PaparazziUAV - User contributions [en]

Installation

2025-09-16T12:27:04Z

Philipan: link to quickstart does not exist any more and is replaced

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

== Introduction ==

Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or Apple Macintosh running [http://en.wikipedia.org/wiki/OS_X Mac OS X]. After Microsoft introduced Ubuntu on Windows, now it is possible to run Paparazzi on [https://en.wikipedia.org/wiki/Windows_10 Windows 10]. There is also another work being done to port Paparazzi to Windows with a different approach to work on all versions of Windows.

The steps required to install the software needed to be able to let your UAS fly are:

# Install tools and prerequisites needed by Paparazzi.
# Download the source code from the source repository.
# Compile the Paparazzi software from sourcecode
# Complete any final configuration

== Quickstart for Ubuntu users ==

Follow the instructions from the new documentation: https://paparazzi-uav.readthedocs.io/en/latest/getting_started/install.html


If all went well the Paparazzi Center should now be running... '''skip the rest of instructions on this page''' and go fly!

----

If you are new you'll need to do some more things before you go fly like configuring your XML definition file detailing your airframe configuration. There is help here for that: [[Airframe_Configuration]]

In case you have no autopilot hardware yet, no problem, you can get hardware [[Get_Hardware|here]] or just buy a ready to fly aircraft that can run Paparazzi Software like the Parrot Drones [http://www.parrot.com/products/bebop-drone/ Parrot Bebop] and run Paparazzi on your Parrot [[AR_Drone_2|ARDRone2]], [[Bebop|Bebop]] and Bebop2 (soon the Disco drone).

== OS Specific Instructions ==

For Linux an instructional video explaining it all in detail can be found here https://www.youtube.com/watch?v=eW0PCSjrP78

The process of installing the prerequisite tools and dependencies needed by Paparazzi is specific to the operating system you are using. For detailed installation instructions, please see the following pages:
*[[Installation/Linux|Installing prerequisites tools on Linux]]
*[[Installation/MacOSX|Installing prerequisites tools on Mac OS X]]
*[[Installation/RaspberryPi|Installing prerequisites tools on the RaspberryPi (Raspbian)]]

For more advanced installation information or developers, please see the following pages:
*[[Installation/FromScratch|Installing everything from scratch]] For non Debian based Linux distributions or if one just wants to be able to use all the latest and greatest compilers, or source code of everything to improve something. Then there is no other way than to install from scratch.
*[[Installation/Windows|Installing prerequisite tools on Windows]] Note that this is '''a work in progress, and not finished yet'''. It would be fantastic if you are interested in running Paparazzi on this OS to help out with the porting. Being able to help is one of opensource software main features. If your skill- set is not so good in this area, but you still insist using Windows OS, then it is best to install a VirtualMachine from within Windows where you run the free Ubuntu OS of choice.

=== Virtual Machines ===

It is also possible to have your Debian/Ubuntu running in a virtual machine, for instance with [http://www.virtualbox.org/ VirtualBox]. This requires minimal changes to your computer setup, as you can run the VM from all common platforms (Windows, OS X, Linux). The virtual machine image can easily be transferred between different laptops, giving greater flexibility. Unfortunately, the Open-Source Edition of VirtualBox doesn't include the necessary USB support, so you'll need to get the regular version from the website.

If you are new and this is your first time installing it is suggested you keep it simple. Use the standard Linux or OS X install. Select a system you can dedicate to the Linux installation. No VMs or dual boot configurations. The idea is do a very simple generic installation that is certain to have no issues. This reassures you that the installation process works and you can see and use a working Paparazzi install for some time before you try a more complicated install. The install is well documented and certain to succeed if followed exactly. Most issues arise when someone unfamiliar with Paparazzi or their OS tries a non-standard install that requires special steps that are not documented. Generally, commands can be copied and pasted for easy, step-by-step installation.

== Getting the Source Code ==
The Paparazzi source code is hosted on [https://github.com/paparazzi/paparazzi Github]. While you can download it as a tarball from https://github.com/paparazzi/paparazzi/releases, it is recommended to clone the repository with [[git]].

