LAAS Mentor

2011-05-20T11:51:22Z

Paulcox:

=LAAS Mentor Planes=

[[Image:mentor1_inflight.jpg|thumb|c|Front View]]

==Mentor1==

Airframe : EPP Foam Multiplex Mentor
Motor : AXI 2820/10 Gold [http://www.modelmotors.cz/index.php?page=61&product=2820&serie=10&line=GOLD Link]
Motor Controller : Flash 44 K3 Opto

[[Image:mentor1_1.jpg|thumb|c|Front View]]
[[Image:mentor1_2.jpg|thumb|c|Side View]]

[[Image:mentor1_payload1.jpg|thumb|c|Assembled Payload]]
[[Image:mentor1_payload2.jpg|thumb|c|Protective Cover Removed]]
[[Image:mentor1_payload3.jpg|thumb|c|Upside-down]]
[[Image:mentor1_payload4.jpg|thumb|c|Ready to mate to craft]]

===Weight Distribution===

====Payload Weights====
{| class="wikitable" style="text-align:left;background:black; color:blue"
|+ Payload Weights |-
! Description !! Weight (grams)
|- style="background:bisque; color:black"
|
Hokuyo
||
250
|- style="background:bisque; color:black"
|
XSens MTIG
||
65
|- style="background:bisque; color:black"
|
Overo / Summit / USB Hub / Case
||
72
|- style="background:bisque; color:black"
|
Wifi Antenna with pigtail
||
15
|- style="background:bisque; color:black"
|
2x 2s 780 mAh batteries
||
91
|- style="background:bisque; color:black"
|
2x switching power supplies (5V, 12V)
||
20
|- style="background:bisque; color:black"
|
XBee Pro with 3.3V regulator
||
10
|- style="background:bisque; color:black"
|
Foam and glass fiber Enclosure
||
95
|- style="background:bisque; color:black"
|
Wood Chassis
||
42
|- style="background:bisque; color:black"
|
USB to Serial convertor with MTI connector
||
20
|- style="background:lemonchiffon; color:black"
|
'''TOTAL'''
||
'''680'''
|}

====Overall Weights====
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Overall Weights |-
! Description !! Weight (grams)
|- style="background:bisque; color:black"
|
Wings plus 2x Aileron Servos
||
400
|- style="background:bisque; color:black"
|
Fuselage with XBee/Autopilot/IR sensors/receiver/Motor/Speed Controller/2x Servos
||
1156

|- style="background:bisque; color:black"
|
Prop and holder
||
57

|- style="background:bisque; color:black"
|
2x 3s 2100mAh batteries
||
314

|- style="background:bisque; color:black"
|
Science Payload
||
680

|- style="background:lemonchiffon; color:black"
|
'''TOTAL'''
||
'''2607'''

|}

==Mentor2==

Not yet constructed

[[Category:User_Projects]]

Laserhawk

2011-04-20T06:56:58Z

Paulcox: /* Architecture */

[[Image:laserhawk.png|thumb|c|Be afraid. Be very afraid.]]
=LaserHawk Project Description=
Lidar UAV for traversability map generation

=High-level Goals=
[[Image:trav_map.png|thumb|c|A robot plans its trajectory]]

#Autonomous flights of Multiplex Mentor UAV with onboard payload including:
#*Hokuyo [http://www.hokuyo-aut.jp/02sensor/07scanner/utm_30lx.html UTM-30LX] LIDAR sensor
#*OMAP3 Gumstix [http://www.gumstix.com/store/catalog/index.php?cPath=27_33 Overo]
#*Xsens [http://www.xsens.com/en/general/mti MTi] and [http://www.xsens.com/en/general/mti-g MTi-G] IMU/AHRS
#*[http://paparazzi.enac.fr/ Paparazzi] autopilot
#Generate traversability map that can be transmitted to UGV
#*cartesian coordinates with traversability probabilities/confidence

== Elrob competition details==

Questions :
: Distance from launch point to zone of interest : 1-2 km
: Size of zone of interest : 500 x 500 m

:Will stay in standby while waiting for zone of interest coordinates from ground robot or will go home?
:Will standby waypoint need to follow ground robot as it travels?
:How long aircraft on alert for acquisition requests? Hours?
:Terrain map/data downloaded to ground station/groundbot via xbee or wifi or what? file transfer or socket? raw data options?

=Current Tasks and Priorities=

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ TASK LIST
|-
! Num !! Name !! Notes !! Priority !! Status

|- style="background:lemonchiffon; color:black"
| 1 || Acquire ground Lidar/attitude data while we wait for plane || use PC then gumstix. Hokuyo and MTIG mounted on boom. biketest git directory has initial data ) || x || In progress
|- style="background:bisque; color:black"
| 2 || start flying mentor airframe || Maiden manual flight accomplished. autonomous flying to come next || x || In progress
|- style="background:bisque; color:black"
| 3 || Be able to treat realtime or recorded data from real or virtual data || Some initial application code done, integrating all together next || x || In progress
|- style="background:bisque; color:black"
| 4 || Lit review || x || x || In progress
|- style="background:bisque; color:black"
| x ||x || x || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|}

====Mentor1 build todo====
#get new 60+ A ESC
#make live sensor interface PC app to monitor on ground during acquisition
#make hokuyo power switchable via GPIO (from tiny)
#see if current probe limited to 25A

====Have Bertand Do====
#rebuild omap MTI ipk for GPS support
#check in paparazzi mods

= Architecture =

#Communication
#*autopilot/groundstation - standard paparazzi Datalink/Telemetry serial modem-based com
#*gumstix/ground - wifi for debugging
#*UAV to UGV com : 115.2kbps Xbee Pro link (data reliability testing needed)

== Hardware ==

===Airborne===
*Airframe : Multiplex [[LAAS Mentor]]
[[Image:payload_hw_block_diagram.png|thumb|hw block diagram]]
[[Image:bikesciencepackage.jpg|thumb|sensors mounted on bike for initial testing]]
*Autopilot : [http://paparazzi.enac.fr paparazzi]
*Hokuyo : [http://www.hokuyo-aut.jp/02sensor/07scanner/download/index.html#top_urg_section UTM-30LX]
*Xsens : [http://www.xsens.com/en/general/mti-g MTi-G]

===Ground===
*nothing special : laptops, modems, and antennae

== Software ==
Version control : [https://github.com/paulcox/laserhawk github]

===Airborne===
*Overo
**OS: openembedded-built linux (use rt-linux patches?)
**Drivers: hokuyo/xsens stuff ([http://homepages.laas.fr/bvandepo/wiki/doku.php?id=gumstixd Bertand's notes] ; overo [https://github.com/paulcox/laserhawk/tree/master/ipks ipkg files] built on borderouge )
**apps:
***mainloop for sensor data processing
***coordination with ground
***coordination with autopilot
*Autopilot
**paparazzi LPC2148-based firmware

