In the following figure we show the rendezvous of three aircraft in the same circle by using this script.

[[File:Circular.png|center]]

== Fully distributed circular formations ==
The air-to-air communication is possible since Paparazzi Link v2.0. You can compile Paparazzi with this new feature by typing "PPRZLINK_LIB_VERSION=2.0 make" in your terminal.
The algorithm for synchronizing aircraft in a circle has been explained in the previous section "Circular formations (centralized from the GCS)". However, in that section it is explained how to run the algorithm in a centralized way, i.e., every aircraft transmit their positions to the GCS and a python script sends back the radii that the GVF must follow for each aircraft.

Now it is possible to let each aircraft to calculate on board the radius that it has to follow by exchanging information with its neighbors without any intervention from ground.
An extra module together with gvf_module has to be called in the flight plan
<source lang="html">
<modules>
<module name="gvf_module"/>
<module name="distributed_circular_formation"/>
</modules>
</source>
and the following settings can be set in the airframe file
<source lang="html">
<section name="DCF" prefix="DCF_">
<define name="GAIN_K" value="10"/>
<define name="RADIUS" value="80"/>
<define name="MAX_NEIGHBORS" value="4"/>
</section>
</source>
where GAIN_K is the control gain k explained in the centralized version (note that now each aircraft can have its own different gain), RADIUS is the target radius for the desired circumference once the synchronization is achieved, and MAX_NEIGHBORS defines the maximum number of neighbors that an aircraft can have. In particular, this last number defines how big is a table stored on board with the information about the neighbors of an aircraft. These three settings can be modified via the DCF tab from the GCS settings menu.

Each row of the table contains information about a specific neighbor. In particular there are four fields about the neighbor, its ID, the desired angle w.r.t. it, its actual sigma ('''IT IS CALLED THETA in the source code dcf.{c,h} and messages! sorry about the notation ;)''' ) and how old is the actual sigma, i.e., when was the last time the aircraft received information from its neighbor. There is a telemetry message called DCF where one can check the status of the table, where the angles are in deci-degrees, i.e., 900 is 90 degrees and the age of the information is in milliseconds.

The following messages must be included in your custom ./conf/messages.xml (if they are not present in your PaparazziLink version yet)
<source lang="html">
<message name="DCF" id="38">
<field name="table" type="int16[]"/>
<field name="errors" type="int16[]"/>
</message>
<message name="DCF_THETA" id="254">
<field name="theta" type="float"/>
</message>

<message name="DCF_REG_TABLE" id="158" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="nei_id" type="uint8"/>
<field name="desired_sigma" type="int16"/>
</message>
<message name="DCF_CLEAN_TABLE" id="159" link="forwarded">
<field name="ac_id" type="uint8"/>
</message>
</source>
where the first two messages are msg class telemetry and the last two are msg class datalink. The ids are irrelevant, just look for one free for the messages.

The DCF message transmits the table (with low frequency) from the air to the ground. The DCF_THETA is the message that it is transmitted between aircraft. The DCF_REG_TABLE msg inits the table of the aircraft with a particular ID and DCF_CLEAN_TABLE just cleans the table. The python script dcfInitTables.py at ./sw/ground_segment/python/gvf will generate and send the messages based on the same text files for the centralized version of the algorithm (just check the subsection above to see how to define topology, IDs.. etc).

'''DO NOT FORGET''' to init the tables of the aircraft! You can check that the tables have been well set by checking the corresponding DCF telemetry msg.

The algorithm starts running once the aircraft is in the following block in the flight plan
<source lang="html">
<block name="Distributed_circular">
<call fun="distributed_circular(WP_C)"/>
</block>
</source>
and if the aircraft is in AUTO2, then it starts to transmit its sigma to its neighbors. The aircraft will track (via the GVF) a circumference with center at the waypoint WP_C and the radius is determined by the algorithm. If there are not neighbors, it will just track a circumference with the default radius set in the DCF module (remember that the radius can be also changed in settings in the GCS).

Right now, the frequency for the air-to-air communication for the DCF_THETA msg has been hardcoded to 4Hz (something to change in the TODO list). If an aircraft does not receive any information from a neighbor during the last TIMEOUT millisecs, then the aircraft assumes that such a neighbor has left the formation. For example, the neighbor went to AUTO1 and the rest of the team will not consider it anymore. The TIMEOUT has been set to 1500 by default, but it can be changed for each aircraft in the settings in the GCS in the DCF tab.

== Defining your own trajectory ==

The algorithm is placed in $PAPARAZZI_HOME/sw/airborne/modules/guidance/gvf .
The trajectories are placed in $PAPARAZZI_HOME/sw/airborne/modules/guidance/gvf/trajectories .

Here there is an example (the straight line) about how to code your own trajectory.

{{Box Code||sw/airborne/modules/guidance/gvf/gvf.h
<source lang="c">
// Straigh line
extern bool gvf_line_XY_heading(float x, float y, float heading);
extern bool gvf_line_XY1_XY2(float x1, float y1, float x2, float y2);
extern bool gvf_line_wp1_wp2(uint8_t wp1, uint8_t wp2);
extern bool gvf_segment_loop_XY1_XY2(float x1, float y1, float x2, float y2, float d1, float d2);
extern bool gvf_segment_loop_wp1_wp2(uint8_t wp1, uint8_t wp2, float d1, float d2);
extern bool gvf_segment_XY1_XY2(float x1, float y1, float x2, float y2);
extern bool gvf_segment_wp1_wp2(uint8_t wp1, uint8_t wp2);
extern bool gvf_line_wp_heading(uint8_t wp, float heading);
</source>
}}

{{Box Code||sw/airborne/modules/guidance/gvf/gvf.c
<source lang="c">
bool gvf_line_wp_heading(uint8_t wp, float heading)
{
heading = heading * M_PI / 180;

float a = waypoints[wp].x;
float b = waypoints[wp].y;

gvf_line_XY_heading(a, b, heading);

return true;
}
</source>
}}

The idea is that while you can define a straight line in many different ways, you make all the transformations (for example, we take the X and Y coordinates from a waypoint and convert the heading from degrees to radians in this example)
in the function called by the user such that the algorithm is always evaluating the trajectory in the same way. It helps for maintaining the code and for tuning
the gains (you do not want to have different set of gains depending on how you call your trajectory).

We finally call the function gvf_line_XY_heading that will invoke the algorithm.

{{Box Code||sw/airborne/modules/guidance/gvf/gvf.c
<source lang="c">
bool gvf_line_XY_heading(float a, float b, float heading)
{
float e;
struct gvf_grad grad_line;
struct gvf_Hess Hess_line;

gvf_trajectory.type = 0;
gvf_trajectory.p[0] = a;
gvf_trajectory.p[1] = b;
gvf_trajectory.p[2] = heading;

gvf_line_info(&e, &grad_line, &Hess_line);
gvf_control.ke = gvf_line_par.ke;
gvf_control_2D(1e-2 * gvf_line_par.ke, gvf_line_par.kn, e, &grad_line, &Hess_line);

gvf_control.error = e;

horizontal_mode = HORIZONTAL_MODE_WAYPOINT;
gvf_segment.seg = 0;

return true;
}
</source>
}}

The three first lines are the <math>\varphi(p), \nabla\varphi(p)</math> and <math>H(\varphi(p))</math>, where <math>H</math> stands for the Hessian. These three
guys will be populated by gvf_line_info (in a moment we will be see how to write it).

Then gvf_traj_type stands for the kind of trajectory. Right now we have 0 for lines, 1 for ellipses and 2 for sinusoidals. Feel free to choose an index that has not been taken. The rest gvf_param[x]'s are the parameters of the trajectory. You have up to seven for describing a trajectory.

The function gvf_control_2D executes the algorithm for calculating the desired turn for the vehicle. It is a good practice that all the trajectories (not only straight lines) have the same order of magnitude (for example between 0.00 and 5.00) for <math>k_e</math>. So if you have to add a scaling factor, here is were you have to do it.

The variables gvf_xx are sent to the ground station as telemetry, so you can draw the vector field, the trajectory, etc.

Finally for defining <math>\varphi(p), \nabla\varphi(p)</math> and <math>H(\varphi(p))</math> you need to write the two files gvf_line.{c,h}

{{Box Code||sw/airborne/modules/guidance/gvf/trajectories/gvf_line.h
<source lang="c">
extern void gvf_line_info(float *phi, struct gvf_grad *, struct gvf_Hess *);
</source>
}}

and in gvf_line.c you write the implicit math of your trajectory (quite explicit)

{{Box Code||sw/airborne/modules/guidance/gvf/trajectories/gvf_line.c
<source lang="c">
void gvf_line_info(float *phi, struct gvf_grad *grad,
struct gvf_Hess *hess){

struct EnuCoor_f *p = stateGetPositionEnu_f();
float px = p->x;
float py = p->y;
float a = gvf_param[0];
float b = gvf_param[1];
float alpha = gvf_param[2];

// Phi(x,y)
*phi = -(px-a)*cosf(alpha) + (py-b)*sinf(alpha);

// grad Phi
grad->nx = -cosf(alpha);
grad->ny = sinf(alpha);

// Hessian Phi
hess->H11 = 0;
hess->H12 = 0;
hess->H21 = 0;
hess->H22 = 0;
}
</source>
}}

== Demo ==
There is a flightplan called 'demo_gvf.xml' in order to test the different settings in a simulation. Do not forget to choose default_telemetry_gvf.xml in your paparazzi center.

== TO DO list ==

* Better integration of the GVF with the ground station
* Support to rotorcrafts

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

Module/Mag HMC58xx

2016-11-04T12:52:01Z

Mayrit: HMC58XX magneto channel and sign change is added

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>

= Introduction =

Paparazzi allows the use of external Magnetometers. This module supports the use of the Honeywell HMC5843 and HMC5883 magnetometers.
These magnetometers can be connected to your autopilot board via i2c.

{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware>
...
<define name="USE_I2C2" />
...
<subsystem name="ahrs" type="float_cmpl_quat">
<define name="AHRS_XXX_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
</subsystem>
</firmware>
...
<modules>
<load name="mag_hmc58xx.xml">
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
<define name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
</load>
</modules>

</source>
}}

You will need to specify the AHRS_XXX_MAG_ID value. See [http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Enabling_External_Sensors AHRS External Sensors]

Recently, the module is being used like the below example, see how the channel order and the signs can be changed :

<source lang="xml">
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
<define name="HMC58XX_CHAN_X" value="0"/>
<define name="HMC58XX_CHAN_Y" value="1"/>
<define name="HMC58XX_CHAN_Z" value="2"/>

<define name="HMC58XX_CHAN_X_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="-"/>
</module>
</source>

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

ESC

2016-04-27T13:24:40Z

Mayrit: Regenerative brake problem of speed controllers mentioned

__TOC__

= Introduction =

ESC, '''E'''lectric '''S'''peed '''C'''ontrollers, are required for controlling electric BLDC (brushless DC) motors. 
While most standard ESC's will work well with fixedwing, rotorcraft have higher requirements which cheap controllers maybe poorly meet.

Positive features for rotorcraft:

* Faster response to input signal (faster acceleration and slow down)
* More thrust
* Accept faster or other input signal (faster PWM input or I2C)

Beside these, they can also be less noisy.

Standard ESC can be used, but with a little work and an alternative firmware they will work better.

= Big Heads-Up for Flyduino ESCs =
Just to warn everyone using speed controllers with regenerative brake function such as the ones from FlyDuino: DO NOT TEST IT WHILE CONNECTED TO A LAB POWER SUPPLY ! The reverse current generated will damage the power supply or burn the Autopilot immediately.

= Multiple ESC/BEC in one Aircraft=

Most standard ESC come with a BEC (battery eliminator circuit) built in, which is supposed to supply servos and receiver with (mostly 5V) power. 
Connecting multiple BECs in parallel can cause different problems through e.g different voltages and should be avoided. 
Correct wiring examples can be found on the [[Lisa/M_v20#Examples_of_Airborne_Equipment_Electrical_Connections|LisaMv2 page]].

= AVR (ATmega) based ESC =

Simon Kirby develops an alternative firmware for ATMega based ESC controller, written in assembly.

Features:
* 16MHz operation on most boards
* 16-bit output PWM with full clock rate resolution (~18kHz PWM with a POWER_RANGE of 800 steps)
* 24-bit timing and PWM pulse tracking at full clock rate resolution
* ICP-based pulse time recording (on supported hardware) for zero PWM input control jitter
* Immediate PWM input to PWM output for best possible multicopter response (but NOT where soft start or really any significant current limiting is needed!)
* Accepts any PWM update rate (minimum ~5microseconds PWM low time)
* Optimized interrupt code (very low minimum PWM and reduced full throttle bump)
* Configurable board pin assignments by include file
* Smooth starting in most cases
* Forward and reverse commutation supported, including RC-car style reverse-neutral-forward PWM ranges, with optional braking

==Programmer==

Any ISP programmer will do the job, just some popular: 
* [http://www.fischl.de/usbasp/ usbasp] There are tons of cheap chinese copies out there. 
* [https://www.olimex.com/Products/AVR/Programmers/AVR-ISP-MK2/ Olimex AVRISP MKII] Open Source Hardware Programmer capable of ICSP, TPI and PDI, based on [http://fourwalledcubicle.com/LUFA.php LUFA]

==Related links==

[http://wiki.openpilot.org/display/Doc/RapidESC+Database Hardware compatibility table (Openpilot)] 
[https://docs.google.com/spreadsheet/ccc?key=0AhR02IDNb7_MdEhfVjk3MkRHVzhKdjU1YzdBQkZZRlE#gid=0 Hardware compatibility table (google docs)] 
[https://github.com/sim-/tgy sim-/tgy] git repository.

= SiLabs based ESC =

Some newer ESC are build with a Silicon Labs MCU with a Intel 8051 core. 
They have a C2 programming interface and therefore need a special programmer. 
Steffen Skaug provides an alternative firmware, written in assembly.

Features:

* Can be configured for helicopter MAIN motor or TAIL motor operation. Or as MULTIcopter motor operation.
* Main motor operation has governor functionality and multicopter motor operation has closed loop functionality.
* Motor operation can be damped for fast motor retardation.
* Many parameters can be programmed, either from PC applications for setup and configuration, or from the TX.
* Supports 1kHz, 2kHz, 4kHz, 8kHz or 12kHz positive or negative pwm as input signal, as well as regular 1-2ms PPM signal.

The easiest way is to program and set up the esc with the BLHeli setup tool (no surce available :( ).

==Programmer==

* [http://www.olliw.eu/2012/owsilprog/ owsilprog] uses a Arduino
* [http://www.silabs.com/products/mcu/Pages/ToolStick.aspx Silicon Labs Toolstick] available at [http://at.mouser.com/ProductDetail/Silicon-Labs/TOOLSTICK850-B-SK/?qs=sGAEpiMZZMuqBwn8WqcFUs%2fwPRHCOTglcuiSRjY%2fEIM%3d Mouser] for 8€ (requires [http://www.hacksmods.com/2012/05/silicon-labs-usb-toolstick-mod-for-blheli-flashing/ little modification])

[[File:SiLabs_Toolstick_front.jpg|200px|Front side]]
[[File:SiLabs_Toolstick_back.jpg|200px|Back side]]
[[File:SiLabs_Toolstick_Front_dia.jpeg|200px|Back side]]
[[File:SiLabs_Toolstick_Back_dia.jpeg|200px|Back side]]

==Related links==

[http://www.helifreak.com/blog.php?u=144146&blogcategoryid=119 BLHeli Setup tool] 
[http://oddcopter.com/2012/07/18/flashing-silabs-escs-with-blheli-firmware/ tutorial on oddcopter.com] 
[https://github.com/bitdump/BLHeli bitdump/BLHeli] git repository

= Projects =

== Open BLDC ==

Open hardware and open software brushless controller project.
From small low cost up to 200A continous hardware, but currenty under development.

=== Related links ===

[http://open-bldc.org/wiki/Open-BLDC Homepage] 
[https://github.com/open-bldc open-bldc] git repository

== Benjamin's custom ESC ==

Open source/hardware ESC with a bunch of features (for a full list, visit his blog). 
* 240A
* 40x60mm PCB

=== Related links ===

[http://vedder.se/2014/01/a-custom-bldc-motor-controller/ Homepage/Blog] 
[https://github.com/vedderb/bldc bldc] git repository 
[https://github.com/vedderb/bldc-tool bldc-tool] git repository 

[[Category:Hardware]]

Installation/MacOSX

2015-04-20T21:30:08Z

Mayrit: Added the gtk-chtheme theme selector info

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree>
__TOC__

'''Update on OS X installation: Currently, arm-none-eabi-gdb on 10.6 should be broken (gcc-arm-embedded can be compiled by hand if required without python support, or installing python2.7 as a framework from a dmg might work).'''

'''(Feb. 1, 2014) Current OS X limitations:'''
* '''10.6.* requires some manual effort to properly install gcc-arm-embedded, email the mailing list if help required (gcc-arm-embedded can be compiled by hand if required without python support, or installing python2.7 as a framework from a dmg might work)'''
* '''There is no cross compiler for the ARDrone2.'''

= Intro =
Would it not be great to also be able to run Paparazzi from your shiny Apple Mac? Well, this page explains how you can manage to do just that.

The task of supporting Paparazzi on Apple MacOS X is ongoing as the project evolves and the more people adapt it the process will be streamlined. Presently it is known that Paparazzi will install on OSX versions 10.6.*, 10.7.*, 10.8.*, and 10.9.*. Support on 10.6.* requires some additional effort.

= Basic Install (Binary Installer) =
Depending on the version of Mac OS you have installed on your computer the installation process will vary slightly. Also this install process is only recommended for beginners. If you want to be able to use more up to date Paparazzi and be able to track the development more closely, you should consider installing Paparazzi tools using the source solution described in the next chapter.