From the directory of your choice type:
git clone --origin upstream https://github.com/paparazzi/paparazzi.git
Check out the released stable version branch:
cd paparazzi
git checkout v6.1

'''If this whole "Git" thing is new to you, more options and information can be found on the [[git|Git page]].'''

== Launching the Software ==
Make sure you have installed the <tt>paparazzi-dev</tt> package as described above. Without these you will not be able to compile the sourcecode.
The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd ~/paparazzi</tt>), run

make

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

./paparazzi

From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''Microjet'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session. The procedure is detailed in the [[Simulation]] page.

=== Environment Variables ===

If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]) from the command line, 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|~/.bashrc|
<source lang="bash">
export PAPARAZZI_HOME=''your paparazzi software directory''
export PAPARAZZI_SRC=''your paparazzi software directory''
</source>
}}

Verify that your variables are set correctly with the following command:
:<source lang="bash">env | grep PAPARAZZI</source>
which should return the following:
<source lang="bash">
PAPARAZZI_HOME=''your paparazzi software directory''
PAPARAZZI_SRC=''your paparazzi software directory''
</source>

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:
:<source lang="bash">export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`</source>

In case you obtain an error indicating that your environmental variables are not set up correctly (for example 'ocamlfind: Package `pprz.xlib' not found') it should be noted that some shells or versions of make can not handle the '~/paparazzi' path. Try setting it to '/home/username/paparazzi' instead.

== Software Updates ==
'''We manage the software with the git version control system. Learn it! If you are new to it, see the [[Git|Git wiki page]].'''

Paparazzi is a very rapidly evolving project and as such you might want to update your software regularly. See the [[RepositoryStructure|branching model and release process page]].

Any new files you created will not be lost/overwritten when updating (like your own airframe file). Nevertheless, as with all things, backups are advised.
If you modified source code, the best way is of course to use the version control system [[Git]] to commit your changes. Otherwise at least use the brute force method and save everything in another directory.

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. You might need to update your airframe file as well. The compiler will usually complain if there is a problem, at which point you can look at the [[Airframe_Configuration|Airframe Configuration wiki page]] again, look on the [[Contact#Mailing_List|mailing list]] or some of the most recent airframe files on git to find the proper syntax.

'''See also the [[Release Upgrades]] page for information on how to update your configuration from one release to the next.'''

=== Quick'n dirty description ===

To download and automatically merge any updated source files, run the following command from your Paparazzi directory
git pull

After any git update or source code modification the code can be recompiled from ''your paparazzi software 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 delete all compiled files and recompile from scratch with the following commands:

make clean
make

If you'd like to check that the code compiles all example airframes then you can run the test suite using the command

make test

For more details see the [[Builds/Tests|tests page]].

== Using the Virtual Machine image ==

Virtual machine image based on [https://www.vmware.com/products/workstation-player.html VMWare Player] Available at [http://data.recherche.enac.fr/drones/Paparazzi/ http://data.recherche.enac.fr/drones/Paparazzi/]

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

Simulation

2017-07-07T13:30:52Z

Philipan: linked to virtual joystick, to keep it more compact here

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

This page describes the steps needed to run a simulated flight with an UAS.

== Available Simulators ==

Paparazzi currently has two different simulator targets with different degrees of realism and intended purpose:

# '''sim''': The basic fixedwing simulator written in OCaml without IMU simulation or any sensor models (noise, bias, etc) and mainly intended to test [[Flight_Plans|flight plan]] logic.
# '''nps''': [[NPS]] is a more advanced rotorcraft and fixedwing simulator with sensor models and commonly uses [[JSBSim]] as FDM ('''F'''light '''D'''ynamic '''M'''odel). Other FDM's can be integrated easily. At the moment CRRCSIM, YASIM and JSBSIM are tried as FDM backend.

A FDM is a set of mathematical equations used to calculate the physical forces acting on a simulated aircraft, such as thrust, lift, and drag.

== Compiling and starting ==

'''This describes the basic fixedwing sim, for rotorcraft or advanced fixedwing simulation, see [[NPS]].'''