===Ground===
*Paparazzi ground package
*gdhe for data visualization (polyline representations of laser scan lines)

GIT Projects:
# hoku2gdhe - Demo app uses hokuyo and Xsens MTI sensor and generates polylines in GDHE [[Image:hoku2gdhe.png|thumb|hoku2gdhe]]
# hokuyomti - App for aquiring hokuyo data and storing to file (Run in parallel with MTIHardTest)
# log2gdhe - App for visualising stored log (real or virtual) in gdhe
# log2gdhe/mkvirtlog - scripts for generating scan/attitude logs from a virtual terrain model [[Image:mkvirtsample.png|thumb|| mkvirtlog image output. view [http://paparazzi.enac.fr/wiki_images/Terrain.gif animation] gdhe [http://paparazzi.enac.fr/wiki_images/Virtual_surface_gdhe.png screenshot] ]]
# biketest/scripts - scripts for generating images/animations from stored hokuyo/mti logs
[[Image:plotlogsample.png|thumb|| Plotlogs image output. view [http://paparazzi.enac.fr/wiki_images/Loganim0_50_1.gif animation] ]]

More info in the git [https://github.com/paulcox/laserhawk/blob/master/biketest/README README]

: The goal is to fuse all of these capabilities into one package that allows:

# displaying real or virtual data
# live data, recording, and/or playback
# display raw data in 2d plots (scan data along scan plane, attitude, position, altitude, etc)
# rectify scan data using attitude and send 3d points to gdhe or store (where? what format?)
# later on will treat data to generate terrain model / traversability map / whatever
# not all of this needs to run on overo, just the acquisition and data treatment (some part of it anyways)
# more?

== Geometry ==
{| border="1" cellpadding="5" cellspacing="0" align="center"
!colspan=2|Laserhawk geometry
|-
|bgcolor=#aaaaff|<center>Overview</center>||bgcolor=#aaaaff|<center>Detail</center>
|-
|[[Image:geometry1.png|250px|center|scan line relative to heading and track]]
|[[Image:geometry2.png|250px|center|Elevation and bird's eye view of scan area]]
|-
|<center>Figure 1</center>
|<center>Figure 2</center>
|}

* nominal UAV flight velocity : 20-30 m/s
* nominal UAV flight height AGL : 30 m
* Lidar sensor resolution : 1080 points over 270 deg visible (1440 points over 360 deg) @40Hz

* ground covered distance during one revolution of scanner:
: <center><math>Dist_{per\_scan\_rev} = ground\_speed \times time_{per\_scan\_rev} = 20~\frac{m}{s} \times \frac{1}{40}~s = 0.5~m</math></center>

* For 90° interest zone :
:* scan line advances down ground track :
: <center><math> Dist_{x}= \frac{90}{360} \times Dist_{per\_scan\_rev} = \frac{1}{4} \times 0.5~m = 12.5~cm</math></center>
:* scan line proceeds along sensor rotation (for a 90 scan, this is twice the AGL height) :
: <center><math> Dist_{y}= 2 \times AGL = 2 \times 30~m = 60~m</math></center>
:* Resolution :
: <center><math> \frac{ \frac{90}{360} \times 1440~pixels }{scan\_length} = \frac{360~pixels}{\sqrt{{Dist_x}^2+{Dist_y}^2}} \approx \frac{360~pixels}{Dist_y}= 6~ \frac{pixels}{m} = 17~</math>cm between pixels</center>
:* Angle relative to track :
: <center><math> Angle_{scan\_to\_track} = \tan^{-1} \frac{Dist_x}{Dist_y} = \tan^{-1} \frac{0.125}{60} = 0.119^\circ</math> (negligible relative to crab angle)</center>

=Scratchpad =

MTI comand line application, for dumping attitude/GPS of MTIG to file : (PC and overo)
MTIHardTest /dev/ttyUSB0 -o 2 -d 6 -v >> MTIG.out

record laser scans to disk (PC and overo)
hokuyomti /dev/ttyACM0

scan and display on gdge (PC only for now)

hoku2gdhe

= Risks =

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Risks and unanswered questions
|-
! Num !! Name !! Notes !! Priority !! Status

|- style="background:lemonchiffon; color:black"
| 1 || Lidar performance || at 30m flight height, over low-reflectance surfaces (asphalt roads, grass, dirt) || x || Sunny day testing against house exterior walls shows we can measure at least to 16m distance.
|- style="background:bisque; color:black"
| 2 || Crashing Lidar || Will build box for protection || x || Done
|- style="background:bisque; color:black"
| 3 || Radio interference at Elrob || need robust behaviors with lost com || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|}

[[Category:User_Projects]]

LAAS Mentor

2011-04-19T12:42:51Z

Paulcox: /* Mentor1 */

=LAAS Mentor Planes=

==Mentor1==

Airframe : EPP Foam Multiplex Mentor
Motor : AXI 2820/10 Gold [http://www.modelmotors.cz/index.php?page=61&product=2820&serie=10&line=GOLD Link]
Motor Controller : Flash 44 K3 Opto

[[Image:mentor1_1.jpg|thumb|c|Front View]]
[[Image:mentor1_2.jpg|thumb|c|Side View]]

[[Image:mentor1_payload1.jpg|thumb|c|Assembled Payload]]
[[Image:mentor1_payload2.jpg|thumb|c|Protective Cover Removed]]
[[Image:mentor1_payload3.jpg|thumb|c|Upside-down]]
[[Image:mentor1_payload4.jpg|thumb|c|Ready to mate to craft]]

===Weight Distribution===

====Payload Weights====
{| class="wikitable" style="text-align:left;background:black; color:blue"
|+ Payload Weights |-
! Description !! Weight (grams)
|- style="background:bisque; color:black"
|
Hokuyo
||
250
|- style="background:bisque; color:black"
|
XSens MTIG
||
65
|- style="background:bisque; color:black"
|
Overo / Summit / USB Hub / Case
||
72
|- style="background:bisque; color:black"
|
Wifi Antenna with pigtail
||
15
|- style="background:bisque; color:black"
|
2x 2s 780 mAh batteries
||
91
|- style="background:bisque; color:black"
|
2x switching power supplies (5V, 12V)
||
20
|- style="background:bisque; color:black"
|
XBee Pro with 3.3V regulator
||
10
|- style="background:bisque; color:black"
|
Foam and glass fiber Enclosure
||
95
|- style="background:bisque; color:black"
|
Wood Chassis
||
42
|- style="background:bisque; color:black"
|
USB to Serial convertor with MTI connector
||
20
|- style="background:lemonchiffon; color:black"
|
'''TOTAL'''
||
'''680'''
|}