== Installation Video Tutorials (On OS X 10.9.* '''Mavericks''') ==

{{#ev:youtubehd|s5KFZqxqAr4}} {{#ev:youtubehd|lXB1y0Dv2y0}}

== Basic Install (Binary Installer) (On OS X 10.9.* '''Mavericks''') ==
If your Apple Mac operation system is OSX Mavericks or newer then the easiest way to get started with Paparazzi on your Apple Mac is to start with the following Basic install. If you have an older version you want to follow the slightly longer Basic install, below.

The steps you need to take to enjoy Paparazzi are:
# Install XQuartz from [http://xquartz.macosforge.org MacOSForge]. (You can alternatively use the X11.app if it is available for your version of Mac OS X.)
# Open the Terminal.app
# Install the command line tools by executing: <source lang="bash">xcode-select --install</source> and clicking on the "Install" button in the dialog that will pop up.
# Install the Paparazzi Tools installer for your OS version from [http://download.paparazziuav.org/darwin/ paparazziuav.org]
## You might get an error saying: "paparazzi-tools-xxxxxx.mpkg can't be opened because it is from an unidentified developer." To get rid of this error you will need to:
### Open "System Preferences"->"Security&Privacy" and change the "Allow apps downloaded from:" setting to "Anywhere". (The option might be greyed out. To activate the selection you will need to authenticate yourself as system administrator. Click on the lock in the left lower corner of the "System Preferences" window, to open the authentication window.)
# Set up your environment variables and Python appropriately using the pprz-env-set script:
## Get the script: <source lang="bash">curl https://raw.githubusercontent.com/paparazzi/paparazzi-portability-support/master/darwin/install/Contents/Resources/pprz-env-set >~/Desktop/pprz-env-set</source>
## Move script to right location: <source lang="bash">sudo mv ~/Desktop/pprz-env-set /opt/paparazzi/bin/pprz-env-set</source>
## Change script permissions: <source lang="bash">sudo chmod 755 /opt/paparazzi/bin/pprz-env-set</source>
## Run the script: <source lang="bash">sudo /opt/paparazzi/bin/pprz-env-set</source>
## Close the terminal. (Do that before you try to move on to the next step. Otherwise the newly set environment will not take effect and you will end up with compilation errors.)
# That's it! To run Paparazzi you need to open the Terminal app and build and run Paparazzi.
## In spotlight type Terminal and then open the Terminal App
## then type: <source lang="bash">cd ~/paparazzi && make && ./paparazzi</source> (The first time you start paparazzi it might take several minutes to show a window. It is because GTK is indexing the fonts the first time it starts up.) (If you get the error: "Fatal error: exception Gtk.error("GtkMain.init: initialization failed ml_gtk_init: initialization failed")" the most likely source of the issue is the lack of X11 server. Install either X11.app or XQuartz as mentioned in step 1.)

Notes:
* the binary installer will check if ~/paparazzi exists on your system. If it does, then the installer does nothing. If this directory does NOT already exist, the installer will automatically clone the Paparazzi Git repository into that directory.
* the binary installer will add a few lines to your ~/.profile for PATH modification and for default PAPARAZZI_HOME and PAPARAZZI_SRC env vars. If you have something other than the default ~/paparazzi installation, please edit your ~/.profile and comment out the env var exports.
* the binary installer creates a symbolic link between the available /opt/paparazzi/bin/python2.7 and /opt/paparazzi/bin/python. Combined with the PATH modification, this will cause <source lang="bash">python something.py</source> to call /opt/paparazzi/bin/python2.7 instead of any system pythons.

== Basic Install (Binary Installer) (Support: 10.7.* '''Lion''', 10.8.* '''Mountain Lion''') ==
If your Apple Mac operation system is OSX Snow Leopard or Lion or newer then the easiest way to get started with Paparazzi on your Apple Mac is to start with the Basic install.

The steps you need to take to enjoy Paparazzi are:
# Install XQuartz from [http://xquartz.macosforge.org MacOSForge]. (You alternatively can install the X11.app from Apple. If it is available for your version of Mac OS X.)
# Install the latest available [http://itunes.apple.com/us/app/xcode/id448457090?mt=12 Xcode] development tool for your OS, we had good success with [http://itunes.apple.com/us/app/xcode/id448457090?mt=12 Xcode] v4.2 on Snow Leopard and v4.3.2 on Lion. For Snow Leopard, Xcode 3.2.6 also works and is still available as a [https://developer.apple.com/downloads/ free download] with an Apple ID (search for ''xcode 3.2.6'').
## With Xcode 4.3 and above you need to install the command line tools. Xcode --> Preferences --> Downloads --> Components --> Command line tools
## Check that the correct version of Xcode is being used for compilation <source lang=bash>/usr/bin/xcodebuild -version</source> It should return the version of Xcode that has been installed, e.g. 4.2. In the rare case you need to change your XCode version run the following command in your terminal: <source lang=bash>sudo /usr/bin/xcode-select -switch /Applications/Xcode.app/Contents/Developer</source>
# Install the Paparazzi Tools installer for your OS version from [http://download.paparazziuav.org/darwin/ paparazziuav.org]
# Set up your environment variables and Python appropriately using the pprz-env-set script:
## Get the script: <source lang="bash">curl https://raw2.github.com/paparazzi/paparazzi-portability-support/master/darwin/install/Contents/Resources/pprz-env-set > ~/Desktop/pprz-env-set</source>
## Move script to right location: <source lang="bash">sudo mv ~/Desktop/pprz-env-set /opt/paparazzi/bin/pprz-env-set</source>
## Change script permissions: <source lang="bash">sudo chmod 755 /opt/paparazzi/bin/pprz-env-set</source>
## Run the script: <source lang="bash">sudo /opt/paparazzi/bin/pprz-env-set</source>
## Close the terminal. (Do that before you try to move on to the next step. Otherwise the newly set environment will not take effect and you will end up with compilation errors.)
# That's it! To run Paparazzi you need to open the Terminal app and build and run Paparazzi.
## In spotlight type Terminal and then open the Terminal App
## then type: <source lang="bash">cd ~/paparazzi && make && ./paparazzi</source> (The first time you start paparazzi it might take several minutes to show a window. It is because GTK is indexing the fonts the first time it starts up.) (If you get the error: "Fatal error: exception Gtk.error("GtkMain.init: initialization failed ml_gtk_init: initialization failed")" the most likely source of the issue is the lack of X11 server. Install either X11.app or XQuartz as mentioned in step 1.)

Notes:
* the binary installer will check if ~/paparazzi exists on your system. If it does, then the installer does nothing. If this directory does NOT already exist, the installer will automatically clone the Paparazzi Git repository into that directory.
* the binary installer will add a few lines to your ~/.profile for PATH modification and for default PAPARAZZI_HOME and PAPARAZZI_SRC env vars. If you have something other than the default ~/paparazzi installation, please edit your ~/.profile and comment out the env var exports.
* the binary installer creates a symbolic link between the available /opt/paparazzi/bin/python2.7 and /opt/paparazzi/bin/python. Combined with the PATH modification, this will cause <source lang="bash">python something.py</source> to call /opt/paparazzi/bin/python2.7 instead of any system pythons.

== Basic Uninstall ==
In the case you would like to uninstall Paparazzi after completing a basic installation, one must type the following in your terminal prompt:

'''Warning''' This first step removes your paparazzi source code, including any changes you may have made yourself locally. If you want to keep your git repository intact, skip this first step and only use the following two steps.

<source lang="bash">rm -rf ~/paparazzi</source>

<source lang="bash">
sudo pprz-env-set -u
</source>

<source lang="bash">
sudo rm -rf /opt/paparazzi
</source>

Note that pprz-env-setup -u removes the entry from ~/.profile and also removes the /opt/paparazzi/bin/python symlink.

== Using Luftboot and PyUSB ==

'''UPDATE:''' The lastest binary installer should have PyUSB included by default, no need to install it separately.

If you are planning on loading code onto a Luftboot-equipped STM32 board, you will need to have a Python version on your machine that is active and with [http://sourceforge.net/apps/trac/pyusb/ PyUSB] installed for that version.

To install PyUSB, execute
<source lang="bash">
sudo python setup.py install
</source>
from inside the unzipped PyUSB source directory.

To test which Python version is the default and whether this Python version can find the PyUSB module, in Terminal simply type:
<source lang="bash">
python
</source>
To start the default Python. At the Python prompt (>>>) type:
<source lang="bash">
import usb
</source>
If another prompt line comes up, PyUSB is installed correctly and you will be able to use Luftboot. If an error is thrown, then your configuration is not correct.

== MacPorts and PyUSB ==
If you have MacPorts installed, you can install either <code>py26-pyusb</code>, <code>py26-pyusb-devel</code> or <code>py27-pyusb-devel</code>, depending on which Python(s) you have installed already, or wish to install. For example:
<source lang="bash">
sudo port selfupdate
sudo port install py27-pyusb-devel
</source>

To find out what versions of Python are available on your system (via MacPorts):
<source lang="bash">
port select --list python
</source>
Default Apple Python versions have a -apple ending.

Select a different version of python to be the active version if desired. For example:
<source lang="bash">
sudo port select --set python python27
</source>

A good, working configuration would be to have MacPorts installed, and install <code>py27-pyusb-devel</code>, then ensure that python27 is the active version.

== Adjusting your PATH and Troubleshooting ==

There are sometimes path issues with OS X if you have MacPorts or a similar (Homebrew, Fink) system installed. The reason for this is there may be multiple copies of a binary required for Paparazzi in different places, and depending on the path, the desired instance is not correctly called. This often presents itself as an error when building the main Paparazzi source code. A typical error may involve the <code>pkg-config</code> program. This can often be corrected by checking and adjusting your PATH environment variable.

To check the currently configured default PATH:
<source lang="bash">
echo $PATH
</source>
Ideally, the Paparazzi binary paths (<code>/opt/paparazzi/bin</code> and <code>/opt/paparazzi/sbin</code>) should come first. To move the Paparazzi paths to the highest search priority:
<source lang="bash">
export PATH=/opt/paparazzi/bin:/opt/paparazzi/sbin:$PATH
</source>
This will only be active in the current terminal session. If you wish to manually modify the path permanently, you can edit ~/.profile and add the above line to the bottom of the file.

= Installing from source (MacPorts) =
Note: This is known to work for Mac OS X MountainLion. For newer Mac OS versions you should try the Homebrew based install.

The tools that are required to work with paparazzi on a Mac are installed from MacPorts. All of the commands are given by terminal commands, please open your terminal first.

In case you '''already have MacPorts installed''', it is advised to run the following steps before proceeding:

# check that /opt/local/bin is the first entry in your PATH, easy to check by giving the following command <source lang="bash">echo $PATH</source>
# Then give the following command to make sure your ports are up-to-date <source lang="bash">sudo port selfupdate && sudo port upgrade outdated</source>
..great, you now can run the installation steps starting from step '''4''' below.

If you don't already have MacPorts installed run the following steps:

# Install the latest [http://itunes.apple.com/us/app/xcode/id448457090?mt=12 XCode]. If you are using 10.9 (Mavericks) or newer you just need to run <source lang="bash">xcode-select --install</source>
# If you are using Mountain Lion, X11 is no longer included by default, use the [http://xquartz.macosforge.org/landing/ XQuartz project] to install it.
# Install [http://www.macports.org/install.php MacPorts]
# Edit the file <source lang="bash">/opt/local/etc/macports/sources.conf</source> and above the <source lang="bash">rsync://...</source> line add <source lang="bash">rsync://rsync.paparazziuav.org/macports/ports/</source> It is important that this line comes before the path to the standard ports as some of the Paparazzi ports are intended to replace the standard versions. The file is write protected so it will be necessary to be root in order to edit it. The simplest way is to open a terminal window and use nano thus: <source lang="bash">sudo nano /opt/local/etc/macports/sources.conf</source>
# Now update the available ports with the command: <source lang="bash">sudo port selfupdate</source>
# To install all of the paparazzi prerequisites: <source lang="bash">sudo port install paparazzi-tools</source>
# ...Then go and have lunch, get a coffee, get some sleep. This will probably take a long time.
# After installation, we need to set the correct python to override the default OS X python: <source lang="bash">sudo port select --set python python27</source>
# You can also [[#Changing the GTK look and feel|change the GTK theme]]

Now you can follow the generic instructions for [[Installation|installing the paparazzi source]].

'''NOTE:''' If you had previously used MacPorts to install Paparazzi, you may need to manually uninstall arm-none-eabi-binutils, arm-none-eabi-gcc-linaro, and arm-none-eabi-gdb prior to upgrading paparazzi-tools. libcmsis, libopenstm32 and libopencm3 ports may need to be uninstalled as well. For example:
<source lang="bash">sudo port uninstall -f libcmsis libopenstm32 libopencm3 arm-none-eabi-gdb arm-none-eabi-gcc-linaro arm-none-eabi-binutils</source>

== Lion and XCode 4.3 or newer notes ==

After installing Xcode 4.3 you will need to install the command line tools by opening the XCode preferences pane, Downloads and selecting Command Line Tools for isnstallation. Otherwise you will not find GCC in your unix path.

Also if macports is complaining about xcodebuild and that you should run

<source lang="bash"> sudo xcode-select -switch /Applications/Xcode.app </source>

You should actually run

<source lang="bash"> sudo xcode-select -switch /Applications/Xcode.app/Contents/Developer</source>

so that xcodebuild can find the needed executables for you.

== Troubleshooting ==
If you continually experience problems installing paparazzi or paparazzi-tools then it may be that you have some other conflicting software installed. i.e. an old version of a library in /usr.

One way to work around issues relating to prior MacPort installs that has been found is to clean out everything MacPorts has installed and install from scratch using the latest MacPorts
# <source lang="bash">sudo port -f uninstall installed</source>
# <source lang="bash">sudo port clean --all uninstalled</source>
# <source lang="bash">sudo port selfupdate</source>
# <source lang="bash">sudo port install paparazzi-tools</source>
This was in fact the process used to check that the code installed on a clean machine.

== Upgrading to Lion ==
If you already have MacPorts and Paparazzi installed and running and you then upgrade to Lion you'll probably find that some things are broken. (make can't be found for example)
To remedy this situation you need to do the following:
# Upgrade Xcode to the Lion version. (App Store --> Search for Xcode and install)
# Install the Lion version of [http://www.macports.org/install.php MacPorts]
# <source lang="bash">sudo port -f uninstall installed</source>
# <source lang="bash">sudo port clean --all uninstalled</source>
# <source lang="bash">sudo port selfupdate</source>

Now here you have the opportunity to use the binary installer method detailed above or if installing from source then Macports can be used to build from source thus:

# <source lang="bash">sudo port install paparazzi-tools</source>

If you use a USB to serial converter that isn't based on the FTDI chipset then you may also find that your USB to Serial driver needs to be updated.
# Start console
# Plug in your USB to serial converter
You may get a message similar to this <source lang="bash">Jul 26 23:14:48 Bernies com.apple.kextd[10]: Can't load /System/Library/Extensions/osx-pl2303.kext - no code for running kernel's architecture.</source>

If you are fortunate enough to have a USB to serial converter that is using the PL2303 chipset then the [http://www.prolific.com.tw/eng/downloads.asp?id=31 Prolific] driver should sort you out. Installation instructions are included in the readme.txt and are well worth following.

== Keeping source files for debugging ==
If you wish to debug code using the source install then you'll find that many of the source files for the libraries are missing.

This is because MacPorts cleans up the build artifacts and source files after the installation is complete. This behaviour can be changed by adding the -k option to the port command.

For example:
sudo port -k install paparazzi-tools
This will result in all of the source and build artefact files being left on the hard disk.

Should you later wish to clean up these files you can do so with the clean command.

For example:
sudo port clean installed

== Mavericks Notes ==

'''Q:''' Can not find the command line tools package in XCode any more.

'''A:''' Since Mavericks (10.9) it is not necessary to install xcode to install the command line tools package that is needed for macports and paparazzi. Just run in the command line:
xcode-select --install

'''Q:''' libgcc is not compiling with error:
:info:build The directory that should contain system headers does not exist:
:info:build /usr/include

'''A:''' You probably upgraded from older OS X and are using old command line tools. Make sure to run '''xcode-select --install''' command. This should fix the libgcc compilation error.

= Installing from Source (Homebrew/Opam) =

Note: This is work in progress. This process will hopefully resolve some of the issues we are having with MacPorts on Mavericks and Yosemite.
Note: Macports used to conflict with homebrew. According to the homebrew website it is not the case any more as homebrew overrides the environment variables to have a pristine environment as if macports or fink were not installed on the system. It is not confirmed that opam does the same, so it probably is still a good idea to not have macports or fink installed simultanously with homebrew.

