NoVa

2010-07-23T19:26:29Z

Mitch feaster: linking to booz since people interested in quadrotors might want to know more...

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
NoVa is a new quadrotor that uses Paparazzi hardware as well as software. The goal of this project was to create a durable and affordable quadrotor that integrated with the existing paparazzi project. Custom airborne software links NoVa to the paparazzi GCS. Segregating its specific code will allow users to fly their fixed wing UAVs in the same up to date CVS tree as NoVa.

Hopefully soon you will see more updates, pictures, videos, and hopefully build plans. For now let me leave my email akochevar@gmail.com. If you have any questions feel free to drop a line. Enjoy the pictures!

UPDATE 10/07/08: With some coaxing from a buddy, I implimented the kalman filter from Rotomotion tonight. Seems to function similarly to my comp filter, but tighter, with less overshoot and historysis. Ill fly it this weekend and see if it makes things better.

Also, I have a new LEA5H gps on the way, along with an ultrasonic altimeter. Should be a couple fun toys to play with.

More info on Paparazzi VTOL applications can be found on the [[Booz]] page.
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

Qty
* 1 0.250" Square carbon tube - www.cstsales.com
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

[[Image:NoVa2.jpg|thumb|left|Tabletop launch]]
[[Image:NoVa3.jpg|thumb|left|Staying in the yard]]
[[Image:NoVa4.jpg|thumb|left|Escaping into the night]]
[[Image:NoVa5.jpg|thumb|left|Staying in the yard... again]]
[[Image:NoVa6.jpg|thumb|left|Hovering against a mountain backdrop]]
[[Image:NoVa7.jpg|thumb|left|Hovering towards the neighbors]]
[[Image:NoVa8.jpg|thumb|left|Blending in with the neighbors]]
[[Image:NoVa9.jpg|thumb|left|Its a bird, Its a plane!]]

Installation/Linux

2008-05-20T16:37:52Z

Mitch feaster: /* Launching the Software */

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

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

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

== Installation on Debian based distributions ==

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

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

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

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

==== Extra for Ubuntu ====

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

sudo apt-get remove brltty

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

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

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

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

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

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

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

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

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

== Launching the Software ==

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

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

make

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

./paparazzi

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

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

== Setting access rights for USB download ==

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

For USB download as non root you need permission to access the "raw" USB bus. You should be member of the ''plugdev'' group. The original user mentioned in the Linux install process usually is member, otherwise add your login using

sudo adduser <your login> plugdev

then logout and relogin. Tell the system to allow access by adding the following

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

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

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

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

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

make

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

make clean
make

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

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

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

== LiveCd ==

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

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

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

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

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

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

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

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

PaparazziUAV - User contributions [en]

NoVa

Installation/Linux