====Overall Weights====
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Overall Weights |-
! Description !! Weight (grams)
|- style="background:bisque; color:black"
|
Wings plus 2x Aileron Servos
||
400
|- style="background:bisque; color:black"
|
Fuselage with XBee/Autopilot/IR sensors/receiver/Motor/Speed Controller/2x Servos
||
1156

|- style="background:bisque; color:black"
|
Prop and holder
||
57

|- style="background:bisque; color:black"
|
2x 3s 2100mAh batteries
||
314

|- style="background:bisque; color:black"
|
Science Payload
||
680

|- style="background:lemonchiffon; color:black"
|
'''TOTAL'''
||
'''2607'''

|}

==Mentor2==

Not yet constructed

[[Category:User_Projects]]

Laserhawk

2011-04-13T08:39:12Z

Paulcox: /* Risks */

[[Image:laserhawk.png|thumb|c|Be afraid. Be very afraid.]]
=LaserHawk Project Description=
Lidar UAV for traversability map generation

=High-level Goals=
[[Image:trav_map.png|thumb|c|A robot plans its trajectory]]

#Autonomous flights of Multiplex Mentor UAV with onboard payload including:
#*Hokuyo [http://www.hokuyo-aut.jp/02sensor/07scanner/utm_30lx.html UTM-30LX] LIDAR sensor
#*OMAP3 Gumstix [http://www.gumstix.com/store/catalog/index.php?cPath=27_33 Overo]
#*Xsens [http://www.xsens.com/en/general/mti MTi] and [http://www.xsens.com/en/general/mti-g MTi-G] IMU/AHRS
#*[http://paparazzi.enac.fr/ Paparazzi] autopilot
#Generate traversability map that can be transmitted to UGV
#*cartesian coordinates with traversability probabilities/confidence

== Elrob competition details==

Questions :
: Distance from launch point to zone of interest : 1-2 km
: Size of zone of interest : 500 x 500 m

:Will stay in standby while waiting for zone of interest coordinates from ground robot or will go home?
:Will standby waypoint need to follow ground robot as it travels?
:How long aircraft on alert for acquisition requests? Hours?
:Terrain map/data downloaded to ground station/groundbot via xbee or wifi or what? file transfer or socket? raw data options?

=Current Tasks and Priorities=

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ TASK LIST
|-
! Num !! Name !! Notes !! Priority !! Status

|- style="background:lemonchiffon; color:black"
| 1 || Acquire ground Lidar/attitude data while we wait for plane || use PC then gumstix. Hokuyo and MTIG mounted on boom. biketest git directory has initial data ) || x || In progress
|- style="background:bisque; color:black"
| 2 || start flying mentor airframe || Maiden manual flight accomplished. autonomous flying to come next || x || In progress
|- style="background:bisque; color:black"
| 3 || Be able to treat realtime or recorded data from real or virtual data || Some initial application code done, integrating all together next || x || In progress
|- style="background:bisque; color:black"
| 4 || Lit review || x || x || In progress
|- style="background:bisque; color:black"
| x ||x || x || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|}

====Mentor1 build todo====
#get new 60+ A ESC
#make live sensor interface PC app to monitor on ground during acquisition
#make hokuyo power switchable via GPIO (from tiny)
#see if current probe limited to 25A

====Have Bertand Do====
#rebuild omap MTI ipk for GPS support
#check in paparazzi mods

= Architecture =

#Communication
#*autopilot/groundstation - standard paparazzi Datalink/Telemetry serial modem-based com
#*gumstix/ground - wifi for debugging
#*UAV to UGV com : 115.2kbps Xbee Pro link (data reliability testing needed)

== Hardware ==

===Airborne===
*Airframe : Multiplex [[LAAS Mentor]]
[[Image:payload_hw_block_diagram.png|thumb|hw block diagram]]
[[Image:bikesciencepackage.jpg|thumb|sensors mounted on bike for initial testing]]
*Autopilot : [http://paparazzi.enac.fr paparazzi]
*Hokuyo : [http://www.hokuyo-aut.jp/02sensor/07scanner/download/index.html#top_urg_section UTM-30LX]
*Xsens : [http://www.xsens.com/en/general/mti-g MTi-G]

===Ground===
*Who cares? laptops, modems, and antennae should suffice

== Software ==
Version control : [https://github.com/paulcox/laserhawk github]

===Airborne===
*Overo
**OS: openembedded-built linux (switch to ibara's rt-based lisa branch?)
**Drivers: hokuyo/xsens stuff ([http://homepages.laas.fr/bvandepo/wiki/doku.php?id=gumstixd Bertand's notes] ; overo [https://github.com/paulcox/laserhawk/tree/master/ipks ipkg files] built on borderouge )
**apps:
***mainloop for sensor data processing
***coordination with ground
***coordination with autopilot
*Autopilot
**paparazzi LPC2148-based firmware

===Ground===
*Paparazzi ground package
*gdhe for data visualization (polyline representations of laser scan lines)

GIT Projects:
# hoku2gdhe - Demo app uses hokuyo and Xsens MTI sensor and generates polylines in GDHE [[Image:hoku2gdhe.png|thumb|hoku2gdhe]]
# hokuyomti - App for aquiring hokuyo data and storing to file (Run in parallel with MTIHardTest)
# log2gdhe - App for visualising stored log (real or virtual) in gdhe
# log2gdhe/mkvirtlog - scripts for generating scan/attitude logs from a virtual terrain model [[Image:mkvirtsample.png|thumb|| mkvirtlog image output. view [http://paparazzi.enac.fr/wiki_images/Terrain.gif animation] gdhe [http://paparazzi.enac.fr/wiki_images/Virtual_surface_gdhe.png screenshot] ]]
# biketest/scripts - scripts for generating images/animations from stored hokuyo/mti logs
[[Image:plotlogsample.png|thumb|| Plotlogs image output. view [http://paparazzi.enac.fr/wiki_images/Loganim0_50_1.gif animation] ]]

More info in the git [https://github.com/paulcox/laserhawk/blob/master/biketest/README README]

: The goal is to fuse all of these capabilities into one package that allows:

# displaying real or virtual data
# live data, recording, and/or playback
# display raw data in 2d plots (scan data along scan plane, attitude, position, altitude, etc)
# rectify scan data using attitude and send 3d points to gdhe or store (where? what format?)
# later on will treat data to generate terrain model / traversability map / whatever
# not all of this needs to run on overo, just the acquisition and data treatment (some part of it anyways)
# more?