# Install [http://xquartz.macosforge.org/landing/ XQuartz].
# Add XQuarts libraries to pkg-config search path by adding the following line:
<source lang="bash">export PKG_CONFIG_PATH=/opt/X11/lib/pkgconfig</source>
to your ~/.profile, ~/.bashrc, ~/.zshrc.local or similar. Note: You have to restart your terminal for the variable to be set, or you execute the export manually in your terminal by pasting the line and pressing enter.
# Install [http://brew.sh/ homebrew].
# Not all packages are yet part of the official homebrew repository (like ivy-c or jsbsim) this is why you might want to run the installation in two steps using the official repository and then [paparazzi homebrew tap https://github.com/paparazzi/homebrew-paparazzi].
## Install the packages included in homebrew: <source lang="bash">brew install git coreutils gnu-sed gtk+ libglade libgnomecanvas sdl libusb libusb-compat gsl opam</source>
## Add paparazzi tap: <source lang="bash">brew tap paparazzi/homebrew-paparazzi</source>
## Install the remaining packages: <source lang="bash">brew install ivy-c jsbsim</source> Note: We provide these packages as a tap but the hope is to eventually include them in the official homebrew repository.
# <source lang="bash">opam init</source>
# <source lang="bash">opam pin add paparazzi-dev https://github.com/paparazzi/paparazzi-portability-support.git</source>
# Install [https://launchpad.net/gcc-arm-embedded GCC ARM embedded].
## Download the gcc-arm-none-eabi-version.tar.bz2 from the website.
## Extract it into your home directory: <source lang="bash">cd ~/</source><source lang="bash">tar xfvj ~/Downloads/gcc-arm-none-eabi-*.tar.bz2</source>
## Add the bin directory to your PATH environment variable by adding an export to your .profile or .bashrc or .zshrc.local or similar. <source lang="bash">echo export PATH=$(echo ~/gcc-arm-none-eabi-* | tr ' ' '\n' | sort -r | head -n 1 )/bin:\$PATH >> ~/.profile</source>
# Now you should be able to go into the cloned paparazzi repository and run make, and execute ./paparazzi

This process is tested and is working on Mac OS Yosemite 10.10.2 ( [[User:Esden|Esden]] ([[User talk:Esden|talk]]) 16:16, 16 March 2015 (PDT) )

Note: If you are getting the error "Fatal error: exception Gtk.Error("GtkMain.init: initialization failed\nml_gtk_init: initialization failed")", try starting ./paparazzi inside of the XQuartz X11 terminal.

=Running Paparazzi=

Please see [[Installation]] for details on running Paparazzi, downloading source code from GitHub and updating software.

Paparazzi can be started in the usual way
cd ~/paparazzi
./paparazzi

=== Changing the GTK look and feel ===

Run /opt/local/bin/switch2 to select a different theme.
More detailed instructions can be found at http://gtk.php.net/manual/en/html/tutorials/tutorials.installation.macosx-stepbystep.html

Additional themes can be downloaded from http://art.gnome.org/themes/gtk2

A good choice is:
<source lang="bash">switch2 /opt/local/share/themes/ClearlooksClassic/</source>

Another theme selector with a little bit better preview option is "gtk-chtheme"

=== USB Drivers for Telemetry ===

No drivers need to be installed in order to program either the STM32 based or LPC2148 based autopilot boards (ie TINY, TWOG, Booz, Lisa/L, Lisa/M) using a USB port. However telemetry between the vehicle and ground control station requires a modem. On an Apple Mac this will generally be connected to a USB port. Whatever modem is used it will be necessary to load drivers that allow Paparazzi to communicate with the modem. It is not possible to describe all possible modems and their configuration. However the most commonly used chipset for USB to serial communication is produced by FTDI. Below is described the installation of the FTDI drivers. This can be used as a guide for installing drivers for modems using other chipsets.

FTDI drivers can be downloaded from [http://www.ftdichip.com/Drivers/VCP.htm FTDI]

The device will probably become available as something like /dev/tty.usbserial-000013FD when connected. Note that different USB ports get different addresses. When connecting to another port the same device came up as /dev/tty.usbserial-000014FA

Since Paparazzi is currently configured to use /dev/ttyUSB0 it's easiest to just create a link to the required device.
# Remove all USB devices from the computer and run the command <code>ls -l /dev/*usb* /dev/*USB*</code> hopefully this will not list anything
# Plug in your radio and repeat the command <code>ls -l /dev/*usb* /dev/*USB*</code> this should now list the serial port that the radio has been connected to. In my case I get
#: <pre> ls -l /dev/*usb* /dev/*USB*
#: crw-rw-rw- 1 root wheel 11, 27 20 Jan 14:38 /dev/cu.usbserial-000013FD
#: crw-rw-rw- 1 root wheel 11, 26 20 Jan 14:38 /dev/tty.usbserial-000013FD</pre>
# Next we need to create a symbolic link to the tty.usbserial device listed to /dev/ttyUSB0 in my case the command is <code>sudo ln -s /dev/tty.usbserial-000013FD /dev/ttyUSB0</code>
# To check that everything is correct run the first command again <code>ls -l /dev/*usb* /dev/*USB*</code> and you should get something like this
#: <pre> ls -l /dev/*usb* /dev/*USB*
#: crw-rw-rw- 1 root wheel 11, 27 20 Jan 14:38 /dev/cu.usbserial-000013FD
#: crw-rw-rw- 1 root wheel 11, 26 20 Jan 14:38 /dev/tty.usbserial-000013FD
#: lrwxr-xr-x 1 root wheel 0 20 Jan 14:42 /dev/ttyUSB0 -> /dev/tty.usbserial-000013FD</pre>

Once the FTDI driver (kernel extension) is loaded it takes over for all FTDI connections. This means that it will not be possible to program the Lisa/L or Lisa/M boards while the driver is loaded.

To unload the driver use the command
sudo kextunload /System/Library/Extensions/FTDIUSBSerialDriver.kext
This should not give an error. if it does then try again a few times after quitting programs that may have used the connection. If the driver still fails to unload then a reboot may be required.

When it comes time to connect the modem again you'll again need the driver loaded. This can be done with the complementary command
sudo kextload /System/Library/Extensions/FTDIUSBSerialDriver.kext

=== Workaround for Issues with errors (Device busy) when trying to program a Lisa/L ===
====Programming the Lisa on OS X====

The problem:
The "default" vendor id and product id for the ftdi device on Lisa is the same one used by all the manufacturers of clone usb-serial interfaces. This isn't an issue on Linux because of the udev rules file we use does not load the ftdi drivers for lisas programming interface. Windows and Mac OS X don't use this file so they can only use vendor id and product id.
So as soon as you plug in Lisa they load USB->serial port drivers for the two ports they believe are on Lisa causing a conflict. The programming of Lisa happens through a different mechanism and does not want the programming interface of Lisa to be taken by the FTDI driver which has already been loaded. For OS X there is a hack we can do that makes it better until we can get vendor and product ids sorted out. It involves modifying the /System/Library/Extensions/FTDIUSBSerialDriver.kext/Contents/Info.plist file. We change it so only the first of the two serial interfaces is loaded. The second is not as it is the programming interface.

The File (edit with a text editor):
/System/Library/Extensions/FTDIUSBSerialDriver.kext/Contents/Info.plist

Here is a diff between a "vanilla OS X" and one that has been modified (Essentially below was removed):
quadzilla:Contents root# diff ~/Info.plist Info.plist
<source lang="diff">
1784,1805d1783
< <key>FT2232C_B</key>
< <dict>
< <key>CFBundleIdentifier</key>
< <string>com.FTDI.driver.FTDIUSBSerialDriver</string>
< <key>ConfigData</key>
< <dict>
< <key>LatencyTimer</key>
< <integer>2</integer>
< </dict>
< <key>IOClass</key>
< <string>FTDIUSBSerialDriver</string>
< <key>IOProviderClass</key>
< <string>IOUSBInterface</string>
< <key>bConfigurationValue</key>
< <integer>1</integer>
< <key>bInterfaceNumber</key>
< <integer>1</integer>
< <key>idProduct</key>
< <integer>24592</integer>
< <key>idVendor</key>
< <integer>1027</integer>
< </dict>
1830,1853d1807
< <key>FT2232H_B</key>
< <dict>
< <key>CFBundleIdentifier</key>
< <string>com.FTDI.driver.FTDIUSBSerialDriver</string>
< <key>ConfigData</key>
< <dict>
< <key>LatencyTimer</key>
< <integer>2</integer>
< </dict>
< <key>IOClass</key>
< <string>FTDIUSBSerialDriver</string>
< <key>IOProviderClass</key>
< <string>IOUSBInterface</string>
< <key>bConfigurationValue</key>
< <integer>1</integer>
< <key>bInterfaceNumber</key>
< <integer>1</integer>
< <key>bcdDevice</key>
< <integer>1792</integer>
< <key>idProduct</key>
< <integer>24592</integer>
< <key>idVendor</key>
< <integer>1027</integer>
< </dict>
</source>

Once you have edited the file
- sudo kextunload /System/Library/Extensions/FTDIUSBSerialDriver.kext/
- sudo kextload /System/Library/Extensions/FTDIUSBSerialDriver.kext/
To reload the driver or you can just reboot.

It is expected as Paparazzi moves to supporting more operating systems that unique product and vendor ids will be obtained thus removing the need for this step.

==Installing FlightGear==
FlightGear has been packaged for use on OS X. This package can be downloaded from:
http://www.flightgear.org/download/

There are several packages available. Recently, FlightGear 3.0 was released. A binary for OS X is available, and seems to work properly on Maverics (OS X 10.9.2). Follow the directions [http://www.flightgear.org/download/main-program/ here] for installation. Additional documentation can be found [http://macflightgear.sourceforge.net/home/documents/ here].

[[Image:Flightgear_launchgui_OSX_pprzoptions.png|thumb|350px|Screenshot of FlightGear launch gui in OS X with options for visualizing Paparazzi simulations]]
Once FlightGear is installed, the GUI launcher can be used to set common options. By clicking on the Advanced Features arrow, one can gain access to many more options as well as an interface to specify command line options (the Others tab). This is where one can specify the flight dynamics model and network connectivity required for visualizing Paparazzi simulations as described on the [[Simulation]] page.

* In Paparazzi Center, add to the simulator command the <tt>--fg</tt> option plus the IP address of the machine running flightgear in this case the loopback interace is used as Flightgear and Paparazzi are running on the same machine:
.../sw/simulator/pprzsim-launch --aircraft TJ1 -t sim --boot --norc --fg_host 127.0.0.1
Note TJ1 is the name of the aircraft you must substitute this with the name of your aircraft.
* Launch Flight Gear with the following set in the others tab under advanced settings:
--fdm=null --native-gui=socket,in,30,,5501,udp

For Flight Gear visualization, version 3.0 or greater with Rembrand switched on is best. If you wish to use version 2.4 or lower, you must add the following to the firmware section of your airframe file:

<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<define name="FG_2_4" value="1"/>
...
</firmware>
</source>

[[Image:Flightgear_pprz_sim_OSX.png|thumb|right|350px|Screenshot of Flightgear visualizing the default Microjet simulation in OS X (not the default Muret, FR location)]]

==Simulations Using JSBSim==
[http://jsbsim.sourceforge.net/index.html JSBSim] is an open-source flight dynamics and control software library. It can provide a more realistic simulation environment over the basic built-in Paparazzi simulator. See the [[Simulation|Simulation]] page for background information and how to run a normal simulation. After this can be done in a satisfactory manner, follow the steps below to utilize the JSBSim flight dynamics model.

Please see [[JSBSim]] for installation instructions and [[Simulation#JSBSim]] for instructions on how to use the JSBSim FDM in simulations.

==Differences with the Linux version==
This section is intended to document all the subtle differences between Linux and Mac OS X versions of Paparazzi.
===Change of text editor===
The default editor in Linux is gedit, but in OS X, it is open, which simply uses whatever the default program for opening .xml files is setup.

===Ivy subnet mask===
On Linux, the Ivy submask is 127.255.255.255

On Mac OS X, the Ivy submask is 224.255.255.255

In C applications, such as tmtc/c_ivy_client_example_1.c, this should be set adaptively by something like:

#ifdef __APPLE__
printf("Mac OS, network submask: 224.255.255.255\n");
IvyStart("224.255.255.255");
#else
printf("NO Mac OS, network submask: 127.255.255.255\n");
IvyStart("127.255.255.255");
#endif

Is there a better way to do this?

[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]

Airframe Configuration

2013-11-10T20:45:38Z

Mayrit: /* GCS */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Airframe_Configuration</categorytree>
== About ==
The airframe file is the most important configuration file and contains all the hardware and software settings for your airframe. It describes what hardware you have and which firmware, sensors, algorithms, etc. you want to use and also holds your configuration parameters. All gains, trims, and behavior settings are defined with standard XML elements.

The XML airframe configuration file is located in <tt>conf/airframes/<yourairframe>.xml</tt> and always begins with a <!DOCTYPE airframe SYSTEM "airframe.dtd"> line and should look like this
{{Box Code|conf/airframes/<yourairframe>.xml|<source lang="xml">
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="yourairframe">

</airframe>
</source>}}

Also see the wiki pages for [[Fixedwing_Configuration|fixedwing specific configuration]] and [[Rotorcraft_Configuration|rotorcraft specific configuration]].

== Creating a new Aircraft ==
While the airframe file is where you configure most aspects of your aircraft, a fully specified aircraft needs several XML configuration files:
* Airframe (what this page is about)
* [[Flight_Plans|Flight Plan]]
* [[Settings]]
* [[Radio_Control|Radio]] (if you use a PPM based R/C system)
* [[Telemetry]]
Each aircraft is assigned a name, unique ID and the associated configuration files in [[Conf.xml|<tt>conf/conf.xml</tt>]]. To create a new Aircraft, click new in the menu A/C in the [[Paparazzi_Center|Paparazzi Center]] and select your new airframe file, etc. (or specify it by hand in [[Conf.xml|<tt>conf/conf.xml</tt>]]).

== Firmware and Hardware definitions ==
First you should specify which firmware you want to use, that is if you have a <tt>[[Fixedwing_Configuration|fixedwing]]</tt> aircraft or a <tt>[[Rotorcraft_Configuration|rotorcraft]]</tt>:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
</firmware>
</source>
}}
=== Select your Board ===
To specify autopilot hardware you are using and it's low-level settings you have to add a ''target''-tag.
Each ''target'' has two attributes, which are ''name'' and a corresponding ''board'' attribute.
The ''name'' attribute is either "ap" (autopilot) or "sim" (simulation).

{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
<target name="sim" board="pc"/> 
<target name="ap" board="lisa_m_1.0"/> 
...
</firmware>
</source>
}}

==== Simulation targets ====
target name="sim","jsbsim","nps" 
board="pc" 

More Information at [[Simulation]].

==== Board targets ====
target name="ap" 
board=
"apogee_0.99",
"apogee_1.0",
"ardrone2_raw",
"ardrone2_sdk",
"booz_1.0",
"classix",
"hb_1.1",
"krooz_sd",
"lisa_l_1.0",
"lisa_l_1.1",
"lisa_m_1.0",
"lisa_m_2.0",
"logom_2.6",
"navgo_1.0",
"sdlog_1.0",
"stm32f4_discovery",
"tiny_0.99",
"tiny_1.1",
"tiny_2.1",
"tiny_2.11",
"twog_1.0",
"umarim_1.0",
"umarim_lite_2.0",
"yapa_2.0",

==== Direct Makefile ====
Optionally you can also add a raw [http://en.wikipedia.org/wiki/Makefile Makefile] section. This is only needed in very advanced setups. For example when testing newly developed hardware.

=== LEDs ===
You can configure the LEDs on the autopilot to be used for different status indicators:
; ''SYS_TIME_LED'': blinks with 1Hz
; ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; ''RADIO_CONTROL_LED'': on if RC signal is ok
; ''BARO_LED'' : only on booz and navgo boards: blinks until baro offset is initialized and then stays on

Depending on your board some of the LEDs on it are already assigned to some indicators by default, check the appropriate autopilot board page for the defaults.
Use a configure node in the firmware section to assign an indicator to a LED number or disable that with ''none'':
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<configure name="SYS_TIME_LED" value="1"/>
<configure name="RADIO_CONTROL_LED" value="2"/>
<configure name="GPS_LED" value="none"/>
</firmware>
</source>
}}
Beware that you can only assign '''one''' indicator to a LED number. So if the LED you want to use is already in use because another indicator is set to that number by default you have to disable that other indicator by setting it to ''none''.

== Subsystems ==

Each autopilot features certain [[Subsystems|subsystems]] which need to be configured properly.
The most important ones are described below.

=== IMU ===
Add the [[Subsystem/imu|imu subsystem]] with the type you are using.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="imu" type="aspirin_v1.5"/>
</firmware>
</source>
}}

See the [[Subsystem/imu|imu subsystem]] page for more details.
Also see the [[ImuCalibration|IMU calibration]] page.

=== AHRS ===
The [[Subsystem/ahrs|AHRS subsystem]] specifies which attitude estimation filter you are using, e.g. for the complementary filter:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware>
</source>
}}
All AHRS algorithms depend on an imu subsystem, except for the ahrs_infrared which depends on the infrared module.
See the [[Subsystem/ahrs|AHRS subsystem page]] for more details.

If the magnetometer should be used the [[Subsystem/ahrs#Local_Magnetic_Field|local magnetic field section]] must be filled in.

=== Radio Control ===

Supported types are:
* ''ppm''
* ''spektrum''
* ''datalink''

Just specify the appropriate [[Subsystem/radio_control|radio control subsystem]] in your firmware section, e.g.:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="radio_control" type="ppm"/>
</firmware>
</source>
}}

=== Telemetry (Modem) ===
The modem protocol and baud rate must be set in both the airframe file and ground station. Any standard baud rate can be used, with 9600 being adequate and 57600 recommended for most users to allow high speed telemetry for more detailed flight data analysis. The actual data rate is determined by the number of messages being sent and the period of each message as defined in your [[Telemetry|telemetry file]], e.g. <tt>conf/telemetry/default.xml</tt>. Those wishing to experiment with "alternative" modems can reduce the number and period of each telemetry message to fit within most any bandwidth constraint.

The [[Subsystem/telemetry|telemetry subsystem]] supports the following modem protocols:
* Standard transparent serial (pprz) - this is compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.
* Maxstream API protocol (xbee) - compatible with all Maxstream modems including the 9XTend and Zigbee. This protocol enables hardware addressing, allowing multiple aircraft to be managed from a single ground modem.

Just specify the appropriate [[Subsystem/telemetry|telemetry subsystem]] in your firmware section. You can currently choose between the types ''transparent'', ''transparent_usb'' and ''xbee_api''.