From the [[Paparazzi_Center|Paparazzi Center]] select the Microjet aircraft (from the '''A/C''' combo box) which is configured with the <tt>basic.xml</tt> flight plan. From the '''Target''' combo box, select <tt>sim</tt> and click the '''Build''' button to compile the airbone code to be run on your Linux box. From the '''Session''' combo box, select <tt>Simulation</tt> entry and click '''Execute''' to start the simulation. It will start
three processes which are listed in the window below:
* '''Microjet''' is the interface of a simulator program. It runs the same code as the one for the autopilot processor plus a rudimentary flight dynamic model. it allows you to test the interactions with the UAV and the flight plan execution.
* '''GCS''' ([[GCS|Ground Control Station]]) is the main window. It displays the track of the aircraft, as well as informations about the execution of its flight plans. This program provide menus for the datalink functions and is able to edit a flight plan.
* '''Server''' is a hidden process which won't be described here (see [[Overview|the architecture of the system]])

== Start the Simulation ==

The aircraft has automatically been booted, as if the autopilot board had been powered. Its position and its flight parameters are displayed in the GCS window. If you omit the -boot option of the sim the aircraft is not automatically booted and you can first place the aircraft where you want it to start from and then boot.

If the --norc option is ommited, a window for a virtual remote control (including on/off switch and a mode-switch) is started, see: [https://wiki.paparazziuav.org/wiki/Joystick#Virtual_Joystick_.28only_for_SIM_targets.29 Virtual Joystick]

In the GCS the map widget is able to use many map formats and display them according to many projections. To make things simple, we start by using images from [http://maps.google.com Google]. From the toolbar in the top right corner of the GCS, click the Google Earth icon ('''Google maps fill'''). The program attempts to download the required satellite images from the Google servers. If it succeeds, you should now see the nice countryside of Muret (a city close to Toulouse, France). Navigation and other features of the map are described on the [[GCS#map|GCS]] page.

The lower part of the GCS displays the flight plan in a tree view. You see that the current flight plan is composed of several ''blocks'':
* '''wait GPS''' and '''geo init''' which are instructions to run this flight plan anywhere in the world, by translating the waypoints around the current location of aircraft as soon as it is reported by the GPS.
* '''Holding point''' (it should be the current active block) which instructs the autopilot to wait for launch.
* '''Takeoff''' which will instruct the aircraft to climb full throttle to a security altitude
* '''Standby''' which is a simple circle around the '''STDBY''' waypoint.

Switch to the '''Takeoff''' block by a double click on the line or using the corresponding button (an icon figuring an airway) on the left side of the strip.

== Fly ==

In the Simulator ('''Microjet''' window), press the '''Launch''' button to simulate a hand launch or click the launch button in the GCS (the green aircraft icon). The autopilot detects the launch by monitoring the groundspeed. The flight time (in the aircraft label on the GCS) then starts to count.

Position of the aircraft is displayed on the map: the aircraft goes to the '''CLIMB''' waypoint (to the norht-west) and then around the '''STDBY''' waypoint. Current block also changes accordingly in the flight plan display.

The orange triangle (the carrot) on the map is the point that the aircraft is navigating toward.

== Line ==

Jump to this block with double-click on the <tt>Line 1-2</tt> line in the flight plan or using the corresponding button in the strip (figuring a blue line between two white points). The aircraft will try to follow a line joining the waypoints '''1''' and '''2''', doing nice U-turns at both ends.

=== Move waypoints ===

While the aircraft is flying (or here while the simulator is integrating differential equations), you can move the waypoints on the GCS interface by cliking and dragging (with the left button). When the mouse button is released, a popup window allows you to change the altitude of the waypoint. After validation, the waypoint changes are sent to the autopilot and the followed track is changed accordingly.

=== Coming back around ===

Select the '''Standby''' block (the ''home'' blue icon) to instruct the aircraft to fly around the '''STDBY''' waypoint.

== Fly too far ==

If you unzoom the map (using the PageDown key or he mouse wheel), you will see a large circle around the waypoints. This circle show the allowed flying zone that the autopilot must not leave or it will enter an emergency navigation mode and circles the '''HOME''' waypoint until the further direction is received.