== Geometry ==
{| border="1" cellpadding="5" cellspacing="0" align="center"
!colspan=2|Laserhawk geometry
|-
|bgcolor=#aaaaff|<center>Overview</center>||bgcolor=#aaaaff|<center>Detail</center>
|-
|[[Image:geometry1.png|250px|center|scan line relative to heading and track]]
|[[Image:geometry2.png|250px|center|Elevation and bird's eye view of scan area]]
|-
|<center>Figure 1</center>
|<center>Figure 2</center>
|}

* nominal UAV flight velocity : 20-30 m/s
* nominal UAV flight height AGL : 30 m
* Lidar sensor resolution : 1080 points over 270 deg visible (1440 points over 360 deg) @40Hz

* ground covered distance during one revolution of scanner:
: <center><math>Dist_{per\_scan\_rev} = ground\_speed \times time_{per\_scan\_rev} = 20~\frac{m}{s} \times \frac{1}{40}~s = 0.5~m</math></center>

* For 90° interest zone :
:* scan line advances down ground track :
: <center><math> Dist_{x}= \frac{90}{360} \times Dist_{per\_scan\_rev} = \frac{1}{4} \times 0.5~m = 12.5~cm</math></center>
:* scan line proceeds along sensor rotation (for a 90 scan, this is twice the AGL height) :
: <center><math> Dist_{y}= 2 \times AGL = 2 \times 30~m = 60~m</math></center>
:* Resolution :
: <center><math> \frac{ \frac{90}{360} \times 1440~pixels }{scan\_length} = \frac{360~pixels}{\sqrt{{Dist_x}^2+{Dist_y}^2}} \approx \frac{360~pixels}{Dist_y}= 6~ \frac{pixels}{m} = 17~</math>cm between pixels</center>
:* Angle relative to track :
: <center><math> Angle_{scan\_to\_track} = \tan^{-1} \frac{Dist_x}{Dist_y} = \tan^{-1} \frac{0.125}{60} = 0.119^\circ</math> (negligible relative to crab angle)</center>

=Scratchpad =

MTI comand line application, for dumping attitude/GPS of MTIG to file : (PC and overo)
MTIHardTest /dev/ttyUSB0 -o 2 -d 6 -v >> MTIG.out

record laser scans to disk (PC and overo)
hokuyomti /dev/ttyACM0

scan and display on gdge (PC only for now)

hoku2gdhe

= Risks =

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Risks and unanswered questions
|-
! Num !! Name !! Notes !! Priority !! Status

|- style="background:lemonchiffon; color:black"
| 1 || Lidar performance || at 30m flight height, over low-reflectance surfaces (asphalt roads, grass, dirt) || x || Sunny day testing against house exterior walls shows we can measure at least to 16m distance.
|- style="background:bisque; color:black"
| 2 || Crashing Lidar || Will build box for protection || x || Done
|- style="background:bisque; color:black"
| 3 || Radio interference at Elrob || need robust behaviors with lost com || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|- style="background:bisque; color:black"
| x ||x || x || x || x
|}

[[Category:User_Projects]]

Inertial Measurement Units

2011-04-07T20:06:47Z

Paulcox:

== Paparazzi IMU ==

=== Booz IMU v 1.2 ===

*High quality analog devices sensors
*16bit ADC capable of 200 000 samples per second
*Special attention to clean power with onboard linear supplies
*Efficient high-speed SPI for minimal microcontroller overhead and ultra-low latency (=better controller performance).
*Fits on Booz, Lisa AND Tiny/TWOG autopilots.

While designed for booz, the first kalman filters were added to the fixedwing code for the Tiny autopilots.

[[Image:IMU001.jpg|240px]]

The hardware description is [[BoozIMU|here]].

Available at [https://mini.ppzuav.com/osc/product_info.php?cPath=15&products_id=122&osCsid=bq9cget2u5c7ksa6kd9ssdf03lisuksq PPZUAV].
The first IMU have been assembled and are being calibrated. Look for updates soon.

=== YAI v1.0 ===

Why "yet another imu" while there are already so many out there?

[[Image:yai_assemb.jpg|240px]]

*Designed to be completely compatible with original booz IMU and its code
*Cheaper sensors (lower bias stability)
*Higher resolution (16bits) and frequency (200ksps) and cleaner onboard power supply, better grounding and shielding than compared with e.g. external sparkfun breakout boards
*Fast low latency SPI communication (no uart as the tiny/twog miss uarts)
*The most important part of attitude determination is proper kinematic compensation using for instance GPS, pressure sensors etc etc. When using IMU with external processors there is often less flexibility. Things as timing for instance are as important as the quality of the gyros themselves.

Board, BOM -> [ http://svn.savannah.nongnu.org/viewvc/paparazzi-hardware/trunk/sensors/yai/?root=paparazzi Hardware Repository]

=== Aspirin IMU ===

[[Image:Aspirin_imu_front.jpg|240px]]

[[AspirinIMU|Next generation flat imu.]]

== 3rd Party IMU ==

'''Loose Terminology Note:''' Like the sparkfun website, the following text incorrectly equates the term "degree-of-freedom" with sensor measurement. Unless we're talking about articulated arms (which paparazzi to date isn't involved with), a body can only have 6 physical DOFs and that would correspond to translation and rotations in the x,y,z cartesian directions of 3D space. If the vehicle state vector includes positions and velocities for each degree of freedom, the state vector would have a dimension of 6 x 2 = 12 states. The goal is to reconstruct these vehicle states using sensor measurements, as once the states can be obtained with reasonable certainty, a control algorithm can have a shot at controlling the system. Using various filtering techniques, multiple sensor types can be combined to estimate these states.

IMU's measure rotation rates, acceleration (6DOF) and some also magnetic fields (9DOF). This data is used by an autopilot to estimate the state of the aircraft. They that can be used with a Paparazzi autopilot based UAS. If you happen to have such a device, we really would love to see that you share your IMU paparazzi autopilot integration projects information on this Wiki.

=== PPZUAV IMU 9DOF ===

[[Image:Ppz9dofimu.jpg|thumb|left|PPZ 9DOF IMU]]

I2C out 5v input. Testing now. So far so good. It's open so anyone can have it now. PCBs available for a few dollars. Schematic open, design open but not in Eagle. I can post the gerbers.

 

=== SparkFun Razor 6DOF IMU ===

[[Image:RazzorIMU.jpg|thumb|left|Razor IMU (top) with the tiny13 autopilot]]

[[Image:RazzorIMUb.jpg|thumb|left|Razor IMU in the tiny13 autopilot box]]

[http://www.sparkfun.com/commerce/product_info.php?products_id=10010 Official website]

6DOF - Ultra-Thin IMU

Very cheap, currently 62-72 Euro. [http://www.watterott.com/de/Sensoren/IMU Shop in Europe]

Has been integrated in Paparazzi by Hochschule Bremen, Germany.

Remove the high pass filters of the RazorIMU to get better results.

For the Twog and Tiny 2.2 autopilots you have also remove the resistors to GND and the series resistors to the MC of the 5V analog inputs. The code to fly normal plane is currently in the repository. Christoph is working on improvements look here: http://paparazzi.enac.fr/wiki/User:Christoph

[[Media:Wiring_Razor_IMU.pdf|Connections and wiring to the tiny13]]

 

=== Cloudcap Crista IMU ===
[[Image:crista_sensorhead.jpg|thumb|left|Christa IMU]]

[http://www.cloudcaptech.com/crista_sensorhead.shtm Official website]

More infos soon.