'''The default baudrate is 57600 baud, see the [[Subsystem/telemetry|telemetry subsystem]] page for more details and configuration options.'''
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="telemetry" type="transparent"/>
</firmware>
</source>
}}

=== GPS ===
The serial port settings must match that of the GPS and are configured here along with the necessary files to interpret the u-blox UBX binary protocol:

Just specify the appropriate [[Subsystem/gps|gps subsystem]] in your firmware section. You can currently choose between the types '''ublox''' and '''ublox_utm''' for the older series 4 modules which still provide a UTM message.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="gps" type="ublox"/>
</firmware>
</source>
}}

The correct UART is already defined by default according to your board.
The default GPS baudrate is 38400baud.

If you need to set different baud rates or UART see the [[Subsystem/gps]] page for the options.

'''Note:'''
* u-blox GPS modules are factory configured for 9600 baud, 38,400 baud is recommended along with the other required changes. The GPS can be accessed directly through the [[tunnel|UART Tunnel]] and [[GPS#GPS_configuration_using_U-Center|Configured with u-center]]

== XML Parameters ==
'''When defining parameters you can use [[Units|automatic unit conversion]] to conveniently set it in e.g. degrees.'''

=== Commands ===

The <tt>commands</tt> lists the abstract commands you need to control the aircraft. In a simple fixed-wing example, we have only three:
<source lang="xml">
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
</source>
For rotorcraft, it is usually:
<source lang="xml">
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
</source>

Each command is also associated with a failsafe value which will be used if no controller is active, for example during initialization of the autopilot board. The range of these values is [-9600:9600]. For <tt>"THROTTLE"</tt>, the range is [0, 9600] and in the corresponding <tt>servo</tt> definition the <tt>neutral</tt> and <tt>min</tt> are usually the same for PWM based servos (see below). Note that these commands do not necessarily match the servo actuators. For example, the <tt>"ROLL"</tt> command is typically linked to two aileron actuators.

=== Servos ===

The above commands get translated to the <tt>servos</tt> here. In the example below we use two elevons and a motor. ([http://en.wikipedia.org/wiki/Elevon ''Elevons''] are surfaces used for both pitch and roll as on a flying wing.) These servos are listed in the <tt>servos</tt> section:
<source lang="xml">
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="ELEVON_LEFTSIDE" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVON_RIGHTSIDE" no="2" min="1000" neutral="1500" max="2000"/>
</servos>
</source>
Names are associated to the corresponding '''real physical connector''' to which a servo is connected '''on the autopilot board'''. For example no="2" means connector two on the board. Also the servo neutral value, total range and direction are defined. Min/max/neutral values are expressed in milliseconds. The direction of travel can be reversed by exchanging min with max (as in <tt>"ELEVON_LEFTSIDE"</tt>, above). The ''standard'' travel for a hobby servo is 1000ms - 2000ms with a 1500ms neutral. Trim can be added by changing this neutral value. Absolute servo travel limits can be increased or reduced with the min/max values. The <tt>"THROTTLE"</tt> servo typically has the same value for the <tt>neutral</tt> and <tt>min</tt>.

The attribute <tt>driver</tt> for <tt>servos</tt> node tells which actuators' driver is associated the the listed servos. After the version '''v4.9_devel-164-gdb0d004''', multiple servos sections can be defined and used together, if the correct [[Subsystem/actuators| actuators subsystems]] are loaded. Some boards are automatically loading a default driver, the one used when no <tt>driver</tt> attribute is specified.

Note the following important tips:
* Reverse the servo direction by exchanging min/max
* Trim should always be adjusted mechanically if possible to avoid asymmetrical travel
* Any reduction of the total travel range should be done mechanically to maintain precision
* Many servos will respond well to values slightly outside the normal 1000-2000ms range but experiment carefully as the servo may not operate reliably outside this range and may even suffer permanent damage.
* Board connector numbering starts with zero (0) not with one
* Servos are also known under the synonym actuators
* (after version '''v4.9_devel-164-gdb0d004''') For I2C based motor speed control using the [[Rotorcraft_Configuration#Motor_Mixing|motor mixing]]:
** min: command to stop the motor
** neutral: motor idle command
** max: max thrust command

The <tt>servos</tt> are then linked to the commands in the <tt>command_laws</tt> section:
<source lang="xml">
<command_laws>
<let var="aileron" value="@ROLL * 0.3"/>
<let var="elevator" value="@PITCH * 0.7"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVON_LEFTSIDE" value="$elevator + $aileron"/>
<set servo="ELEVON_RIGHTSIDE" value="$elevator - $aileron"/>
</command_laws>
</source>

[[Image:airframe_sign_conventions.jpg|thumb|Sign conventions for flight dynamics]]
where the third line is the simplest: the throttle servo value equals throttle command value. The other lines define and control the pitch/roll mixing. Elevon values are computed with a combination of two commands, '''ROLL''' and '''PITCH'''. This ''mixer'' is defined with two intermediate variables '''aileron''' and '''elevator''' introduced with the <tt>let</tt> element. The '''@''' symbol is used to reference a command value in the <tt>value</tt> attribute of the <tt>set</tt> and <tt>let</tt> elements. In the above example, the servos are limited to +/- 70% of their full travel for pitch and 30% for roll, only in combination can the servos reach 100% deflection. Note that these numbers ''should add up 100% or more, never less''. For example, you may want 100% travel available for pitch - this means if a roll is commanded along with maximum pitch only one servo will respond to the roll command as the other has already reached its mechanical limit. If you find after tuning that these numbers add to less than 100% consider reducing the surface travel mechanically.

Note that the signs used in the description follow the standard convention.

After '''v4.9_devel-164-gdb0d004''', the <tt>command_laws</tt> section is mandatory for both fixedwing and rotorcraft firmwares, only for fixedwing otherwise.

=== Battery ===
This section gives characteristics for monitoring the main power battery.

<tt>MILLIAMP_AT_FULL_THROTTLE</tt> represents the actual current (in mA) when full THROTTLE is applied. Note that when flying the current typically is significantly lower than in static tests at home on your workbench. <tt>MILLIAMP_AT_FULL_THROTTLE</tt> is used to compute the <tt>energy</tt> value of the <tt>BAT</tt> message when no [[Current_sensor|Current sensor]] is mounted in the airframe. This value can also be used in flight plans. For example, if at full throttle your motor consumes 10 Amps, use a value of 10000. You can "tweak" this number after a few flights to match the capacity of your battery. If upon landing your bat.energy messages says that you used 2500 mAh while the energy recharged into the battery is only 2000 mAh, you could reduce the <tt>MILLIAMP_AT_FULL_THROTTLE</tt> value by 20% to match your in-flight current consumption. This tweaking is most precise if you fly full throttle only (respectively no throttle to glide down again).

The <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> can be added to tweak the energy estimation for non full throttle cruise. As the current consumption is nonlinear, at 50% throttle it is likely to be substantially less than 50%. A superellipse is used to approximate this nonlinearity. The default setting is 1.2 and is used if the <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> is not defined in your airframe file. A value 1 corresponds to linear behaviour, 1.5 corresponds to strong nonlinearity. The tweaking is done same as decribed above for <tt>MILLIAMP_AT_FULL_THROTTLE</tt>, but only partial throttle (cruise throttle) should be applied in flight.

If both <tt>MILLIAMP_AT_FULL_THROTTLE</tt> and <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> are tweaked well, you get precise energy estimations with less than 5% error independant of your flight pattern without even requiring a [[Current_sensor|current sensor]].

The <tt>CATASTROPHIC_BAT_LEVEL</tt> (was previously <tt>LOW_BATTERY</tt>) value defines the voltage at which the autopilot will lock the throttle at 0% in autonomous mode (kill_throttle mode). This value is also used by the ground server to issue a '''CATASTROPHIC''' alarm message on the bus (this message will be displayed in the console of the GCS). <tt>CRITIC</tt> and <tt>LOW</tt> values will also used as threshold for '''CRITIC''' and '''WARNING''' alarms. They are optional and the respective defaults are 10.0 and 10.5V.

The <tt>MAX_BAT_LEVEL</tt> may be specified to improve the display of the battery gauge in the strip or in "papgets". Note that this definition is optional, with a default value of 12.5V.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA" />
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
</source>
}}

The conversion of ADC measurements to Voltage is already defined for the different autopilot boards, if you need to override these defaults you can use the <tt>VoltageOfAdc(adc)</tt> define and also specify offsets or anything else you might need, e.g.:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="BAT">
...
<define name="VOLTAGE_ADC_SCALE" value="0.0177531"/>
<define name="VOLTAGE_OFFSET" value="0.5" unit="V"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_SCALE * adc + VOLTAGE_OFFSET)"/>
</section>
</source>
}}

=== Modules ===
The [[Modules|modules]] allow to add new code in a flexible way with initialisation, periodic and event functions without modifying the main AP loop.

<source lang="xml">
<modules main_freq="60">
<load name="demo_module.xml"/>
</modules>
</source>

* The main_freq parameter (in Hz) allows to specify the frequency of the main loop. Default is 60 Hz

=== GCS ===
Use this optional section to help customize parts of the GCS for a specific airframe:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="GCS">
...
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Quad"/>
<define name="AC_ICON" value="flyingwing"/>
</section>
</source>
}}
[[Image:ac_icon_multi_uav.png|thumb|Various A/C icons demonstrated on a multi UAV simulation session]]

* <tt>ALT_SHIFT_PLUS_PLUS</tt> sets the number of metres the target altitude will change when the double up arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>ALT_SHIFT_PLUS</tt> sets the number of metres the target altitude will change when the up arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>ALT_SHIFT_MINUS</tt> sets the number of metres the target altitude will change when the down arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>SPEECH_NAME</tt> a string ([a-zA-Z0-9_]) that will be used in place of the aircraft name specified in <tt>conf.xml</tt> for the [[Speech|speech]] and [[GCS#Alarms|alarms]] functionality. Set this to "_" to prevent the speech function from saying the aircraft name. Useful if your aircraft name takes a long time to say (i.e. "UAV1-A_with_spektrum" can be shortened to "Plane").
* <tt>AC_ICON</tt> can be used to define the vehicle icon (or overwrite the default icon) that shows up on the 2D-map of the GCS. Available values are: <tt>flyingwing</tt> , <tt>fixedwing</tt> , <tt>rotorcraft</tt> , <tt>home</tt>.

[[Category:User_Documentation]] [[Category:Airframe_Configuration]]

File:Ac icon multi uav.png

2013-11-10T20:41:13Z

Mayrit: Showing possible vehicle icons

Showing possible vehicle icons

Airframe Configuration

2013-11-10T19:06:15Z

Mayrit: /* GCS */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Airframe_Configuration</categorytree>
== About ==
The airframe file is the most important configuration file and contains all the hardware and software settings for your airframe. It describes what hardware you have and which firmware, sensors, algorithms, etc. you want to use and also holds your configuration parameters. All gains, trims, and behavior settings are defined with standard XML elements.

The XML airframe configuration file is located in <tt>conf/airframes/<yourairframe>.xml</tt> and always begins with a <!DOCTYPE airframe SYSTEM "airframe.dtd"> line and should look like this
{{Box Code|conf/airframes/<yourairframe>.xml|<source lang="xml">
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="yourairframe">

</airframe>
</source>}}

Also see the wiki pages for [[Fixedwing_Configuration|fixedwing specific configuration]] and [[Rotorcraft_Configuration|rotorcraft specific configuration]].

== Creating a new Aircraft ==
While the airframe file is where you configure most aspects of your aircraft, a fully specified aircraft needs several XML configuration files:
* Airframe (what this page is about)
* [[Flight_Plans|Flight Plan]]
* [[Settings]]
* [[Radio_Control|Radio]] (if you use a PPM based R/C system)
* [[Telemetry]]
Each aircraft is assigned a name, unique ID and the associated configuration files in [[Conf.xml|<tt>conf/conf.xml</tt>]]. To create a new Aircraft, click new in the menu A/C in the [[Paparazzi_Center|Paparazzi Center]] and select your new airframe file, etc. (or specify it by hand in [[Conf.xml|<tt>conf/conf.xml</tt>]]).

== Firmware and Hardware definitions ==
First you should specify which firmware you want to use, that is if you have a <tt>[[Fixedwing_Configuration|fixedwing]]</tt> aircraft or a <tt>[[Rotorcraft_Configuration|rotorcraft]]</tt>:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
</firmware>
</source>
}}
=== Select your Board ===
To specify autopilot hardware you are using and it's low-level settings you have to add a ''target''-tag.
Each ''target'' has two attributes, which are ''name'' and a corresponding ''board'' attribute.
The ''name'' attribute is either "ap" (autopilot) or "sim" (simulation).

{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
<target name="sim" board="pc"/> 
<target name="ap" board="lisa_m_1.0"/> 
...
</firmware>
</source>
}}

==== Simulation targets ====
target name="sim","jsbsim","nps" 
board="pc" 

More Information at [[Simulation]].

==== Board targets ====
target name="ap" 
board=
"apogee_0.99",
"apogee_1.0",
"ardrone2_raw",
"ardrone2_sdk",
"booz_1.0",
"classix",
"hb_1.1",
"krooz_sd",
"lisa_l_1.0",
"lisa_l_1.1",
"lisa_m_1.0",
"lisa_m_2.0",
"logom_2.6",
"navgo_1.0",
"sdlog_1.0",
"stm32f4_discovery",
"tiny_0.99",
"tiny_1.1",
"tiny_2.1",
"tiny_2.11",
"twog_1.0",
"umarim_1.0",
"umarim_lite_2.0",
"yapa_2.0",

==== Direct Makefile ====
Optionally you can also add a raw [http://en.wikipedia.org/wiki/Makefile Makefile] section. This is only needed in very advanced setups. For example when testing newly developed hardware.

=== LEDs ===
You can configure the LEDs on the autopilot to be used for different status indicators:
; ''SYS_TIME_LED'': blinks with 1Hz
; ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; ''RADIO_CONTROL_LED'': on if RC signal is ok
; ''BARO_LED'' : only on booz and navgo boards: blinks until baro offset is initialized and then stays on

Depending on your board some of the LEDs on it are already assigned to some indicators by default, check the appropriate autopilot board page for the defaults.
Use a configure node in the firmware section to assign an indicator to a LED number or disable that with ''none'':
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<configure name="SYS_TIME_LED" value="1"/>
<configure name="RADIO_CONTROL_LED" value="2"/>
<configure name="GPS_LED" value="none"/>
</firmware>
</source>
}}
Beware that you can only assign '''one''' indicator to a LED number. So if the LED you want to use is already in use because another indicator is set to that number by default you have to disable that other indicator by setting it to ''none''.

== Subsystems ==

Each autopilot features certain [[Subsystems|subsystems]] which need to be configured properly.
The most important ones are described below.

=== IMU ===
Add the [[Subsystem/imu|imu subsystem]] with the type you are using.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="imu" type="aspirin_v1.5"/>
</firmware>
</source>
}}

See the [[Subsystem/imu|imu subsystem]] page for more details.
Also see the [[ImuCalibration|IMU calibration]] page.

=== AHRS ===
The [[Subsystem/ahrs|AHRS subsystem]] specifies which attitude estimation filter you are using, e.g. for the complementary filter:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware>
</source>
}}
All AHRS algorithms depend on an imu subsystem, except for the ahrs_infrared which depends on the infrared module.
See the [[Subsystem/ahrs|AHRS subsystem page]] for more details.

If the magnetometer should be used the [[Subsystem/ahrs#Local_Magnetic_Field|local magnetic field section]] must be filled in.

=== Radio Control ===

Supported types are:
* ''ppm''
* ''spektrum''
* ''datalink''

Just specify the appropriate [[Subsystem/radio_control|radio control subsystem]] in your firmware section, e.g.:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="radio_control" type="ppm"/>
</firmware>
</source>
}}

=== Telemetry (Modem) ===
The modem protocol and baud rate must be set in both the airframe file and ground station. Any standard baud rate can be used, with 9600 being adequate and 57600 recommended for most users to allow high speed telemetry for more detailed flight data analysis. The actual data rate is determined by the number of messages being sent and the period of each message as defined in your [[Telemetry|telemetry file]], e.g. <tt>conf/telemetry/default.xml</tt>. Those wishing to experiment with "alternative" modems can reduce the number and period of each telemetry message to fit within most any bandwidth constraint.

The [[Subsystem/telemetry|telemetry subsystem]] supports the following modem protocols:
* Standard transparent serial (pprz) - this is compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.
* Maxstream API protocol (xbee) - compatible with all Maxstream modems including the 9XTend and Zigbee. This protocol enables hardware addressing, allowing multiple aircraft to be managed from a single ground modem.

Just specify the appropriate [[Subsystem/telemetry|telemetry subsystem]] in your firmware section. You can currently choose between the types ''transparent'', ''transparent_usb'' and ''xbee_api''.

'''The default baudrate is 57600 baud, see the [[Subsystem/telemetry|telemetry subsystem]] page for more details and configuration options.'''
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="telemetry" type="transparent"/>
</firmware>
</source>
}}

=== GPS ===
The serial port settings must match that of the GPS and are configured here along with the necessary files to interpret the u-blox UBX binary protocol:

Just specify the appropriate [[Subsystem/gps|gps subsystem]] in your firmware section. You can currently choose between the types '''ublox''' and '''ublox_utm''' for the older series 4 modules which still provide a UTM message.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="gps" type="ublox"/>
</firmware>
</source>
}}

The correct UART is already defined by default according to your board.
The default GPS baudrate is 38400baud.

If you need to set different baud rates or UART see the [[Subsystem/gps]] page for the options.