Move the waypoint '''2''' out of this circle (close to the circle in the north-east corner) and switch back to the 'Line 1-2''' block to force the plane to get out of this safety zone.

The aircraft flies to the '''2''' waypoint, cross the protection enveloppe and switches to ''home'' mode: the AP mode in the aircraft strip switches from '''AUTO2''' to '''HOME'''.

To get out of this mode and switch back to the default '''AUTO2''', click on the '''AUTO2''' button in the aircraft strip. The aircraft then flies again towards '''too far''' and again swithes to '''HOME''' mode.

== Change the environment ==

Launch the '''Environment Simulator''' from the '''Tools' menu in the '''Paparazzi Center'''.

[[file:PPRZ_Environment_settings_Gaia_GUI_up.png]]

This interface, also known as '''Gaia''', allows the user to change:

* The time-scale: This make the simulation of the flight speed up time, good if you have a extensive flightpland and you do not want to wait the real time it would taketo fly the aircraft in a real life flight. It is best not use a times-cale higher than 2x for a first tryout.
* The Wind speed: Set the wind speed while simulating. Try to set it to e.g. 5m/s and observe the trajectory and the speed evolution in the aircraft strip and in the '''PFD''' page of the notebook
* The Wind direction: Set the direction the wind comse from. For fun try to take of with stong wind from the side.
* Wind up: Simulates updraft (e.g. by thermals) or downdraft wind (beside thunderstorms or in mountains), which could e.g. shift the UAS higher than permitted, which can be counteracted by exceptions in the flightplan.
* A GPS failure: Simulate GPS loss on the aircraft ('''GPS OFF''') and observe the resulting mode ('''NO_GPS''') and trajectory. In this mode, the autopilot can for example use a the failsafe roll, pitch and throttle settings defined in the airframe file. Note that in a real flight, an aircraft without GPS won't be able to send it's position ... The simulation is cheating here! It must, otherwise not possible to show the path in the simulator ofcourse.

Environment Simulator, Gaia can also be started with initial values set by command line option.

-b Bus Default is 127.255.255.255:2010
-t Set time scale (default: 1.0)
-w Set wind speed (0-30m/s)
-d Set wind direction 0-359 deg
-g Turn off GPS
-help Display this list of options
--help Display this list of options

If you are in the testfield and forgot the parameters, just use the "help"

$ ./gaia --help

This make testing more convienient since on can save a session with this parameters and on restart imidately have the same settings again.

=== Example ===

Starting gaia with the following parameters on the command line:

$ sw/simulator/gaia -t 3 -d 340 -w 11

This sets a 3x speedup of the time with wind coming from 340 degrees with a windspeed of 11m/s

== Other navigation patterns ==

Using the buttons in the strip, you can play with other navigation patterns: figure of eights, oval, survey of a rectangle (with a north-south sweeping), ''Circle around here'' (which sets a waypoint to the current location of the plane and flies a circle around).

== Landing ==

To automatically land the aircraft:
* Set the '''TD''' (Touch Down) waypoint where you want to land. Be sure that the waypoint is on the ground (185m in Muret)
* Set the '''AF''' (Approach Fix) waypoint where you want to start the final descent (the ''glide''). If you have set some wind with Gaia, you probably want to fly '''AF-TD''' upwind (an estimation of the wind experienced by the aircraft is displayed in the left-upper corner of the map).
* Switch to the '''Land right''' or the '''Land left''' block (icons in the strip) according to the direction of the last turn you want to do (for example, if '''AF''' is on the east side of '''TD''' and you want to maneuvre from the north, choose a '''Land right''')

== Multiple UAV Simulation ==

To simulate multiple aircrafts, you just have to launch a second simulator (tools->simulator, then -a yourairframe) and the server and the GCS should take care of the rest.