 

== 3rd Party INS ==

INS measure rates with their sensors and run algorithms to estimate the state on their own. They give this information the the autopilot (e.g. Euler angles) that can then use it for navigation.

===[http://diydrones.com/profiles/blogs/arduimu-v2-flat-now-available|DIYDrones ArduIMU+ V2 (Flat)] ===
[[Image:ArduIMU.jpg|thumb|left|ArduIMU]]

[http://code.google.com/p/ardu-imu/wiki/HomePage?tm=6 Official website]
3 axis Accelerometer + 3 axis Gyroscope.

Very cheap
Has been integrated in Paparazzi by ZHAW, Winterthur, Switzerland.
* A magnetometer has been integrated in the software to compensate drift in yaw.
* GPS from the Tiny is passed over I2C to the AHRS on the IMU
More info on integration can be found [[ArduIMU|here]].
Where can I buy ArduIMU?
 
[http://www.sparkfun.com/products/9956 Sparkfun]
 
[http://store.diydrones.com/ProductDetails.asp?ProductCode=KT-ArduIMU-20 DIYDrones Store]
 

=== Vector-Nav VN-100 ===
[[Image:VN-100.jpg|thumb|left|Vector-Nav VN-100]]

[http://www.vectornav.com/vn-100-features Official website]

There is a [[Modules|module]] for this AHRS (ins_vn100.xml for fixedwings).

 

=== MicroStrain 3DM-GX2 ===
[[Image:3DM-GX2.jpg|thumb|left|MicroStrain 3DM-GX2]]

[http://www.microstrain.com/3dm-gx2.aspx Official website]

More info soon.

 

=== Xsens MTi and MTi-G (with GPS) ===
[[Image:MTi.jpeg|thumb|left|Xsens MTi]]

[[Image:MTi-G.jpeg|thumb|left|Xsens MTi-G (with GPS)]]

[http://www.xsens.com/en/general/mti Official website MTi]

[http://www.xsens.com/en/general/mti-g Official website MTi-G]

In sensor fusion, calibration and timing are crucial. If you want latency compensated ADXRS gyro integrated attitude done by an efficient and optimized Blackfin DSP you need an XSens. For rotorcraft the 100Hz is a bit slow, but for fixedwing it's perfect. Directly compatible with [[Yapa]] and [[Lisa]] and all needed code in paparazi.

 

=== MemSense MAG3 ===

MAG3 - 6 DOF Analog IMU with Triaxial Magnetometer

[http://www.memsense.com/index.php/Product-Pages/mag3-worlds-smallest-analog-inertial-measurement-unit.html Official website mag3]

== The Very Short Essential Introduction To Inertial Attitude Estimation ==

The only physical entity related to attitude (pitch and roll) is the earth gravity vector (unless you use a multi-antenna phase-measuring GPS... $$$$). Unfortunately, the sensors that measure gravity (=accelerometers) also measure so-called kinematic accelerations or in other words: changes in speed: like centrifugal forces, Coriolis forces, linear accelerations etc... The sum of all these litteraly is "what you feel" and is called [http://en.wikipedia.org/wiki/Specific_force "specific force"].

so

accelerometer_value (specific force) = earth_gravity + change in velocity (linear accelerations) + velocity times turn rate (centrifugal etc)

or

A = B + C + D

You measure A and want to know B. What all "gyroscopes and accelerometer only" AHRS projects are doing in some way or another is to neglect the last 2 (C and D). In many situations this is not bad: for instance: when testing the AHRS attached to your computer: it can not accelerate for a very long time (at most a few meters: so if you accerate to the left, then you need to accelerate to the right directly after so the average is zero) and can not rotate to much either (or your cable gets strangled). This is why all AHRS videos on youtube look perfect. And on the desk they are perfect: you neglected 2 terms in the equation that in that situation are perfectly neglect-able. Also with a quadrotor that hovers and keeps its nose in the same direction all the time, these neglected terms are small.

Now what about the gyroscopes you might ask. I deliberately keep them only second as gyroscopes (turn rate or rotation speed sensors) do NOT give you attitude but ONLY HELP TO SOLVE SHORT TERM errors in the previous part. If gyroscopes would measure turn-rate perfectly, then they would help more but all MEMS/PIEZZO sensors are more or less sensitive to 1) temperature, 2) turnrate, 3) vibrations, 4) accelerations, 5) radiation, 6) power supply quality 7) non-linearity 8) ADC-quality 9) dynamic range and saturation problems, ... so if you integrate gyroscopes, sooner or later errors build up (drift). I put this list here so you know what to pay attention for: if using gyroscopes: always try to keep the temperature as constant as possible or let the temperature settle, reduce vibrations (dampers), use better ADC (e.g. 10bit ADC with +/- 1200 deg/sec gyros have a resolution of 2.4 degrees/s per ADC tick, so your phi/theta might drift 1.2deg/sec without noticing) and power supply filtering and shielding etc to start with. All of these define for how long (seconds!/minutes?) gyroscope integration is useful.

If you convert the accelerometer directly to attitude and plot it, it will vibrate a lot and will show errors when you accelerate the AHRS on your desk. During a coordinated turn of a fixedwing plane, the force you feel is perpendicular to the plane (not pointing to earth). The accelerometer only clearly is insufficient to know your attitude. One solution is to use gyroscopes that are so good that you can predict for many minutes (then the average acceleration during several turns would still point to earth). But if your gyros can only help for shorter terms (like all MEMS sensors of less than 500euro/each) then extra information is required. E.g: if you add GPS data or airspeed data however, from the flightpath you can quite accurately reconstruct the missing C and D terms. Together with the accelerometer you can know "where the earth is" even when you keep accelerating and turning. Here questions like latency, update rate, noisy derivatives (linear acceleration) are of importance.

Finally there is the heading... GPS ground-track is not the same as nose direction. Gyroscopes measure how much the nose has been turning, so using GPS to correct it induces errors that increase with corsswind. Magnetometers can help here, and become necessary whenever you do not move enough anymore (hovering). This situation can also occur in plane flying in very strong winds.