'''Note:'''
* u-blox GPS modules are factory configured for 9600 baud, 38,400 baud is recommended along with the other required changes. The GPS can be accessed directly through the [[tunnel|UART Tunnel]] and [[GPS#GPS_configuration_using_U-Center|Configured with u-center]]

== XML Parameters ==
'''When defining parameters you can use [[Units|automatic unit conversion]] to conveniently set it in e.g. degrees.'''

=== Commands ===

The <tt>commands</tt> lists the abstract commands you need to control the aircraft. In a simple fixed-wing example, we have only three:
<source lang="xml">
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
</source>
For rotorcraft, it is usually:
<source lang="xml">
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
</source>

Each command is also associated with a failsafe value which will be used if no controller is active, for example during initialization of the autopilot board. The range of these values is [-9600:9600]. For <tt>"THROTTLE"</tt>, the range is [0, 9600] and in the corresponding <tt>servo</tt> definition the <tt>neutral</tt> and <tt>min</tt> are usually the same for PWM based servos (see below). Note that these commands do not necessarily match the servo actuators. For example, the <tt>"ROLL"</tt> command is typically linked to two aileron actuators.

=== Servos ===

The above commands get translated to the <tt>servos</tt> here. In the example below we use two elevons and a motor. ([http://en.wikipedia.org/wiki/Elevon ''Elevons''] are surfaces used for both pitch and roll as on a flying wing.) These servos are listed in the <tt>servos</tt> section:
<source lang="xml">
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="ELEVON_LEFTSIDE" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVON_RIGHTSIDE" no="2" min="1000" neutral="1500" max="2000"/>
</servos>
</source>
Names are associated to the corresponding '''real physical connector''' to which a servo is connected '''on the autopilot board'''. For example no="2" means connector two on the board. Also the servo neutral value, total range and direction are defined. Min/max/neutral values are expressed in milliseconds. The direction of travel can be reversed by exchanging min with max (as in <tt>"ELEVON_LEFTSIDE"</tt>, above). The ''standard'' travel for a hobby servo is 1000ms - 2000ms with a 1500ms neutral. Trim can be added by changing this neutral value. Absolute servo travel limits can be increased or reduced with the min/max values. The <tt>"THROTTLE"</tt> servo typically has the same value for the <tt>neutral</tt> and <tt>min</tt>.

The attribute <tt>driver</tt> for <tt>servos</tt> node tells which actuators' driver is associated the the listed servos. After the version '''v4.9_devel-164-gdb0d004''', multiple servos sections can be defined and used together, if the correct [[Subsystem/actuators| actuators subsystems]] are loaded. Some boards are automatically loading a default driver, the one used when no <tt>driver</tt> attribute is specified.

Note the following important tips:
* Reverse the servo direction by exchanging min/max
* Trim should always be adjusted mechanically if possible to avoid asymmetrical travel
* Any reduction of the total travel range should be done mechanically to maintain precision
* Many servos will respond well to values slightly outside the normal 1000-2000ms range but experiment carefully as the servo may not operate reliably outside this range and may even suffer permanent damage.
* Board connector numbering starts with zero (0) not with one
* Servos are also known under the synonym actuators
* (after version '''v4.9_devel-164-gdb0d004''') For I2C based motor speed control using the [[Rotorcraft_Configuration#Motor_Mixing|motor mixing]]:
** min: command to stop the motor
** neutral: motor idle command
** max: max thrust command

The <tt>servos</tt> are then linked to the commands in the <tt>command_laws</tt> section:
<source lang="xml">
<command_laws>
<let var="aileron" value="@ROLL * 0.3"/>
<let var="elevator" value="@PITCH * 0.7"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVON_LEFTSIDE" value="$elevator + $aileron"/>
<set servo="ELEVON_RIGHTSIDE" value="$elevator - $aileron"/>
</command_laws>
</source>

[[Image:airframe_sign_conventions.jpg|thumb|Sign conventions for flight dynamics]]
where the third line is the simplest: the throttle servo value equals throttle command value. The other lines define and control the pitch/roll mixing. Elevon values are computed with a combination of two commands, '''ROLL''' and '''PITCH'''. This ''mixer'' is defined with two intermediate variables '''aileron''' and '''elevator''' introduced with the <tt>let</tt> element. The '''@''' symbol is used to reference a command value in the <tt>value</tt> attribute of the <tt>set</tt> and <tt>let</tt> elements. In the above example, the servos are limited to +/- 70% of their full travel for pitch and 30% for roll, only in combination can the servos reach 100% deflection. Note that these numbers ''should add up 100% or more, never less''. For example, you may want 100% travel available for pitch - this means if a roll is commanded along with maximum pitch only one servo will respond to the roll command as the other has already reached its mechanical limit. If you find after tuning that these numbers add to less than 100% consider reducing the surface travel mechanically.

Note that the signs used in the description follow the standard convention.

After '''v4.9_devel-164-gdb0d004''', the <tt>command_laws</tt> section is mandatory for both fixedwing and rotorcraft firmwares, only for fixedwing otherwise.

=== Battery ===
This section gives characteristics for monitoring the main power battery.

<tt>MILLIAMP_AT_FULL_THROTTLE</tt> represents the actual current (in mA) when full THROTTLE is applied. Note that when flying the current typically is significantly lower than in static tests at home on your workbench. <tt>MILLIAMP_AT_FULL_THROTTLE</tt> is used to compute the <tt>energy</tt> value of the <tt>BAT</tt> message when no [[Current_sensor|Current sensor]] is mounted in the airframe. This value can also be used in flight plans. For example, if at full throttle your motor consumes 10 Amps, use a value of 10000. You can "tweak" this number after a few flights to match the capacity of your battery. If upon landing your bat.energy messages says that you used 2500 mAh while the energy recharged into the battery is only 2000 mAh, you could reduce the <tt>MILLIAMP_AT_FULL_THROTTLE</tt> value by 20% to match your in-flight current consumption. This tweaking is most precise if you fly full throttle only (respectively no throttle to glide down again).

The <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> can be added to tweak the energy estimation for non full throttle cruise. As the current consumption is nonlinear, at 50% throttle it is likely to be substantially less than 50%. A superellipse is used to approximate this nonlinearity. The default setting is 1.2 and is used if the <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> is not defined in your airframe file. A value 1 corresponds to linear behaviour, 1.5 corresponds to strong nonlinearity. The tweaking is done same as decribed above for <tt>MILLIAMP_AT_FULL_THROTTLE</tt>, but only partial throttle (cruise throttle) should be applied in flight.

If both <tt>MILLIAMP_AT_FULL_THROTTLE</tt> and <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> are tweaked well, you get precise energy estimations with less than 5% error independant of your flight pattern without even requiring a [[Current_sensor|current sensor]].

The <tt>CATASTROPHIC_BAT_LEVEL</tt> (was previously <tt>LOW_BATTERY</tt>) value defines the voltage at which the autopilot will lock the throttle at 0% in autonomous mode (kill_throttle mode). This value is also used by the ground server to issue a '''CATASTROPHIC''' alarm message on the bus (this message will be displayed in the console of the GCS). <tt>CRITIC</tt> and <tt>LOW</tt> values will also used as threshold for '''CRITIC''' and '''WARNING''' alarms. They are optional and the respective defaults are 10.0 and 10.5V.

The <tt>MAX_BAT_LEVEL</tt> may be specified to improve the display of the battery gauge in the strip or in "papgets". Note that this definition is optional, with a default value of 12.5V.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA" />
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
</source>
}}

The conversion of ADC measurements to Voltage is already defined for the different autopilot boards, if you need to override these defaults you can use the <tt>VoltageOfAdc(adc)</tt> define and also specify offsets or anything else you might need, e.g.:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="BAT">
...
<define name="VOLTAGE_ADC_SCALE" value="0.0177531"/>
<define name="VOLTAGE_OFFSET" value="0.5" unit="V"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_SCALE * adc + VOLTAGE_OFFSET)"/>
</section>
</source>
}}

=== Modules ===
The [[Modules|modules]] allow to add new code in a flexible way with initialisation, periodic and event functions without modifying the main AP loop.

<source lang="xml">
<modules main_freq="60">
<load name="demo_module.xml"/>
</modules>
</source>

* The main_freq parameter (in Hz) allows to specify the frequency of the main loop. Default is 60 Hz

=== GCS ===
Use this optional section to help customize parts of the GCS for a specific airframe:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="GCS">
...
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Quad"/>
<define name="AC_ICON" value="flyingwing"/>
</section>
</source>
}}

* <tt>ALT_SHIFT_PLUS_PLUS</tt> sets the number of metres the target altitude will change when the double up arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>ALT_SHIFT_PLUS</tt> sets the number of metres the target altitude will change when the up arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>ALT_SHIFT_MINUS</tt> sets the number of metres the target altitude will change when the down arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>SPEECH_NAME</tt> a string ([a-zA-Z0-9_]) that will be used in place of the aircraft name specified in <tt>conf.xml</tt> for the [[Speech|speech]] and [[GCS#Alarms|alarms]] functionality. Set this to "_" to prevent the speech function from saying the aircraft name. Useful if your aircraft name takes a long time to say (i.e. "UAV1-A_with_spektrum" can be shortened to "Plane").
* <tt>AC_ICON</tt> can be used to define the vehicle icon (or overwrite the default icon) that shows up on the 2D-map of the GCS. Available values are: <tt>flyingwing</tt> , <tt>fixedwing</tt> , <tt>rotorcraft</tt> , <tt>home</tt>.

[[Category:User_Documentation]] [[Category:Airframe_Configuration]]

Airframe Configuration

2013-11-09T00:35:03Z

Mayrit: /* GCS */

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Airframe_Configuration</categorytree>
== About ==
The airframe file is the most important configuration file and contains all the hardware and software settings for your airframe. It describes what hardware you have and which firmware, sensors, algorithms, etc. you want to use and also holds your configuration parameters. All gains, trims, and behavior settings are defined with standard XML elements.

The XML airframe configuration file is located in <tt>conf/airframes/<yourairframe>.xml</tt> and always begins with a <!DOCTYPE airframe SYSTEM "airframe.dtd"> line and should look like this
{{Box Code|conf/airframes/<yourairframe>.xml|<source lang="xml">
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="yourairframe">

</airframe>
</source>}}

Also see the wiki pages for [[Fixedwing_Configuration|fixedwing specific configuration]] and [[Rotorcraft_Configuration|rotorcraft specific configuration]].

== Creating a new Aircraft ==
While the airframe file is where you configure most aspects of your aircraft, a fully specified aircraft needs several XML configuration files:
* Airframe (what this page is about)
* [[Flight_Plans|Flight Plan]]
* [[Settings]]
* [[Radio_Control|Radio]] (if you use a PPM based R/C system)
* [[Telemetry]]
Each aircraft is assigned a name, unique ID and the associated configuration files in [[Conf.xml|<tt>conf/conf.xml</tt>]]. To create a new Aircraft, click new in the menu A/C in the [[Paparazzi_Center|Paparazzi Center]] and select your new airframe file, etc. (or specify it by hand in [[Conf.xml|<tt>conf/conf.xml</tt>]]).

== Firmware and Hardware definitions ==
First you should specify which firmware you want to use, that is if you have a <tt>[[Fixedwing_Configuration|fixedwing]]</tt> aircraft or a <tt>[[Rotorcraft_Configuration|rotorcraft]]</tt>:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
</firmware>
</source>
}}
=== Select your Board ===
To specify autopilot hardware you are using and it's low-level settings you have to add a ''target''-tag.
Each ''target'' has two attributes, which are ''name'' and a corresponding ''board'' attribute.
The ''name'' attribute is either "ap" (autopilot) or "sim" (simulation).

{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
<target name="sim" board="pc"/> 
<target name="ap" board="lisa_m_1.0"/> 
...
</firmware>
</source>
}}

==== Simulation targets ====
target name="sim","jsbsim","nps" 
board="pc" 

More Information at [[Simulation]].

==== Board targets ====
target name="ap" 
board=
"apogee_0.99",
"apogee_1.0",
"ardrone2_raw",
"ardrone2_sdk",
"booz_1.0",
"classix",
"hb_1.1",
"krooz_sd",
"lisa_l_1.0",
"lisa_l_1.1",
"lisa_m_1.0",
"lisa_m_2.0",
"logom_2.6",
"navgo_1.0",
"sdlog_1.0",
"stm32f4_discovery",
"tiny_0.99",
"tiny_1.1",
"tiny_2.1",
"tiny_2.11",
"twog_1.0",
"umarim_1.0",
"umarim_lite_2.0",
"yapa_2.0",

==== Direct Makefile ====
Optionally you can also add a raw [http://en.wikipedia.org/wiki/Makefile Makefile] section. This is only needed in very advanced setups. For example when testing newly developed hardware.

=== LEDs ===
You can configure the LEDs on the autopilot to be used for different status indicators:
; ''SYS_TIME_LED'': blinks with 1Hz
; ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; ''RADIO_CONTROL_LED'': on if RC signal is ok
; ''BARO_LED'' : only on booz and navgo boards: blinks until baro offset is initialized and then stays on

Depending on your board some of the LEDs on it are already assigned to some indicators by default, check the appropriate autopilot board page for the defaults.
Use a configure node in the firmware section to assign an indicator to a LED number or disable that with ''none'':
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<configure name="SYS_TIME_LED" value="1"/>
<configure name="RADIO_CONTROL_LED" value="2"/>
<configure name="GPS_LED" value="none"/>
</firmware>
</source>
}}
Beware that you can only assign '''one''' indicator to a LED number. So if the LED you want to use is already in use because another indicator is set to that number by default you have to disable that other indicator by setting it to ''none''.

== Subsystems ==

Each autopilot features certain [[Subsystems|subsystems]] which need to be configured properly.
The most important ones are described below.

=== IMU ===
Add the [[Subsystem/imu|imu subsystem]] with the type you are using.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="imu" type="aspirin_v1.5"/>
</firmware>
</source>
}}

See the [[Subsystem/imu|imu subsystem]] page for more details.
Also see the [[ImuCalibration|IMU calibration]] page.

=== AHRS ===
The [[Subsystem/ahrs|AHRS subsystem]] specifies which attitude estimation filter you are using, e.g. for the complementary filter:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware>
</source>
}}
All AHRS algorithms depend on an imu subsystem, except for the ahrs_infrared which depends on the infrared module.
See the [[Subsystem/ahrs|AHRS subsystem page]] for more details.

If the magnetometer should be used the [[Subsystem/ahrs#Local_Magnetic_Field|local magnetic field section]] must be filled in.

=== Radio Control ===

Supported types are:
* ''ppm''
* ''spektrum''
* ''datalink''

Just specify the appropriate [[Subsystem/radio_control|radio control subsystem]] in your firmware section, e.g.:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="radio_control" type="ppm"/>
</firmware>
</source>
}}

=== Telemetry (Modem) ===
The modem protocol and baud rate must be set in both the airframe file and ground station. Any standard baud rate can be used, with 9600 being adequate and 57600 recommended for most users to allow high speed telemetry for more detailed flight data analysis. The actual data rate is determined by the number of messages being sent and the period of each message as defined in your [[Telemetry|telemetry file]], e.g. <tt>conf/telemetry/default.xml</tt>. Those wishing to experiment with "alternative" modems can reduce the number and period of each telemetry message to fit within most any bandwidth constraint.

The [[Subsystem/telemetry|telemetry subsystem]] supports the following modem protocols:
* Standard transparent serial (pprz) - this is compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.
* Maxstream API protocol (xbee) - compatible with all Maxstream modems including the 9XTend and Zigbee. This protocol enables hardware addressing, allowing multiple aircraft to be managed from a single ground modem.

Just specify the appropriate [[Subsystem/telemetry|telemetry subsystem]] in your firmware section. You can currently choose between the types ''transparent'', ''transparent_usb'' and ''xbee_api''.

'''The default baudrate is 57600 baud, see the [[Subsystem/telemetry|telemetry subsystem]] page for more details and configuration options.'''
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="telemetry" type="transparent"/>
</firmware>
</source>
}}

=== GPS ===
The serial port settings must match that of the GPS and are configured here along with the necessary files to interpret the u-blox UBX binary protocol:

Just specify the appropriate [[Subsystem/gps|gps subsystem]] in your firmware section. You can currently choose between the types '''ublox''' and '''ublox_utm''' for the older series 4 modules which still provide a UTM message.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<subsystem name="gps" type="ublox"/>
</firmware>
</source>
}}

The correct UART is already defined by default according to your board.
The default GPS baudrate is 38400baud.

If you need to set different baud rates or UART see the [[Subsystem/gps]] page for the options.

'''Note:'''
* u-blox GPS modules are factory configured for 9600 baud, 38,400 baud is recommended along with the other required changes. The GPS can be accessed directly through the [[tunnel|UART Tunnel]] and [[GPS#GPS_configuration_using_U-Center|Configured with u-center]]

== XML Parameters ==
'''When defining parameters you can use [[Units|automatic unit conversion]] to conveniently set it in e.g. degrees.'''

=== Commands ===

The <tt>commands</tt> lists the abstract commands you need to control the aircraft. In a simple fixed-wing example, we have only three:
<source lang="xml">
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
</source>
For rotorcraft, it is usually:
<source lang="xml">
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
</source>

Each command is also associated with a failsafe value which will be used if no controller is active, for example during initialization of the autopilot board. The range of these values is [-9600:9600]. For <tt>"THROTTLE"</tt>, the range is [0, 9600] and in the corresponding <tt>servo</tt> definition the <tt>neutral</tt> and <tt>min</tt> are usually the same for PWM based servos (see below). Note that these commands do not necessarily match the servo actuators. For example, the <tt>"ROLL"</tt> command is typically linked to two aileron actuators.