== View the simulation in Flight Gear ==

To view the simulation in [[FlightGear]], do the following:
* [[FlightGear|install Flight Gear]]
* In Paparazzi Center, add the option <tt>--fg_host 127.0.0.1</tt> (replace the IP address if FG is running on another host as appropriate) to the Simulator line and restart it, e.g.:
<path_to_paparazzi>/sw/simulator/pprzsim-launch --aircraft <your_ac_name> -t sim --boot --norc --fg_host 127.0.0.1
<div class="toccolours mw-collapsible mw-collapsed">
Prior to '''v5.0''' launchsitl was used instead of pprzsim-launch. Click expand to see the details.
<div class="mw-collapsible-content">
<path_to_paparazzi>/sw/simulator/launchsitl -a <your_ac_name> -boot -norc -fg 127.0.0.1
</div></div>
* Launch Flight Gear with the following command:
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp

=== Old version ===
For Flight Gear visualization, version 2.12 or greater with rembrand visualisation options switched on is the nicest. If you wish to use a very old version, Flightgear v2.4 or lower, you must add the following to the firmware section of your airframe file:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<define name="FG_2_4" value="1"/>
...
</firmware>
</source>
}}

[[Category:Simulation]] [[Category:Software]] [[Category:User_Documentation]]

Simulation

2017-07-07T13:08:23Z

Philipan: forgot bracket

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

This page describes the steps needed to run a simulated flight with an UAS.

== Available Simulators ==

Paparazzi currently has two different simulator targets with different degrees of realism and intended purpose:

# '''sim''': The basic fixedwing simulator written in OCaml without IMU simulation or any sensor models (noise, bias, etc) and mainly intended to test [[Flight_Plans|flight plan]] logic.
# '''nps''': [[NPS]] is a more advanced rotorcraft and fixedwing simulator with sensor models and commonly uses [[JSBSim]] as FDM ('''F'''light '''D'''ynamic '''M'''odel). Other FDM's can be integrated easily. At the moment CRRCSIM, YASIM and JSBSIM are tried as FDM backend.

A FDM is a set of mathematical equations used to calculate the physical forces acting on a simulated aircraft, such as thrust, lift, and drag.

== Compiling and starting ==

'''This describes the basic fixedwing sim, for rotorcraft or advanced fixedwing simulation, see [[NPS]].'''

From the [[Paparazzi_Center|Paparazzi Center]] select the Microjet aircraft (from the '''A/C''' combo box) which is configured with the <tt>basic.xml</tt> flight plan. From the '''Target''' combo box, select <tt>sim</tt> and click the '''Build''' button to compile the airbone code to be run on your Linux box. From the '''Session''' combo box, select <tt>Simulation</tt> entry and click '''Execute''' to start the simulation. It will start
three processes which are listed in the window below:
* '''Microjet''' is the interface of a simulator program. It runs the same code as the one for the autopilot processor plus a rudimentary flight dynamic model. it allows you to test the interactions with the UAV and the flight plan execution.
* '''GCS''' ([[GCS|Ground Control Station]]) is the main window. It displays the track of the aircraft, as well as informations about the execution of its flight plans. This program provide menus for the datalink functions and is able to edit a flight plan.
* '''Server''' is a hidden process which won't be described here (see [[Overview|the architecture of the system]])

== Start the Simulation ==

The aircraft has automatically been booted, as if the autopilot board had been powered. Its position and its flight parameters are displayed in the GCS window. If you omit the -boot option of the sim the aircraft is not automatically booted and you can first place the aircraft where you want it to start from and then boot.

If the -norc option is ommited, a window for a virtual remote control (including on/off switch and a mode-switch) is started:

[[file:PPRZ_sim_no_rc.png]]

In the GCS the map widget is able to use many map formats and display them according to many projections. To make things simple, we start by using images from [http://maps.google.com Google]. From the toolbar in the top right corner of the GCS, click the Google Earth icon ('''Google maps fill'''). The program attempts to download the required satellite images from the Google servers. If it succeeds, you should now see the nice countryside of Muret (a city close to Toulouse, France). Navigation and other features of the map are described on the [[GCS#map|GCS]] page.