[[Category:Hardware]]

Paul Cox Notes

2011-04-06T09:05:03Z

Paulcox: /* openrobots */

= LISTS =

==Links==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Paul's Links
|-
! 1 !! 2 !! 3 !! 4 !! 5
|- style="background:bisque; color:black"
|[[Community_Flight_Log_Archive]]
||
[[Paul_Cox_Activity_Log]]
||
[[User:PaulCox]]
||
[[Lisa_Logitech_Camera]]
||
[[Rt3070usb]]
|- style="background:bisque; color:black"
[[http://paparazzi.enac.fr/wiki/Qwip]]
||
[[ArduIMU]]
||
[[Laserhawk]]
||
x
||
x
||
x
|}

==TODO==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ SPRING 2011 TODO LIST
|-
! Num !! Name !! Notes !! Priority !! Status

|- style="background:lemonchiffon; color:black"
| 1 || build virtual world scan in hoku2gdhe || x || x || In progress
|- style="background:bisque; color:black"
| 2 || Install MTi-G driver on laptop || MTIHardTest -v <params> >> out.txt stores to disk || x || Done
|- style="background:bisque; color:black"
| 3 || Get test scans from rooftop || one night scan acquired. need day scans and higher scans (and faster) || x || In progress
|- style="background:bisque; color:black"
| 4 || Design MIPI/I2C camera board || sketches ready, Pierre doing orcad and ordering || x || In progress
|- style="background:bisque; color:black"
| 5 || Design/Build hokuyo/MTIG box/mounting cage || Build at Bertrand's place or ENAC || x || Not started
|- style="background:bisque; color:black"
| 6 || Get openembedded running on laptop || laptop too slow || x || Waiting for new PC
|- style="background:bisque; color:black"
| x ||x || x || x || x
|}

==PERSO TODO==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ PERSONAL TODO LIST
|-
! Num !! Name !! Notes !! Priority !! Status
|- style="background:bisque; color:black"
| 1 || Get minimag flying || tuneup done, need some glue then ready for maiden || [[User:Paulcox|Paulcox]] 10:33, 17 February 2011 (CET) || In progress
|- style="background:bisque; color:black"
| 2 || Slowstick flying || First arduimu flights done, issues due to auto2 probably due to flight plan altitues, need to study logs || x || In progress
|- style="background:bisque; color:black"
| 3 || Flash ardupimu and get ap compiling || methodology posted on [[ArduIMU]] page || x || Done
|- style="background:bisque; color:black"
| 4 || Test xbeepro868 performance || XCTU loopback at 9600 shows 80-90%, with basic telemetry was seeing huge (10-15 sec) delay (was looking at attitude messages), short flights at 57600 ok so far|| x || In progress
|- style="background:bisque; color:black"
| 5 || Test loss of IR contrast || works in simulation, need to test in real || x || In progress
|- style="background:bisque; color:black"
| 6 || Adjust Beth opamp gains || for increased precision || x || Do it slacker
|- style="background:bisque; color:black"
| 7 || Try Web-based GCS || qwip checked in, need to try pow ||| x || In progress
|- style="background:bisque; color:black"
| 8 || Improve altitude control loop || issue with hard boundary between PI and constant regions || x || x
|- style="background:bisque; color:black"
| 9 || Some camera stabilization || Read gimbal servo positions via pot tap to ADC || x || x
|- style="background:bisque; color:black"
| 10 || Try then document item drop capability || one of the checked in enac flight plans does this || x || not started
|- style="background:bisque; color:black"
| 11 || Paparazzi Documentation || Started outlining [http://paparazzi.enac.fr/wiki/Documentation_Needed here] || x || Stalled
|- style="background:bisque; color:black"
| 12 || try pan/tilt code || x || x || no started
|- style="background:bisque; color:black"
| 13 || get log archive ready || x || x || In progress
|- style="background:bisque; color:black"
| 14 || redo joystick control setup || look at chris' stuff he send || x || Not started
|- style="background:bisque; color:black"
| 15 || potentially merge tiny/overo i2c com code from tobias || x || x || In progress
|}

==BUY BUY BUY==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ WISH LIST
|-
! Num !! Name !! Notes !! Price !! Status
|- style="background:bisque; color:black"
| 1 || RC Transmitter (PPM and 2.4GHz) || x || x || x
|- style="background:bisque; color:black"
| 2 || Overo Camera || x || x || x
|- style="background:bisque; color:black"
| 3 || Lisa board || x || x || x
|- style="background:bisque; color:black"
| 4 || I2C motor controllers || need 4 to finish quad || x || x
|- style="background:bisque; color:black"
| 5 || New laptop || x || x || Keep dreaming
|- style="background:bisque; color:black"
| 6 || XBeePro868 || Need a third one to test point to multi-point || x || x
|- style="background:bisque; color:black"
| 7 || RazorIMU || For testing || x || x
|- style="background:bisque; color:black"
| 8 || Minimag || x || x || x
|- style="background:bisque; color:black"
| 9 || x || x || x || x
|}

==IDEAS==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ IDEA LIST
|-
! Num !! Name !! Notes !! Priority !! Status
|- style="background:bisque; color:black"
| 1 || x || x || x || x
|- style="background:bisque; color:black"
| 2 || x || x || x || x
|- style="background:bisque; color:black"
| 3 || x || x || x || x
|}

=Random Notes=

== ubuntu packages ==

===Utilities===
<pre>
sudo apt-get install medit gtkterm git-core ssh apt-file vim
</pre>

===paparazzi===
<pre>
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-arm7 paparazzi-omap libmpfr1ldbl
</pre>

===perl modules===
<pre>
sudo apt-get install libstatistics-descriptive-perl libgd-gd2-perl libgeo-coordinates-utm-perl \
libhtml-template-perl libxml-twig-perl libdigest-hmac-perl libdigest-sha1-perl libdigest-md5-file-perl
wget http://search.cpan.org/CPAN/authors/id/M/MA/MAHEX/Image-Grab-1.4.2.tar.gz
</pre>

===CGI webserver===
<pre>
sudo apt-get install boa
</pre>

===openrobots===
<pre>
sudo apt-get install libbz2-dev pax cmake automake autoconf doxygen libgl1-mesa-dev \
libglu1-mesa-dev tcl-dev tk-dev libjpeg-dev libxpm-dev swig libxmu-dev libxt-dev libxt6 libxt-dev \
tcl-dev tk-dev libbz2-dev freeglut3-dev qtcreator libtiff-dev libraw1394-dev libeigen2-dev libdc1394-22-dev
</pre>

Create file ~/.ssh/config
<pre>
Host *.laas.fr
User pdcox
</pre>

==Using a joystick to control twog servo==
===PC-side configuration===

On the PC side we will send actuator commands two different ways:

: 1. Running an ocaml application that listens to the joystick device and using a configuration file, will send ivy messages that get forwarded to the vehicle by the server.
: 2. Normal paparazzi settings mechanism (using settings dialog from paparazzi center running on PC) that sets corresponding variables on the vehicle.