=== Servos ===

The above commands get translated to the <tt>servos</tt> here. In the example below we use two elevons and a motor. ([http://en.wikipedia.org/wiki/Elevon ''Elevons''] are surfaces used for both pitch and roll as on a flying wing.) These servos are listed in the <tt>servos</tt> section:
<source lang="xml">
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="ELEVON_LEFTSIDE" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVON_RIGHTSIDE" no="2" min="1000" neutral="1500" max="2000"/>
</servos>
</source>
Names are associated to the corresponding '''real physical connector''' to which a servo is connected '''on the autopilot board'''. For example no="2" means connector two on the board. Also the servo neutral value, total range and direction are defined. Min/max/neutral values are expressed in milliseconds. The direction of travel can be reversed by exchanging min with max (as in <tt>"ELEVON_LEFTSIDE"</tt>, above). The ''standard'' travel for a hobby servo is 1000ms - 2000ms with a 1500ms neutral. Trim can be added by changing this neutral value. Absolute servo travel limits can be increased or reduced with the min/max values. The <tt>"THROTTLE"</tt> servo typically has the same value for the <tt>neutral</tt> and <tt>min</tt>.

The attribute <tt>driver</tt> for <tt>servos</tt> node tells which actuators' driver is associated the the listed servos. After the version '''v4.9_devel-164-gdb0d004''', multiple servos sections can be defined and used together, if the correct [[Subsystem/actuators| actuators subsystems]] are loaded. Some boards are automatically loading a default driver, the one used when no <tt>driver</tt> attribute is specified.

Note the following important tips:
* Reverse the servo direction by exchanging min/max
* Trim should always be adjusted mechanically if possible to avoid asymmetrical travel
* Any reduction of the total travel range should be done mechanically to maintain precision
* Many servos will respond well to values slightly outside the normal 1000-2000ms range but experiment carefully as the servo may not operate reliably outside this range and may even suffer permanent damage.
* Board connector numbering starts with zero (0) not with one
* Servos are also known under the synonym actuators
* (after version '''v4.9_devel-164-gdb0d004''') For I2C based motor speed control using the [[Rotorcraft_Configuration#Motor_Mixing|motor mixing]]:
** min: command to stop the motor
** neutral: motor idle command
** max: max thrust command

The <tt>servos</tt> are then linked to the commands in the <tt>command_laws</tt> section:
<source lang="xml">
<command_laws>
<let var="aileron" value="@ROLL * 0.3"/>
<let var="elevator" value="@PITCH * 0.7"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVON_LEFTSIDE" value="$elevator + $aileron"/>
<set servo="ELEVON_RIGHTSIDE" value="$elevator - $aileron"/>
</command_laws>
</source>

[[Image:airframe_sign_conventions.jpg|thumb|Sign conventions for flight dynamics]]
where the third line is the simplest: the throttle servo value equals throttle command value. The other lines define and control the pitch/roll mixing. Elevon values are computed with a combination of two commands, '''ROLL''' and '''PITCH'''. This ''mixer'' is defined with two intermediate variables '''aileron''' and '''elevator''' introduced with the <tt>let</tt> element. The '''@''' symbol is used to reference a command value in the <tt>value</tt> attribute of the <tt>set</tt> and <tt>let</tt> elements. In the above example, the servos are limited to +/- 70% of their full travel for pitch and 30% for roll, only in combination can the servos reach 100% deflection. Note that these numbers ''should add up 100% or more, never less''. For example, you may want 100% travel available for pitch - this means if a roll is commanded along with maximum pitch only one servo will respond to the roll command as the other has already reached its mechanical limit. If you find after tuning that these numbers add to less than 100% consider reducing the surface travel mechanically.

Note that the signs used in the description follow the standard convention.

After '''v4.9_devel-164-gdb0d004''', the <tt>command_laws</tt> section is mandatory for both fixedwing and rotorcraft firmwares, only for fixedwing otherwise.

=== Battery ===
This section gives characteristics for monitoring the main power battery.

<tt>MILLIAMP_AT_FULL_THROTTLE</tt> represents the actual current (in mA) when full THROTTLE is applied. Note that when flying the current typically is significantly lower than in static tests at home on your workbench. <tt>MILLIAMP_AT_FULL_THROTTLE</tt> is used to compute the <tt>energy</tt> value of the <tt>BAT</tt> message when no [[Current_sensor|Current sensor]] is mounted in the airframe. This value can also be used in flight plans. For example, if at full throttle your motor consumes 10 Amps, use a value of 10000. You can "tweak" this number after a few flights to match the capacity of your battery. If upon landing your bat.energy messages says that you used 2500 mAh while the energy recharged into the battery is only 2000 mAh, you could reduce the <tt>MILLIAMP_AT_FULL_THROTTLE</tt> value by 20% to match your in-flight current consumption. This tweaking is most precise if you fly full throttle only (respectively no throttle to glide down again).

The <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> can be added to tweak the energy estimation for non full throttle cruise. As the current consumption is nonlinear, at 50% throttle it is likely to be substantially less than 50%. A superellipse is used to approximate this nonlinearity. The default setting is 1.2 and is used if the <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> is not defined in your airframe file. A value 1 corresponds to linear behaviour, 1.5 corresponds to strong nonlinearity. The tweaking is done same as decribed above for <tt>MILLIAMP_AT_FULL_THROTTLE</tt>, but only partial throttle (cruise throttle) should be applied in flight.

If both <tt>MILLIAMP_AT_FULL_THROTTLE</tt> and <tt>CURRENT_ESTIMATION_NONLINEARITY</tt> are tweaked well, you get precise energy estimations with less than 5% error independant of your flight pattern without even requiring a [[Current_sensor|current sensor]].

The <tt>CATASTROPHIC_BAT_LEVEL</tt> (was previously <tt>LOW_BATTERY</tt>) value defines the voltage at which the autopilot will lock the throttle at 0% in autonomous mode (kill_throttle mode). This value is also used by the ground server to issue a '''CATASTROPHIC''' alarm message on the bus (this message will be displayed in the console of the GCS). <tt>CRITIC</tt> and <tt>LOW</tt> values will also used as threshold for '''CRITIC''' and '''WARNING''' alarms. They are optional and the respective defaults are 10.0 and 10.5V.

The <tt>MAX_BAT_LEVEL</tt> may be specified to improve the display of the battery gauge in the strip or in "papgets". Note that this definition is optional, with a default value of 12.5V.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA" />
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
</source>
}}

The conversion of ADC measurements to Voltage is already defined for the different autopilot boards, if you need to override these defaults you can use the <tt>VoltageOfAdc(adc)</tt> define and also specify offsets or anything else you might need, e.g.:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="BAT">
...
<define name="VOLTAGE_ADC_SCALE" value="0.0177531"/>
<define name="VOLTAGE_OFFSET" value="0.5" unit="V"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_SCALE * adc + VOLTAGE_OFFSET)"/>
</section>
</source>
}}

=== Modules ===
The [[Modules|modules]] allow to add new code in a flexible way with initialisation, periodic and event functions without modifying the main AP loop.

<source lang="xml">
<modules main_freq="60">
<load name="demo_module.xml"/>
</modules>
</source>

* The main_freq parameter (in Hz) allows to specify the frequency of the main loop. Default is 60 Hz

=== GCS ===
Use this optional section to help customize parts of the GCS for a specific airframe:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<section name="GCS">
...
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Quad"/>
<define name="AC_ICON" value="rotorcraft"/>
</section>
</source>
}}

* <tt>ALT_SHIFT_PLUS_PLUS</tt> sets the number of metres the target altitude will change when the double up arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>ALT_SHIFT_PLUS</tt> sets the number of metres the target altitude will change when the up arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>ALT_SHIFT_MINUS</tt> sets the number of metres the target altitude will change when the down arrow button is pressed on the [[GCS#Strips|strip]]
* <tt>SPEECH_NAME</tt> a string ([a-zA-Z0-9_]) that will be used in place of the aircraft name specified in <tt>conf.xml</tt> for the [[Speech|speech]] and [[GCS#Alarms|alarms]] functionality. Set this to "_" to prevent the speech function from saying the aircraft name. Useful if your aircraft name takes a long time to say (i.e. "UAV1-A_with_spektrum" can be shortened to "Plane").
* <tt>AC_ICON</tt> can be used to define the vehicle icon (or overwrite the default icon) that shows up on the 2D-map of the GCS. Available values are: <tt>fixed wing</tt> , <tt>rotorcraft</tt> , <tt>home</tt>.

[[Category:User_Documentation]] [[Category:Airframe_Configuration]]

Solar-Storm

2011-09-24T08:32:49Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

Frame is especially designed for its particular flight conditions by using computer aided drafting and moulds have been milled precisely with a 3-axis CNC in order to achieve the designed shape and surface quality. 20 [http://www.azurspace.com/ S32 Solar cells] bonded under vacuum by the help of a silicon based special glue from [http://www.map-coatings.com/ MAP-Coatings].

You can also check out [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] page to see a version without solar cells.

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is:

*'''New Endurance:''' '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to [http://www.map-coatings.com/ MAP Coatings Company] for helping us in the hard bonding process of solar cells on to the wing.

[[Category:Airframes]]

Fire-Storm

2011-09-20T12:42:37Z

Mayrit:

The new Storm Frame is designed according to [[Solar-Storm]]'s flight conditions and for a long endurance flight. Unfortunately the EMAV09 Outdoor Endurance Mission has simulated by the number of laps that is completed between 2 poles 500m apart from each other, so the design is converted to a long range MAV by optimizing battery weight to total weight ratio and flight speed while staying at the optimum L/D point of the airframe. Finally Fire-Storm has born.

[[Image:Fire_Storm_award.jpg| Fire Storm with IMAV2011 AWARD]]

[[Image:FireStorm.jpg|Fire Storm]]
==Latest News==
*'''September 2011 :''' Fire Storm won the "Best Outdoor Endurance" award by demonstrating 105+ minutes of flight in IMAV 2011 competition in 't Harde. This is an official proof of its performance.

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 400 g (current configuration)

== Performances ==

Fire-Storm has not been tested for its designed total weight yet. However the light version (2x1320mAh LiPo batteries) is already capable of :
*'''Endurance:''' 100 minutes
*'''Range:''' 96 km

Note: These numbers are taken from the actual flight tests in August in Toulouse. (with an 8m/s average wind)

For any futher information please contact : [mailto:muratbronz(at)gmail(dot)com Murat BRONZ]
[[Category:Airframes]]

Corsica

2011-09-20T12:39:18Z

Mayrit:

Corsica is a common project from ISAE - SUPAERO and ENAC. The challenge is to develop a mini-electric UAV able to fly over the Mediterranean sea from Nice to Corsica (distance : 180km).

[[Image:Logo_Corsica.jpg|200px|Logo]]
[[Image:Corsica.jpg|600px|Corsica]]
[[Image:Corsica2.jpg|600px|Corsica]]
[[Image:moulds.jpg|600px|Fuselage moulds]]
[[Image:fuselage.jpg|600px|Fuselage]]
[[Image:skin.jpg|600px|Skin]]
[[Image:proto1.jpg|600px|Proto 1]]

You will find other pictures here : [http://picasaweb.google.fr/azertylr/Corsica?authkey=Gv1sRgCMXQxJH-s5DGWQ&feat=directlink# Corsica Picasa]

== Trip ==
We will take off around Nice and land at Calvi. The distance to fly is about 180km.

[[Image:trajet.jpg|600px|Trip]]

== Specifications ==
*'''Span:''' 1.5 m
*'''Wing area:''' 0.21 m2
*'''Weight:''' 2 kg
*'''Cruise speed:''' 15 m/s = 54km/h
*'''Batteries:''' 3 lipo-cells, 21Ah tested at 18Ah
*'''Range:''' 250km

== Performances ==

Corsica should be capable to fly more than 250km at its designed conditions. Only the batteries have been tested and are not as good as expected. According to our last calculations, the first prototype should be able to fly around 220km.

== News ==

The manufacturing is in process and the first plane should be ready by the end of January.
The first prototype is ready to fly and the first flight is scheduled March 5.

== Planning ==

First manufactured plane in early February

First flight in early March

Second manufactured plane in late March

Third manufactured plane in late April

Trip to Corsica in early June

== Wiring ==
Motor : SRV0

Right : SRV2

Left : SRV6

Elevator : SRV7

Current sensor : ADC3 (ie ADC1)

Gyro : ADC5 (ie ADC2)

Battery yellow wire : 3.7V

Battery white wire : 7.4V

ESC idle consumption : 90 mA

Tiny idle consumption : 120 mA

Corsica idle consumption : 250 mA -> 3W

Batteries internal resistance : 53 mOhm

== Communication ==
We will use an onboard GSM transceiver who will send to a ground station the position, battery voltage, speed ... each minute. We hope the GSM network will work in the middle of the sea.

== Team ==
Here is a list of all the people who work on this project:

Jean-Marc MOSCHETTA, aerodynamic teacher

Dominique BERNARD, pilot

Murat BRONZ, PhD

Xavier FOULQUIER, composite lab, manufacturing

Guy MIRABEL, composite lab, manufacturing

Florent DUPONT, second year student, conception and integration

Loris RION, second year student, conception and integration

Charles PLACHOT, second year student, conception and integration

Pierre TOUCAS, second year student, conception and integration

Miguel MORERE, second year student, flight tests

Pierre JOACHIM, second year student, flight tests

Guillaume SOETE, second year student, propulsion

Benjamin FRAGNIERE, second year student, propulsion

ENAC team :

Catherine RONFLE-NADAUD

Michel GORRAZ, electronic teacher

Pascal BRISSET, computer science teacher

François-Xavier MARMET, second year student, GSM communication

Joris SCATTOLIN, second year student, GSM communication

Thibault LEFEZ, second year student, reglementation and authorizations, GSM communication (ground station)

[[Category:User_Projects]] [[Category:Airframes]]

File:Fire Storm award.jpg

2011-09-20T12:30:09Z

Mayrit: Fire Storm with IMAV 2011 Best Outdoor Endurance award. Got it by demonstrating 105+minutes of flight.

Fire Storm with IMAV 2011 Best Outdoor Endurance award. Got it by demonstrating 105+minutes of flight.

Main Page

2011-09-20T12:21:38Z

Mayrit:

__NOTOC__
__NOEDITSECTION__

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

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

|-
|<h3>September 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 Umarim V1.0] 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. 
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried. 
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].
|
|-

|-

|<h3>September 30th, 2009</h3>
|-
|[[Image:picture-127.jpg|thumb|left|[[Look mAh, No Hands Aircraft]]]][[Image:picture-140.jpg|thumb|left|[[Look mAh, No Hands Team]]]]
Paparazzi was a big success at the 2009 UAV Outback Challenge held at Kingaroy Airport, Queensland, Australia, Sep. 28-30.
Team "Look mAh, no hands!" representing Brisbane Grammar School, won the 'Robot Airborne Delivery Challenge' placing 1st, after performing an autonomous mission phase including autonomous payload release. The team consisted of four members in their senior years of high-school, and was led by team captain Ben Paratz.
Many thanks to the paparazzi community, not only for the autopilot itself but for the assistance that was enthusiastically given whenever needed.
[http://www.uavoutbackchallenge.com.au Link to competition]
|
|-

|-

|<h3>September 24th, 2009</h3>
|-
|[[Image:FireStorm.jpg|thumb|left|[[Fire-Storm]]]][[Image:SolarStorm1.jpg|thumb|left|[[Solar-Storm]]]]
EMAV09 has already passed, now it is time to reveal our ([http://www.enac.fr/ ENAC]-[http://www.isae.fr/ ISAE]) new designs:
* [[Fire-Storm]] a 50cm wingspan MAV.
* [[Solar-Storm]] a 50cm wingspan MAV with hybrid power supply (solar and batteries).
|
|-

|-
|<h3>June 20th, 2009</h3>
The [http://www.engr.usu.edu/wiki/index.php/OSAM USU-OSAM] Paparazzi team won the 1st place in the 7th AUVSI (Association for Unmanned Vehicle Systems International) Student Unmanned Aircraft System Competition (18 teams total). The competition was held at Webster Field, Maryland, Jun. 17-20. The honor also goes to all the Paparazzi community, especially the developers.
 