The lower part of the GCS displays the flight plan in a tree view. You see that the current flight plan is composed of several ''blocks'':
* '''wait GPS''' and '''geo init''' which are instructions to run this flight plan anywhere in the world, by translating the waypoints around the current location of aircraft as soon as it is reported by the GPS.
* '''Holding point''' (it should be the current active block) which instructs the autopilot to wait for launch.
* '''Takeoff''' which will instruct the aircraft to climb full throttle to a security altitude
* '''Standby''' which is a simple circle around the '''STDBY''' waypoint.

Switch to the '''Takeoff''' block by a double click on the line or using the corresponding button (an icon figuring an airway) on the left side of the strip.

== Fly ==

In the Simulator ('''Microjet''' window), press the '''Launch''' button to simulate a hand launch or click the launch button in the GCS (the green aircraft icon). The autopilot detects the launch by monitoring the groundspeed. The flight time (in the aircraft label on the GCS) then starts to count.

Position of the aircraft is displayed on the map: the aircraft goes to the '''CLIMB''' waypoint (to the norht-west) and then around the '''STDBY''' waypoint. Current block also changes accordingly in the flight plan display.

The orange triangle (the carrot) on the map is the point that the aircraft is navigating toward.

== Line ==

Jump to this block with double-click on the <tt>Line 1-2</tt> line in the flight plan or using the corresponding button in the strip (figuring a blue line between two white points). The aircraft will try to follow a line joining the waypoints '''1''' and '''2''', doing nice U-turns at both ends.

=== Move waypoints ===

While the aircraft is flying (or here while the simulator is integrating differential equations), you can move the waypoints on the GCS interface by cliking and dragging (with the left button). When the mouse button is released, a popup window allows you to change the altitude of the waypoint. After validation, the waypoint changes are sent to the autopilot and the followed track is changed accordingly.

=== Coming back around ===

Select the '''Standby''' block (the ''home'' blue icon) to instruct the aircraft to fly around the '''STDBY''' waypoint.

== Fly too far ==

If you unzoom the map (using the PageDown key or he mouse wheel), you will see a large circle around the waypoints. This circle show the allowed flying zone that the autopilot must not leave or it will enter an emergency navigation mode and circles the '''HOME''' waypoint until the further direction is received.

Move the waypoint '''2''' out of this circle (close to the circle in the north-east corner) and switch back to the 'Line 1-2''' block to force the plane to get out of this safety zone.

The aircraft flies to the '''2''' waypoint, cross the protection enveloppe and switches to ''home'' mode: the AP mode in the aircraft strip switches from '''AUTO2''' to '''HOME'''.

To get out of this mode and switch back to the default '''AUTO2''', click on the '''AUTO2''' button in the aircraft strip. The aircraft then flies again towards '''too far''' and again swithes to '''HOME''' mode.

== Change the environment ==

Launch the '''Environment Simulator''' from the '''Tools' menu in the '''Paparazzi Center'''.

[[file:PPRZ_Environment_settings_Gaia_GUI_up.png]]

This interface, also known as '''Gaia''', allows the user to change:

* The time-scale: This make the simulation of the flight speed up time, good if you have a extensive flightpland and you do not want to wait the real time it would taketo fly the aircraft in a real life flight. It is best not use a times-cale higher than 2x for a first tryout.
* The Wind speed: Set the wind speed while simulating. Try to set it to e.g. 5m/s and observe the trajectory and the speed evolution in the aircraft strip and in the '''PFD''' page of the notebook
* The Wind direction: Set the direction the wind comse from. For fun try to take of with stong wind from the side.
* Wind up: Simulates updraft (e.g. by thermals) or downdraft wind (beside thunderstorms or in mountains), which could e.g. shift the UAS higher than permitted, which can be counteracted by exceptions in the flightplan.
* A GPS failure: Simulate GPS loss on the aircraft ('''GPS OFF''') and observe the resulting mode ('''NO_GPS''') and trajectory. In this mode, the autopilot can for example use a the failsafe roll, pitch and throttle settings defined in the airframe file. Note that in a real flight, an aircraft without GPS won't be able to send it's position ... The simulation is cheating here! It must, otherwise not possible to show the path in the simulator ofcourse.

Environment Simulator, Gaia can also be started with initial values set by command line option.