Running the joystick test program you can see which buttons do what:
(Note you have to run a make in the directory first to compile everything)

<pre>
~/paparazzi3/trunk/sw/ground_segment/joystick$ ./test_stick
Available button: 288 (0x120)
Available button: 289 (0x121)
Available button: 290 (0x122)
Available button: 291 (0x123)
Available button: 292 (0x124)
Available button: 293 (0x125)
Available button: 294 (0x126)
Available button: 295 (0x127)
Available button: 296 (0x128)
Available button: 297 (0x129)
Available button: 298 (0x12a)
Available button: 299 (0x12b)
Available axis: 0 (0x0)
Available axis: 1 (0x1)
Available axis: 2 (0x2)
Available axis: 5 (0x5)
Available axis: 16 (0x10)
Available axis: 17 (0x11)
Available axis: 40 (0x28)
Axis 0 : parameters = [0,255]
Axis 1 : parameters = [0,255]
Axis 2 : parameters = [0,255]
Axis 3 : parameters = [0,255]
Axis 4 : parameters = [-1,1]
Axis 5 : parameters = [-1,1]
Axis 6 : parameters = [0,255]
Input device name: "GreenAsia Inc. USB Joystick " on device "/dev/input/event6"
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 87 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 20 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 69 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 111 48 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 127 -64 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -127 32 -127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -127 -39 -69 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 -117 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 -127 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 40 -35 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 49 127 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 127 127 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -53 127 127 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 8 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 84 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 -66 0 0 0 0 127 0 0 0
buttons 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 0 0 0 0 0 127 0 0 0
buttons 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 127 0 0 0 0 127 0 0 0
buttons 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 | axis 47 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 59 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -105 -127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -78 -127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -99 0 0 0 0 127 0 0 0
buttons 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
</pre>

Then creating an xml configuration file such as:

paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ medit ngs_set_actuators.xml

and now running the input2ivy ocaml application:

export PAPARAZZI_HOME=/home/paul/paparazzi3/trunk
paparazzi3/trunk/sz/ground_segment/joystick/input2ivy -ac TJOVERO ngs_set_actuators.xml

running ivyprobe we can see the message getting transmitted:
paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ ivyprobe '(.*)'
shows:
Paparazzi joystick sent 'input2ivy SET_ACTUATOR 1496 2 3'

but we have to make sure the server knows this message needs to be forwarded: in messages.xml the message should be labeled as "forwarded" :
<pre>
<message name="SET_ACTUATOR" id="100" link="forwarded">
<field name="value" type="uint16"/>
<field name="no" type="uint8"/>
<field name="ac_id" type="uint8"/>
</message>
</pre>

To send settings use the actuators.xml file:
<pre>
<settings>
<dl_settings NAME="Actuators" >
<dl_setting VAR="actuators[1]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan1"/>
<dl_setting VAR="actuators[2]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan2"/>
<dl_setting VAR="actuators[3]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan3"/>
<dl_setting VAR="actuators[4]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan4"/>
<dl_setting VAR="actuators[5]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan5"/>
<dl_setting VAR="actuators[6]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan6"/>
<dl_setting VAR="actuators[7]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan7"/>
</dl_settings>
</settings>
</pre>

===Vehicle-side configuration===

On the vehicle side we are using a twog for hardware so we will use the setup_actuators target found in /conf/autopilot/setup.makefile.
This makefile is used by the tiny.makefile which is used because we specify we're using the twog in twinjet_overo.xml

<pre>
<firmware name="fixedwing">
<target name="ap" board="twog_1">
</pre>

The setup target is defined as follows in the airframe (twinjet_overo.xml):
<pre>
<firmware name="setup">
<target name="tunnel" board="twog_1" />
<target name="setup_actuators" board="twog_1" />
</firmware>
</pre>

If we were adding the joystick to the autopilot code we could instead add the following line to the firmware section:
: <subsystem name="joystick"/>
but that's another project...

Here's the setup.makefile section that worked for me:

<pre>
setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c actuators.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
</pre>

[[Category:User_Notes]]

2011-03-29T12:27:01Z

Paulcox: /* Random Notes */

= LISTS =

==Links==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Paul's Links
|-
! 1 !! 2 !! 3 !! 4 !! 5
|- style="background:bisque; color:black"
|[[Community_Flight_Log_Archive]]
||
[[Paul_Cox_Activity_Log]]
||
[[User:PaulCox]]
||
[[Lisa_Logitech_Camera]]
||
[[Rt3070usb]]
|- style="background:bisque; color:black"
[[http://paparazzi.enac.fr/wiki/Qwip]]
||
[[ArduIMU]]
||
[[Laserhawk]]
||
x
||
x
||
x
|}

==TODO==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ SPRING 2011 TODO LIST
|-
! Num !! Name !! Notes !! Priority !! Status

|- style="background:lemonchiffon; color:black"
| 1 || build virtual world scan in hoku2gdhe || x || x || In progress
|- style="background:bisque; color:black"
| 2 || Install MTi-G driver on laptop || MTIHardTest -v <params> >> out.txt stores to disk || x || Done
|- style="background:bisque; color:black"
| 3 || Get test scans from rooftop || one night scan acquired. need day scans and higher scans (and faster) || x || In progress
|- style="background:bisque; color:black"
| 4 || Design MIPI/I2C camera board || sketches ready, Pierre doing orcad and ordering || x || In progress
|- style="background:bisque; color:black"
| 5 || Design/Build hokuyo/MTIG box/mounting cage || Build at Bertrand's place or ENAC || x || Not started
|- style="background:bisque; color:black"
| 6 || Get openembedded running on laptop || laptop too slow || x || Waiting for new PC
|- style="background:bisque; color:black"
| x ||x || x || x || x
|}

==PERSO TODO==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ PERSONAL TODO LIST
|-
! Num !! Name !! Notes !! Priority !! Status
|- style="background:bisque; color:black"
| 1 || Get minimag flying || tuneup done, need some glue then ready for maiden || [[User:Paulcox|Paulcox]] 10:33, 17 February 2011 (CET) || In progress
|- style="background:bisque; color:black"
| 2 || Slowstick flying || First arduimu flights done, issues due to auto2 probably due to flight plan altitues, need to study logs || x || In progress
|- style="background:bisque; color:black"
| 3 || Flash ardupimu and get ap compiling || methodology posted on [[ArduIMU]] page || x || Done
|- style="background:bisque; color:black"
| 4 || Test xbeepro868 performance || XCTU loopback at 9600 shows 80-90%, with basic telemetry was seeing huge (10-15 sec) delay (was looking at attitude messages), short flights at 57600 ok so far|| x || In progress
|- style="background:bisque; color:black"
| 5 || Test loss of IR contrast || works in simulation, need to test in real || x || In progress
|- style="background:bisque; color:black"
| 6 || Adjust Beth opamp gains || for increased precision || x || Do it slacker
|- style="background:bisque; color:black"
| 7 || Try Web-based GCS || qwip checked in, need to try pow ||| x || In progress
|- style="background:bisque; color:black"
| 8 || Improve altitude control loop || issue with hard boundary between PI and constant regions || x || x
|- style="background:bisque; color:black"
| 9 || Some camera stabilization || Read gimbal servo positions via pot tap to ADC || x || x
|- style="background:bisque; color:black"
| 10 || Try then document item drop capability || one of the checked in enac flight plans does this || x || not started
|- style="background:bisque; color:black"
| 11 || Paparazzi Documentation || Started outlining [http://paparazzi.enac.fr/wiki/Documentation_Needed here] || x || Stalled
|- style="background:bisque; color:black"
| 12 || try pan/tilt code || x || x || no started
|- style="background:bisque; color:black"
| 13 || get log archive ready || x || x || In progress
|- style="background:bisque; color:black"
| 14 || redo joystick control setup || look at chris' stuff he send || x || Not started
|- style="background:bisque; color:black"
| 15 || potentially merge tiny/overo i2c com code from tobias || x || x || In progress
|}