[http://www.navair.navy.mil/pma263/seafarers/default.htm Link to competition]
|-

|-
|<h3>June 19th, 2009</h3>
|-
|[[Image:B777-200LR_Frontview_Paris_2005.JPG|thumb|left]]
The Paparazzi System has been shown at [http://www.paris-air-show.com/ Paris Le Bourget Airshow] by three companies:
* [http://www.fly-n-sense.com/ Fly-n-Sense] with products [http://fly-n-sense.com/index.php?option=com_content&view=article&id=5&Itemid=5&lang=fr FNS900-Seeker and ScanCopter CB500].
* [http://www.sudouest.com/gironde/actualite/rive-gauche/article/619946/mil/4659234.html AeroArt] with the [http://www.aeroart.eu/produits/page28/page28.html plume project] with the support of Fly-n-Sense.
* [http://www.thalesgroup.com/Press_Releases/Thales_at_the_International_Paris_Air_Show_2009/ Thales] with the [http://newton.ee.auth.gr/aerial_space/docs/CS_4.pdf Spy'Arrow] MAV.
|-
|<h3>May 26th, 2009</h3>
|-
|[[Image:QuadAstec.JPG|thumb|left|]] ENAC / Paparazzi has won the [http://www.minidrones.fr/ ONERA-DGA Challenge] with a quadrotor. Twelve teams of French Universities out of 19 were chosen by ONERA-DGA to participate to this two years contest. ENAC designed a Paparazzi equipped [http://www.asctec.de/main/index.php Asctec] quadrotor with an [[Inertial Measurement Units|IMU]] developed in its lab.
|-
|<h3>April 7th, 2009</h3>
|-
| style="color:#000"| [[Image:emav09.jpg|thumb|left|]]
Dear Paparazzi's, the registration for EMAV09 is now open at [http://www.emav09.org/ http://www.emav09.org/]. We look forward to meeting many paparazzi teams at this yearly event.
|-

|<h3>March 24, 2009</h3>
|-
| style="color:#000"| [[Image:Adventalen.jpg|thumb|left|Funjet launch on Spitsbergen]]
We were back in the Arctic flying Paparazzi aircrafts on Svalbard (N78° E15°) doing research with the Geophysical Institute of the University of Bergen/Norway. There are two teams operating near Longyearbyen, one on the apron of Longyearbyen airport (LYR) and the other at the old northern lights research station in Adventdalen. We had permission to fly up to 1500m outside the airport opening times. The Paparazzi aircrafts work perfectly...for humans it is just a little cold. Last night we flew having -32°C (-25°F) on the ground. There is a [http://www.youtube.com/watch?v=M1k_TLcQ2ic video] showing a 1500m vertical profile flight.
|-

|<h3>February 16th, 2009</h3>
|-
| We have a new forum to talk about this project. Please visit and participate http://www.azoreanuav.com/forum . Please, vote in the next link to continue with the forum or not. http://www.azoreanuav.com/forum/viewtopic.php?f=2&t=7
|-

|-
|<h3>February 9th, 2009</h3>
|-
| 3 ENAC students have released a Graphical control application for Paparazzi on Mobile phone using Java technoligies. Check the [[Ipodrom]] project page for more details.
|-

|<h3>January 19, 2009</h3>
|-
| style="color:#000"|
Paparazzi Developers, 
This is to announce a Call for Papers for the 2009 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (MESA09), part of ASME IDETC09. The conference is to be held August 30 - September 2, 2009 at San Diego Convention Center. This Call for Papers is specific to the Session chaired by myself, Antoine Drouin , and Anton Kochevar. This topic of this session is " Open Source UAV Autopilots: Status and Progression", part of a symposium of MESA09 called "Small Unmanned Aerial Vehicle Technologies and Applications (SUAVTA)". This Technical Session is meant to be a session that will focus on Paparazzi, the topics can include specific features developed for Paparazzi or applications using Paparazzi along with other innovative aspects or uses of Paparazzi. We hope to make this one of the largest and best conferences dealing with Paparazzi. Please help us to promote Paparazzi and bring this amazing project to even more people. Full paper deadline is Feb. 27, 2009 using the online submission system.

Conference Website: https://www.asmeconferences.org/IDETC09/ (click MESA09, then, UAV Symposium, then this dedicated session) or http://iel.ucdavis.edu/mesa/MESA09/

If you have any further questions please email me at
daniel.morgan @ aggiemail.usu.edu (remove spaces)
Research Associate, Center for Self-Organizing and Intelligent Systems at Utah State University
http://www.engr.usu.edu/wiki/index.php/User:CSOIS
 
|-
|<h3>September 23, 2008</h3>
|-
| style="color:#000"| [[Image:motodrone_08u.JPG|thumb|left]]
A paparazzi team took part in the [http://motodrone.org/ Motodrone] event held in Finowfurt near Berlin. 
It was fun, the beer was cool and barbecues worked flawlessly. And we flew funjets...
 
[http://berlinvr.info/motodrone2008.html Video]

|-
|<h3>June 23, 2008</h3>
|-
| style="color:#000"| [[Image:Targets auvsi 08.JPG|thumb|left]]
The [http://www.engr.usu.edu/wiki/index.php/OSAM OSAM] Paparazzi team took 2nd place in the Sixth Annual Student Unmanned Aerial Systems Competition! The event is sponsored by AUVSI (Association for Unmanned Vehicle Systems International) and was held at Webster Field, St. Inigoes, Maryland. It should also be noted that this was Paparazzi's and the OSAM Paparazzi team's first time at the competition. 
[http://www.navair.navy.mil/pma263/seafarers/default.htm Link to competition]
 
[http://www.navair.navy.mil/pma263/seafarers/video/video08.html Highlight Video of Competition]

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

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

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

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

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

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

|}
|}

File:Enac imav11 1.jpg

2011-09-20T12:02:18Z

Mayrit: imav 2011 awards picture

imav 2011 awards picture

File:Pascal MAV07.jpg

2010-06-01T08:58:58Z

Mayrit:

Hecto

2010-06-01T08:56:44Z

Mayrit: /* Messages */

__NOTOC__

'''Pascal''' is the father of the Paparazzi project. He was the wizard of the computers, a talented "Alpiniste" and a great human being. On the web:
* '''<code>(fr)</code>''' [http://www.ladepeche.fr/article/2010/05/24/841327-Pyrenees-mort-et-prisonnier-des-glaces.html Dead and ice-bound], ''La dépêche'', May 24th, 2010
* '''<code>(en)</code>''' [http://lwn.net/Articles/389120/ The Paparazzi project loses its founder], ''lwn.net'', May 25th, 2010
* '''<code>(fr)</code>''' [http://www.ladepeche.fr/article/2010/05/25/842145-Le-club-alpin-de-Toulouse-en-deuil.html Le club alpin de Toulouse en deuil], ''la dépeche'', May 25th, 2010

<center>
<gallery>
Image:PolarBear.jpg|Garmisch-Partenkirchen, 2005
Image:Pascal3.jpg|
Image:PascalTPS.jpg|
Image:Pascal4.jpg|Eglin AFB, Florida 2006
</gallery>
</center>

== Translation of "La Dépêche" article from May 24th, 2010 ==

[[Image:vignemale.jpg|thumbnail|left]]'''Pyrenees : dead and ice-bound'''

A 43 year old Toulouse resident, Pascal Brisset, fell to his death on Saturday afternoon into a crevasse from the north face of the Vignemale Glacier, in the Hautes-Pyrenees.

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

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

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

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

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

From "La dépêche" 24/05/2010 08:43

== Messages ==

{{Colored_Block
|border=#fad67d
|background=#faf6ed
|text= ''Below are messages that have been exchanged through the mailing list or left directly here. This page is in free access ( you only have to [[Special:Userlogin&type=signup|create a wiki account]] ). Feel free to leave a comment or a message or a picture''}}

[[Image:Ricou2003.jpg|frameless|border|right|middle|400px]]
[[Image:Ricou2005.jpg|frameless|border|right|middle|400px]]
[[Image:Pascal5.jpg|frameless|border|right|middle|400px]]
[[Image:PascalBook.gif|frameless|border|right|middle|400px]]
[[Image:PascalTruck.jpg|frameless|border|right|middle|400px|Highlands of Iceland 2007]]
[[Image:Iceland_funjet.jpg|frameless|border|right|middle|400px|Iceland]]
[[Image:PascalTruck2.jpg|frameless|border|right|middle|400px|Agra, India 2008]]
[[Image:Sante.jpg|frameless|border|right|middle|400px]]
[[Image:PascalUttam.jpg|frameless|border|right|middle|400px|Pascal and Uttam in Agra, India 2008]]
[[Image:PascalIndia.jpg|frameless|border|right|middle|400px|Taj Mahal 2008]]
[[Image:La08.jpg|frameless|border|right|middle|400px|Pascal and Murat, Los Angeles, 2008]]
[[Image:Pascal6.jpg|frameless|border|right|middle|400px]]
[[Image:Pascal7.jpg|frameless|border|right|middle|400px|Pascal and Murat at Antoine's house]]
[[Image:Pascal8.jpg|frameless|border|right|middle|400px]]
[[Image:Shades.jpg|frameless|border|right|middle|400px|Toulouse 2007]]
[[Image:Cigar2003.JPG|frameless|border|right|middle|400px| Cake contest at Antoine's house 2003]]
[[Image:NewYear2007.JPG|frameless|border|right|middle|400px| New Year 2007 at Pascal's house]]
[[Image:pascal9.jpg|frameless|border|right|middle|400px| ]]
[[Image:Braunschweig 2006.jpg|frameless|border|right|middle|400px|EMAV 2006 Braunschweig]]
[[Image:Ricou 2006.jpg|frameless|border|right|middle|400px|Night flight in Ricou 2006]]
[[Image:pascal_climbing.jpg|frameless|border|right|middle|400px|Night flight in Ricou 2006]]
[[Image:Pascal_MAV07.jpg|frameless|border|right|middle|400px|Night flight in Ricou 2006]]
---

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

---

The only words that come out is a Thank you. While your work has been influential to me in ways that I can't even describe, while your project has made such a huge difference to so many people around the planet, it is your smile, warmth and character that I will remember the most. You will be missed.
 - Panos (Greece)

---

So the little prince tamed the fox. And when the hour of his departure drew near:
"Ah," said the fox, "I shall cry."
"It is your own fault," said the little prince. "I never wished you any sort of harm; but you wanted me to tame you . . ."
"Yes, that is so," said the fox.
"But now you are going to cry!" said the little prince.
"Yes, that is so," said the fox.
"Then it has done you no good at all!"
"It has done me good," said the fox, "because of the color of the wheat fields."
by Antoine de St Exupéry
 - Poine (France)

---

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

---

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

---

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

---

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

---

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

---

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

---

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

--

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

I am really shocked by this news. Thank you, Pascal for knowlege you shared with us. Whitout you and this project I could not have found my great job, growed from my hobby. You newer denied assistance, thank you for all.
 - Andrew Saenko (Russia)

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

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

---

Pascal, thanks for everything we shared together. 
Your incredible knowledge and your stupid jokes. 
Your feet on the ground your head towards the sky. 
Five years of great memories all over the world. 
A part of you will fly with us, forever... 
Your friend. 
- Michel (ENAC Team - France)

---

Pascal, you were my friend and my CS guru for so many years. I owe you everything. Life will never be the same without you. I miss you so badly.
 - Nicolas Barnier (Toulouse, France)

---

You were wisdom and kindness embodied. I'm very glad you believed in me the way you did. Computer science at the ENAC will never be the same without you.
 - Caroline Becker (Toulouse, France)

---

You made a lot, and so much still to be done. 
Hopefully you transmit your passion to all of us.
 - Xavier Paris (Toulouse, France)

---

I met the talented geek and the nice guy two years ago but I discovered the climber only five days before his death. Too short a time to have
had the pleasure of climbing with him. Thank you for your work, Pascal! Thank you for your kindness! I will miss you.
 - Sébastien Dinot (Toulouse, France)

---

Merci à Pascal Brisset pour ses bons cours dispensés pendant ces deux années années et demi d'école. Merci de m'avoir consacré du temps. Merci pour tout! La filière informatique ne sera plus la même sans votre présence.
 - Alice de Guillebon (Toulouse, France)

---

The news of Pascal's death was a shock. We are admirative for the capacity Pascal had to give reality to a large project, and manage many events around it. He was also a particularly kind guy, involved in sharing his knowhow. Pascal will stay in our memories as a father of Paparazzi, which was the base of our work. Our condolence to Pascal's family and all the ENAC team.
 - Luc Carpentier (THALES Team)

---

The depth of your knowledge, the ease with wich you gave it to others, and the passion we could see in you are mind blowing. Thank you for those years and the path this set me and so many others on.
As some would say ... So long, and thanks for all the fish.
 - Olivier Revelin (Toulouse, France)

---

You were my teacher, the man who give me the passion to computer sciences, the man who help others whatever the subject was : studies, drones, robots ... I will miss you.
 - Nicolas Wullens (Toulouse, France)

---

Thank you for all the knowledge you shared with us during those years at the Enac, thank you for your disponibility, thank you for everything.
 - Amandine Audouy (Paris, France)

---

A little shocked to hear this news. Pascal, thanks for your help, especially your patience, when I emailed you for questions. We will never forget your spirit, passion, and kindness as a leader of the Paparazzi project. May you rest in peace.
 - Haiyang Chao (OSAM-UAV Team)

---

Generations of talented minds owe you a lot more than a few hours of class or a hint on a problem... they owe you passion, curiosity, a hunger for knowledge and intellectual elegance... you cannot imagine how I feel proud to have been one of your students.
My condoleances to your family.
 - J.-B. Rivat (IENAC engineer, Bangkok, Thailand)

---

Thank you for your steady kindness and your passion for teaching... Thanks a lot.
 - Sarah Prat (Toulouse, France)

---

It's such a shock to learn what happened... Pascal was my teacher back in 1994 / 1996, he learnt me so much things I continue to use today... His kindness and his expertise were such that future generations of students will miss him without even knowing it. My condoleances to the family.
 - Sebastien Brunot (Paris, France)

---

You were such a dear friend, so bright and kind. A man of few words but only the good ones, always willing to help and so wholehearted. Such a huge loss for all of us ...
Miss you badly, Bye Pascal !
 - 74473 (France)

---

It's been more than 20 years since we met as PhD students in Rennes.
You were a really clever guy, and a great human being, too... In
spite of the distance, we continued to share programming pearls from
time to time. I was following the great job done on paparazzi, in
which I was contemplating jumping into for doing environmental
surveys. I hope the project will continue, that's the best thing we,
as a community, can do to keep your memory around. So long, Pascal,
my best friend on Earth!
 -Serge (Rennes, France)

---

A lot of thanks my dear teacher and colleague for all the work you did. Bye Pascal.
 - Mohamed-Ali (Toulouse, France)

---

Antoine introduced me to Pascal when we started toying around with the Paparazzi project. I remember he always showed a lot of patience with our bad hobyist hack. Pascal was extremely smart, but the most important memory I will keep is that of a kind man, able to listen to others. For me, he is not gone, and I hope that the Paparazzi community will be able to continue what he so amazingly started.
 - Philippe (France)

---

Tragic news!...Sincere condolences to your family and friends.
Thanks a lot for your sympathy and availability.
May you rest in peace...
 -Sébastien Calvary (Toulouse, France)

---

I am very sad at hearing these news. Condolences to his family and all the Paparazzi team.
 - Juan López (Barcelona, Spain)

---

How sad. Like many, I can hardly realize that this tragic news is true. I know Pascal since so many years, first as a teacher, then as a colleague. He inspire so deeply my perception of computer science. Pascal was a man of charisma. He was very involved in every task he make. We must take inspiration from his example and particularly his willingness to share and to always do the best we can. With his living, the ENAC suffer a terrible loss. My think are now (after his family) to the ENAC computer science team and the Paparazzi team. I wish they continue his work as well as has he will have done, with his example in mind.
 - Charles-Edmond Bichot (Lyon, France)

---

Dear Pascal. I was your PhD advisor, but very soon I felt with you like with a colleague, and a friend. You had great ideas, and this unique capability of expressing them with calm but convincingly. Soon, you became my advisor on outdoor activities, and this changed my life. Things I never before dreamed of became possible. I remember these long night walks in the nature during which we talked about our open problems, testing ideas, computing in the dark, and sometimes finding the great idea; no light, no pen, no paper, only your calm voice. I was to give a lesson last tuesday, but I could only talk of you to the students and give them my testimony.
 - Olivier Ridoux (Rennes, France)

---

I was very sad to hear of Pascals accident. I was really glad that there is somebody like Pascal, working so hard for the Paparazzi-Project. My most sincere condolences to Pascal's family, the Paparazzi-Team and his friends, we've lost a great man.
 - Christoph Niemann (Bremen, Germany)

---

I really enjoyed my time at ENAC where I met and worked with Pascal,
he was a friendly and tremendously talented person.
My condolences to his family, friends and colleagues at ENAC.
 - John Stowers (New Zealand)

---

It has really been a shock to learn about this accident.
Thanks for everything you teached us and for the way you teached it.
My thoughts are with his family
 - Charlène Badina (Paris, France)

---

Deep sadness and sorrow for all who have met Pascal, have followed his courses or have worked with him. He was our brillant and nice teacher in 1995. I was one his students at the ENAC, and learned so much science from him. Today I have prayed for his soul to rest in peace and calmness ... like the man.
"Yalla nala Yalla yeureum té kharé leu aldiana, Amine", in senegalease.
 - Demba NIANG, IENACS95 (Paris, France)

---

I first exchanged messages with Pascal in 2003. Pascal was so brilliant, so passionate and so decent. He had me started on my first Paparazzi project in no time. For this I will always be in his debt I have just started a new Paparazzi project and was looking forward to renewing old aquaintances. This news has come as a terrible shock. I only knew him slightly and that was an honour, but I can't imagine what it is like for those of you priveledged enough to know him well. It must leave a huge hole in your lives and for this I am truly sorry.
 - Eric Parsonage (Adelaide, Australia)

---

Pascal was one of the great teachers that I've met at the ENAC. I will remember above all his calm, patience and kindness during the long hours he devoted to pass on his infinite knowledge in computer science. I didn't know him very well but I would like to thank him for all and I wish him the best for the long and great journey he is about to begin ...
 - Bertrand Huron, IENACS02 (Paris, France)

---

Pascal was always willing to help SUPAERO students and I with our mini UAV projects. He always amazed us with his capability to write code and sort out the mistakes we did faster than it took us to explain the problem. Beyond that, I'll remember his calm, patience and kindness. I'm sure that Paparazzi will go on thanks to his tremendous work.
 - Boris Bataillé, ISAE (Toulouse, France)

---

{{Colored_Block
|border=#fad67d
|background=#faf6ed
|text= ''Pascal's sister has asked to post the following''}}

Bonjour,
Nous avons pu lire tous les messages (notamment sur Paparazzi) de témoignages, d'amitié, de condoléances venant du monde entier... Nous en sommes très touchés. Nous y découvrons ce que Pascal faisait, ce qu'il était dans sa vie au quotidien. Nous ne savions pas tout çà...Nous aimerions pouvoir répondre à tout le monde, mais malheureusement nous ne savons pas comment faire. Pourriez-vous le faire pour nous avec le message suivant :
"Merci à vous tous pour ces témoignages si touchants sur Pascal et pour vos condoléances. La douleur est lourde, mais l'espérance est grande en lisant que chacun continuera la route ouverte avec Pascal par ce qui constituait une de ses passions... Où que vous soyez vos pensées pourront se tourner vers lui les samedi 29 mai (TOURS) et dimanche 6 juin (TOULOUSE) où 2 cérémonies d'hommage seront données... De tout coeur avec chacun."
Ses parents, soeurs, belles soeur, frères, beaux frères

Cordialement
Geneviève BRISSET EMONET

Hello

We have been very touched by all your messages coming from around the world. We discover in them what Pascal was doing in his everyday life. We didn't know all that. We would like to thank everyone with this message :
"Thank you to all of you for these moving messages and condolences. The pain is overwhelming but the hope remains in reading that you all want to keep Pascal's passion flying...Wherever you are, may your thoughts be for him on Saturday May, the 29th
(TOURS) and Sunday June, the 6th (TOULOUSE) where there will be two gatherings as a tribute to Pascal...Wholeheartedly"
Pascal's parents, sisters, sisters in law, brothers, brothers in law

Hecto

2010-05-25T11:25:01Z

Mayrit:

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

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

[[Image:PolarBear.jpg|thumbnail||||800px]] [[Image:PascalTPS.jpg|thumbnail||center||800px]] [[Image:Pascal3.jpg|thumbnail||||800px]] [[Image:Pascal4.jpg|thumbnail||||800px]]

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

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

A 43 year old Toulouse resident, Pascal Brisset, fell to his death on Saturday afternoon into a crevasse from the north face of the Vignemale Glacier, in the Hautes-Pyrenees.