==BUY BUY BUY==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ WISH LIST
|-
! Num !! Name !! Notes !! Price !! Status
|- style="background:bisque; color:black"
| 1 || RC Transmitter (PPM and 2.4GHz) || x || x || x
|- style="background:bisque; color:black"
| 2 || Overo Camera || x || x || x
|- style="background:bisque; color:black"
| 3 || Lisa board || x || x || x
|- style="background:bisque; color:black"
| 4 || I2C motor controllers || need 4 to finish quad || x || x
|- style="background:bisque; color:black"
| 5 || New laptop || x || x || Keep dreaming
|- style="background:bisque; color:black"
| 6 || XBeePro868 || Need a third one to test point to multi-point || x || x
|- style="background:bisque; color:black"
| 7 || RazorIMU || For testing || x || x
|- style="background:bisque; color:black"
| 8 || Minimag || x || x || x
|- style="background:bisque; color:black"
| 9 || x || x || x || x
|}

==IDEAS==
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ IDEA LIST
|-
! Num !! Name !! Notes !! Priority !! Status
|- style="background:bisque; color:black"
| 1 || x || x || x || x
|- style="background:bisque; color:black"
| 2 || x || x || x || x
|- style="background:bisque; color:black"
| 3 || x || x || x || x
|}

=Random Notes=

== ubuntu packages ==

===Utilities===
<pre>
sudo apt-get install medit gtk-term git-core ssh
</pre>

===paparazzi===
<pre>
sudo apt-get install paparazzi-dev paparazzi-stm32 paparazzi-lpc paparazzi-omap
</pre>

===perl modules===
<pre>
sudo apt-get install
</pre>

===CGI webserver===
<pre>
sudo apt-get install boa
</pre>

===openrobots===
<pre>
sudo apt-get install
</pre>

==Using a joystick to control twog servo==
===PC-side configuration===

On the PC side we will send actuator commands two different ways:

: 1. Running an ocaml application that listens to the joystick device and using a configuration file, will send ivy messages that get forwarded to the vehicle by the server.
: 2. Normal paparazzi settings mechanism (using settings dialog from paparazzi center running on PC) that sets corresponding variables on the vehicle.

Running the joystick test program you can see which buttons do what:
(Note you have to run a make in the directory first to compile everything)

<pre>
~/paparazzi3/trunk/sw/ground_segment/joystick$ ./test_stick
Available button: 288 (0x120)
Available button: 289 (0x121)
Available button: 290 (0x122)
Available button: 291 (0x123)
Available button: 292 (0x124)
Available button: 293 (0x125)
Available button: 294 (0x126)
Available button: 295 (0x127)
Available button: 296 (0x128)
Available button: 297 (0x129)
Available button: 298 (0x12a)
Available button: 299 (0x12b)
Available axis: 0 (0x0)
Available axis: 1 (0x1)
Available axis: 2 (0x2)
Available axis: 5 (0x5)
Available axis: 16 (0x10)
Available axis: 17 (0x11)
Available axis: 40 (0x28)
Axis 0 : parameters = [0,255]
Axis 1 : parameters = [0,255]
Axis 2 : parameters = [0,255]
Axis 3 : parameters = [0,255]
Axis 4 : parameters = [-1,1]
Axis 5 : parameters = [-1,1]
Axis 6 : parameters = [0,255]
Input device name: "GreenAsia Inc. USB Joystick " on device "/dev/input/event6"
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 87 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 20 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 69 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 111 48 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 127 -64 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -127 32 -127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -127 -39 -69 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 -117 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 -127 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 40 -35 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 49 127 127 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 127 127 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -53 127 127 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 8 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 127 84 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 -66 0 0 0 0 127 0 0 0
buttons 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 | axis -127 0 0 0 0 0 127 0 0 0
buttons 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 127 0 0 0 0 127 0 0 0
buttons 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 | axis 47 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 59 127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -105 -127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis -78 -127 0 0 0 0 127 0 0 0
buttons 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 -99 0 0 0 0 127 0 0 0
buttons 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | axis 0 0 0 0 0 0 127 0 0 0
</pre>

Then creating an xml configuration file such as:

paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ medit ngs_set_actuators.xml

and now running the input2ivy ocaml application:

export PAPARAZZI_HOME=/home/paul/paparazzi3/trunk
paparazzi3/trunk/sz/ground_segment/joystick/input2ivy -ac TJOVERO ngs_set_actuators.xml

running ivyprobe we can see the message getting transmitted:
paul@ledelle:~/paparazzi3/trunk/sw/ground_segment/joystick$ ivyprobe '(.*)'
shows:
Paparazzi joystick sent 'input2ivy SET_ACTUATOR 1496 2 3'

but we have to make sure the server knows this message needs to be forwarded: in messages.xml the message should be labeled as "forwarded" :
<pre>
<message name="SET_ACTUATOR" id="100" link="forwarded">
<field name="value" type="uint16"/>
<field name="no" type="uint8"/>
<field name="ac_id" type="uint8"/>
</message>
</pre>

To send settings use the actuators.xml file:
<pre>
<settings>
<dl_settings NAME="Actuators" >
<dl_setting VAR="actuators[1]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan1"/>
<dl_setting VAR="actuators[2]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan2"/>
<dl_setting VAR="actuators[3]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan3"/>
<dl_setting VAR="actuators[4]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan4"/>
<dl_setting VAR="actuators[5]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan5"/>
<dl_setting VAR="actuators[6]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan6"/>
<dl_setting VAR="actuators[7]" MIN="900" STEP="1" MAX="2100" module="actuators" shortname="chan7"/>
</dl_settings>
</settings>
</pre>

===Vehicle-side configuration===

On the vehicle side we are using a twog for hardware so we will use the setup_actuators target found in /conf/autopilot/setup.makefile.
This makefile is used by the tiny.makefile which is used because we specify we're using the twog in twinjet_overo.xml

<pre>
<firmware name="fixedwing">
<target name="ap" board="twog_1">
</pre>

The setup target is defined as follows in the airframe (twinjet_overo.xml):
<pre>
<firmware name="setup">
<target name="tunnel" board="twog_1" />
<target name="setup_actuators" board="twog_1" />
</firmware>
</pre>

If we were adding the joystick to the autopilot code we could instead add the following line to the firmware section:
: <subsystem name="joystick"/>
but that's another project...

Here's the setup.makefile section that worked for me:

<pre>
setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c actuators.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
</pre>

[[Category:User_Notes]]

LAAS Mentor

2011-03-24T15:50:16Z