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

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

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

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

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

From "La dépêche" 4/05/2010 08:43

[[Image:vignemale.jpg|thumbnail||center||x800px]]

---

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

---

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

---

Pascal, we thank you for everything you teached us. We will never forget the feeling of our first night flights in Toulouse! - The TU Delft MAVlab Team

---

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

---

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

---

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

---

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

---

Pascal, thank you for everything. I have learn so much with you. I will do my best to continue your work. - Gautier

--

Pascal, thank you! You shared with us your passions, your tremendous knowledge, and your kindness. I will never forget that. - Pierre-Selim

---

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

Solar-Storm

2010-01-30T15:13:24Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

Frame is especially designed for its particular flight conditions by using computer aided drafting and moulds have been milled precisely with a 3-axis CNC in order to achieve the designed shape and surface quality. 20 [http://www.azurspace.com/ S32 Solar cells] bonded under vacuum by the help of a silicon based special glue from [http://www.map-coatings.com/ MAP-Coatings].

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is:

*'''New Endurance:''' '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to [http://www.map-coatings.com/ MAP Coatings Company] for helping us in the hard bonding process of solar cells on to the wing.

Solar-Storm

2009-09-25T10:08:04Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

Frame is especially designed for its particular flight conditions by using computer aided drafting and moulds have milled precisely with a 3-axis CNC in order to achieve the designed shape and surface quality. 20 [http://www.azurspace.com/ S32 Solar cells] bonded under vacuum by the help of a silicon based special glue from [http://www.map-coatings.com/ MAP-Coatings].

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is:

*'''New Endurance:''' '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to [http://www.map-coatings.com/ MAP Coatings Company] for helping us in the hard bonding process of solar cells on to the wing.

Solar-Storm

2009-09-25T09:08:44Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

Frame is especially designed for its particular flight conditions by using computer aided drafting and moulds have milled precisely with a 3-axis CNC in order to achieve the designed shape and surface quality. 20 [http://www.azurspace.com/ S32 Solar cells] bonded under vacuum by the help of a silicon based a special glue from [http://www.map-coatings.com/ MAP-Coatings].

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is:

*'''New Endurance:''' '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to [http://www.map-coatings.com/ MAP Coatings Company] for helping us in the hard bonding process of solar cells on to the wing.

Solar-Storm

2009-09-25T09:07:42Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

Frame is especially designed for its particular flight conditions by using computer aided drafting and moulds have milled precisely with a 3-axis CNC in order to achieve the designed shape and surface quality. 20 [http://www.azurspace.com/ S32 Solar cells] bonded under vacuum by the help of a silicon based a special glue.

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is:

*'''New Endurance:''' '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to [http://www.map-coatings.com/ MAP Coatings Company] for helping us in the hard bonding process of solar cells on to the wing.

Solar-Storm

2009-09-24T16:29:04Z

Mayrit: /* Performances */

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

Frame is especially designed for its particular flight conditions by using computer aided drafting and moulds have milled precisely with a 3-axis CNC in order to achieve the designed shape and surface quality. 20 Si-32 Solar cells bonded under vacuum by the help of a silicon based a special glue.

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is:

*'''New Endurance:''' '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to [http://www.map-coatings.com/ MAP Coatings Company] for helping us in the hard bonding process of solar cells on to the wing.

Main Page

2009-09-24T14:58:12Z

Mayrit:

Main Page

2009-09-24T14:34:28Z

Mayrit:

Main Page

2009-09-24T14:28:05Z

Mayrit:

Fire-Storm

2009-09-24T14:10:53Z

Mayrit:

The new Storm Frame is designed according to [[Solar-Storm]]'s flight conditions and for a long endurance flight. Unfortunately the EMAV09 Outdoor Endurance Mission has simulated by the number of laps that is completed between 2 poles 500m apart from each other, so the design is converted to a long range MAV by optimizing battery weight to total weight ratio and flight speed while staying at the optimum L/D point of the airframe. Finally Fire-Storm has born.

[[Image:FireStorm.jpg|Fire Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 400 g (will be ~490g in a few days)

== Performances ==

Fire-Storm has not been tested for its designed total weight yet. However the light version (2x1320mAh LiPo batteries) is already capable of :
*'''Endurance:''' 100 minutes
*'''Range:''' 96 km

Note: These numbers are taken from the actual flight tests in August in Toulouse. (with an 8m/s average wind)

Solar-Storm

2009-09-24T14:10:04Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

Frame is especially designed for its particular flight conditions by using computer aided drafting and moulds have milled precisely with a 3-axis CNC in order to achieve the designed shape and surface quality. 20 Si-32 Solar cells bonded under vacuum by the help of a silicon based a special glue.

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to [http://www.map-coatings.com/ MAP Coatings Company] for helping us in the hard bonding process of solar cells on to the wing.

Solar-Storm

2009-09-24T14:01:46Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to [http://www.map-coatings.com/ MAP Coatings Company] for helping us in the hard bonding process of solar cells on to the wing.

Solar-Storm

2009-09-24T13:55:36Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

[[Image:SolarStorm1.jpg|600px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

'''24 September 2009 '''

The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is '''90''' minutes.

'''11 September 2009 '''

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

== Acknowledgements==
Thanks a lot to MAP Coatings Company for helping us in the hard bonding process of solar cells on to the wing.

Solar-Storm

2009-09-23T14:55:28Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).

more coming...

[[Image:SolarStorm1.jpg|700px|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g
*'''Solar cells:''' 20 cells, serially linked for a maximum theoretical power of 6.5W
*'''MPPT:''' Custom designed Maximum Power Point Tracker

== Performances ==

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.

We can observe on the last curve that the battery was sometimes charged in flight !

[[Image:Solarplot.png|700px|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

Solar-Storm

2009-09-23T14:38:11Z

Mayrit:

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world.(please correct me if I am wrong...)

more coming...

[[Image:SolarStorm1.jpg|Solar Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 300 g

== Performance ==

Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.

The numbers we get from the first flight test (by using only 730mAH battery):

*'''Endurance:''' 53 minutes
*'''Average level-flight consumption:''' 11-12 W
*'''Average power from Solar cells:''' ~4-5 W

Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight.

[[Image:Solarplot.png|Solar Plot]]

Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)

File:Solarplot.png

2009-09-23T14:28:02Z

Mayrit:

Fire-Storm

2009-09-23T14:12:00Z

Mayrit:

The new Storm Frame is designed according to Solar-Storm's flight conditions and for a long endurance flight. Unfortunately the EMAV09 Outdoor Endurance Mission has simulated by the number of laps that is completed between 2 poles 500m apart from each other, so the design is converted to a long range MAV by optimizing battery weight to total weight ratio and flight speed while staying at the optimum L/D point of the airframe. Finally Fire-Storm has born.

[[Image:FireStorm.jpg|Fire Storm]]

== Specifications ==
*'''Span:''' 500 mm
*'''Weight:''' 400 g (will be ~490g in a few days)

== Performance ==

Fire-Storm has not been tested for its designed total weight yet. However the light version is already capable of :
*'''Endurance:''' 100 minutes
*'''Range:''' 96 km

Note: These numbers are taken from the actual flight tests in August in Toulouse. (with an 8m/s average wind)

File:SolarStorm1.jpg

2009-09-23T13:33:15Z

Mayrit:

File:FireStorm.jpg

2009-09-23T13:32:02Z

Mayrit:

File:Pingwing.jpg

2007-09-24T18:31:46Z

Mayrit:

Gallery

2007-09-24T18:28:13Z

Mayrit: /* MAV07 */

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

|}

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

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

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

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

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

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

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

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

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

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

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

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

File:Tyto.jpg

2007-09-24T18:25:55Z

Mayrit:

Gallery

2007-09-24T18:21:33Z

Mayrit: /* MAV07 */

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

|}

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

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

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

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

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

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

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

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

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

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

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

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

File:Storm1.jpg

2007-09-24T18:20:06Z

Mayrit:

Gallery

2007-09-24T18:17:32Z

Mayrit: /* MAV07 */

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

|}

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

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

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

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

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

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

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

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

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

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

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

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

Murat

2007-03-23T23:49:06Z

Mayrit:

This is the page of Murat (just somethings that worths remembering...)

*pwd look at the working directory
*mkdir make directory
*vi opens the .list file to edit
*id
*su - root user
*ping
*ls -l listing
*bg background

*cvs update
*make demo
*xemacs

in the /conf directory, there is one xml (controlpanel.xml) file that launches the required programs for the paparazzi. (you can edit it with emacs )

make AIRCRAFT=FJ1 clean_ac
make AIRCRAFT=FJ1 sim to compile the sim for your aircraft
make AIRCRAFT=FJ1 ap.compile to compile the real code for aircraft
make AIRCRAFT=FJ1 ap.upload to upload the real compiled code to the aircraft
sw/supevision/paparazzi.pl after everything has done, this is for starting the GCS

after these steps, you need to open flight plan that you will fly and start your airplane... its done :)

GPS must be green 3D at least 4 satelites
3 things to make before every flight ,,

in MANUAL MODE control your throws aileron,elevator..throttle... if they are moving in right direction.
in AUTO1 MODE look at the aircraft's control responses to your movements( move the plane and watch the controls try to beat you)
again in AUTO1 MODE look at your rc movements if they are in right directions.

*./sw/logalizer/plotter
* ./sw/ground_segment/tmtc/messages -c telemetry:*
* ./sw/logalizer/play var/logs/07_03_23__11_41_34.log

'''For flight test & tunings'''

First you need to maintain a perfect leveled trimmed flight, after that by looking at the mesages,actuators yoou need to record this trim settings to your aircratft's xml file, and when you are satisfied with these settings you need to try AUTO1 and in AUTO1 first thing that you need to make is to test if it is netral in steady level flight if it is not, if it is turning to a side you need to adjut the neutrals and also record these to the aircraft xml file

----

*for obtaining the servo ppm values you can switch to mode 1 in your airframe xml file, so that you will be able to open not the default mode(in default.xml) but the debug mode which is mode1. Also you can add a vriable for this to the tuning xml settings, so that you can always reach it form the GCS even while flying your aircraft.

Murat

2007-03-23T23:42:59Z

Mayrit:

This is the page of Murat

*pwd look at the working directory
*mkdir make directory
*vi opens the .list file to edit
*id
*su - root user
*ping
*ls -l listing
*bg background

*cvs update
*make demo
*xemacs

in the /conf directory, there is one xml (controlpanel.xml) file that launches the required programs for the paparazzi. (you can edit it with emacs )

make AIRCRAFT=FJ1 clean_ac
make AIRCRAFT=FJ1 sim to compile the sim for your aircraft
make AIRCRAFT=FJ1 ap.compile to compile the real code for aircraft
make AIRCRAFT=FJ1 ap.upload to upload the real compiled code to the aircraft
sw/supevision/paparazzi.pl after everything has done, this is for starting the GCS

after these steps, you need to open flight plan that you will fly and start your airplane... its done :)

GPS must be green 3D at least 4 satelites
3 things to make before every flight ,,

in MANUAL MODE control your throws aileron,elevator..throttle... if they are moving in right direction.
in AUTO1 MODE look at the aircraft's control responses to your movements( move the plane and watch the controls try to beat you)
again in AUTO1 MODE look at your rc movements if they are in right directions.

*./sw/logalizer/plotter
* ./sw/ground_segment/tmtc/messages -c telemetry:*
* ./sw/logalizer/play var/logs/07_03_23__11_41_34.log

For flight test & tunings

First you need to maintain a perfect leveled trimmed flight, after that by looking at the mesages,actuators yoou need to record this trim settings to your aircratft's xml file, and when you are satisfied with these settings you need to try AUTO1 and in AUTO1 first thing that you need to make is to test if it is netral in steady level flight if it is not, if it is turning to a side you need to adjut the neutrals and also record these to the aircraft xml file

*for obtaining the servo ppm values you can switch to mode 1 in your airframe xml file, so that you will be able to open not the default mode but the debug mode which is mode1. Also you can add a vriable for this to the tuning xml settings, so that you can always reach it form the GCS even while flying your aircraft.

Murat

2007-03-23T23:38:26Z

Mayrit:

Murat

2007-03-23T23:01:43Z

Mayrit:

Murat

2007-03-19T19:51:21Z

Mayrit:

This is the page of Murat

*pwd look at the working directory
*mkdir make directory
*vi opens the .list file to edit
*id
*su - root user
*ping
*ls -l listing

*cvs update
*make demo
*xemacs

in the /conf directory, there is one xml (controlpanel.xml) file that launches the required programs for the paparazzi. (you can edit it with emacs )

make AIRCRAFT=FJ1 clean_ac
make AIRCRAFT=FJ1 sim to compile the sim for your
make AIRCRAFT=FJ1 ap.compile to compile the real code for aircraft
make AIRCRAFT=FJ1 ap.upload to upload the real compiled code to the aircraft
sw/supevision/paparazzi.pl after everything has done, this is for starting the GCS

after these steps, you need to open flight plan that you will fly and start your airplane... its done :)

GPS must be green 3D at least 4 satelites
3 things to make before every flight ,,

in MANUAL MODE control your throws aileron,elevator..throttle... if they are moving in right direction.
in AUTO1 MODE look at the aircraft's control responses to your movements( move the plane and watch the controls try to beat you)
again in AUTO1 MODE look at your rc movements if they are in right directions.

Murat

2007-03-18T22:26:58Z

Mayrit:

This is the page of Murat

*pwd look at the working directory
*mkdir make directory
*vi opens the .list file to edit
*id
*su - root user
*ping
*ls -l listing

*cvs update
*make demo

in the /conf directory, there is one xml (controlpanel.xml) file that launches the required programs for the paparazzi. (you can edit it with emacs )

make AIRCRAFT=FJ1 sim to compile the sim for your
make AIRCRAFT=FJ1 ap.compile to compile the real code for aircraft
make AIRCRAFT=FJ1 ap.upload to upload the real compiled code to the aircraft
sw/supevision/paparazzi.pl after everything has done, this is for starting the GCS

after these steps, you need to open flight plan that you will fly and start your airplane... its done :)

GPS must be green 3D at least 4 satelites
3 things to make before every flight ,,

in MANUAL MODE control your throws aileron,elevator..throttle... if they are moving in right direction.
in AUTO1 MODE look at the aircraft's control responses to your movements( move the plane and watch the controls try to beat you)
again in AUTO1 MODE look at your rc movements if they are in right directions.

Murat

2007-03-18T22:13:14Z

Mayrit:

This is the page of Murat

pwd look at the working directory
mkdir make directory
vi opens the .list file to edit
id
su - root user
ping
ls -l listing

cvs update
make demo

in the /conf directory, there is one xml (controlpanel.xml) file that launches the required programs for the paparazzi. (you can edit it with emacs )

make AIRCRAFT=FJ1 sim to compile the sim for your
make AIRCRAFT=FJ1 ap.compile to compile the real code for aircraft
make AIRCRAFT=FJ1 ap.upload to upload the real compiled code to the aircraft
sw/supevision/paparazzi.pl after everything has done, this is for starting the GCS

after these steps, you need to open flight plan that you will fly and start your airplane... its done :)

GPS must be green 3D at least 4 satelites
3 things to make before every flight ,,

in MANUAL MODE control your throws aileron,elevator..throttle... if they are moving in right direction.
in AUTO1 MODE look at the aircraft's control responses to your movements( move the plane and watch the controls try to beat you)
again in AUTO1 MODE look at your rc movements if they are in right directions.

Murat

2007-03-18T17:57:40Z

Mayrit:

This is the page of Murat

pwd look at the working directory
mkdir make directory
vi opens the .list file to edit
id
su -
ping
ls -l

cvs update
make demo

make AIRCRAFT=13 sim to compile the sim for your
make AIRCRAFT=13 ap.compile
make AIRCRAFT=13 ap.upload
sw/supevision/paparazzi.pl after everything has done, this is for starting the GCS

after these steps, you need to open flight plan that you will fly and start your airplane... its done :)

GPS must be green 3D at least 4 satelites
3 things to make before every flight ,,

in MANUAL MODE control your throws aileron,elevator..throttle... if they are moving in right direction.
in AUTO1 MODE look at the aircraft's control responses to your movements( move the plane and watch the controls try to beat you)
again in AUTO1 MODE look at your rc movements if they are in right directions.