-b Bus Default is 127.255.255.255:2010
-t Set time scale (default: 1.0)
-w Set wind speed (0-30m/s)
-d Set wind direction 0-359 deg
-g Turn off GPS
-help Display this list of options
--help Display this list of options

If you are in the testfield and forgot the parameters, just use the "help"

$ ./gaia --help

This make testing more convienient since on can save a session with this parameters and on restart imidately have the same settings again.

=== Example ===

Starting gaia with the following parameters on the command line:

$ sw/simulator/gaia -t 3 -d 340 -w 11

This sets a 3x speedup of the time with wind coming from 340 degrees with a windspeed of 11m/s

== Other navigation patterns ==

Using the buttons in the strip, you can play with other navigation patterns: figure of eights, oval, survey of a rectangle (with a north-south sweeping), ''Circle around here'' (which sets a waypoint to the current location of the plane and flies a circle around).

== Landing ==

To automatically land the aircraft:
* Set the '''TD''' (Touch Down) waypoint where you want to land. Be sure that the waypoint is on the ground (185m in Muret)
* Set the '''AF''' (Approach Fix) waypoint where you want to start the final descent (the ''glide''). If you have set some wind with Gaia, you probably want to fly '''AF-TD''' upwind (an estimation of the wind experienced by the aircraft is displayed in the left-upper corner of the map).
* Switch to the '''Land right''' or the '''Land left''' block (icons in the strip) according to the direction of the last turn you want to do (for example, if '''AF''' is on the east side of '''TD''' and you want to maneuvre from the north, choose a '''Land right''')

== Multiple UAV Simulation ==

To simulate multiple aircrafts, you just have to launch a second simulator (tools->simulator, then -a yourairframe) and the server and the GCS should take care of the rest.

== View the simulation in Flight Gear ==

To view the simulation in [[FlightGear]], do the following:
* [[FlightGear|install Flight Gear]]
* In Paparazzi Center, add the option <tt>--fg_host 127.0.0.1</tt> (replace the IP address if FG is running on another host as appropriate) to the Simulator line and restart it, e.g.:
<path_to_paparazzi>/sw/simulator/pprzsim-launch --aircraft <your_ac_name> -t sim --boot --norc --fg_host 127.0.0.1
<div class="toccolours mw-collapsible mw-collapsed">
Prior to '''v5.0''' launchsitl was used instead of pprzsim-launch. Click expand to see the details.
<div class="mw-collapsible-content">
<path_to_paparazzi>/sw/simulator/launchsitl -a <your_ac_name> -boot -norc -fg 127.0.0.1
</div></div>
* Launch Flight Gear with the following command:
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp

=== Old version ===
For Flight Gear visualization, version 2.12 or greater with rembrand visualisation options switched on is the nicest. If you wish to use a very old version, Flightgear v2.4 or lower, you must add the following to the firmware section of your airframe file:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<define name="FG_2_4" value="1"/>
...
</firmware>
</source>
}}

[[Category:Simulation]] [[Category:Software]] [[Category:User_Documentation]]

File:PPRZ sim no rc.png

2017-07-07T13:05:44Z

Philipan: Philipan uploaded a new version of File:PPRZ sim no rc.png

File:PPRZ Environment settings Gaia GUI up.png

2017-07-07T13:05:04Z

Philipan:

File:PPRZ sim no rc.png

2017-07-07T12:57:29Z

Philipan:

Simulation

2017-07-07T12:56:57Z

Philipan: correct image link name

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

This page describes the steps needed to run a simulated flight with an UAS.

== Available Simulators ==

Paparazzi currently has two different simulator targets with different degrees of realism and intended purpose:

# '''sim''': The basic fixedwing simulator written in OCaml without IMU simulation or any sensor models (noise, bias, etc) and mainly intended to test [[Flight_Plans|flight plan]] logic.
# '''nps''': [[NPS]] is a more advanced rotorcraft and fixedwing simulator with sensor models and commonly uses [[JSBSim]] as FDM ('''F'''light '''D'''ynamic '''M'''odel). Other FDM's can be integrated easily. At the moment CRRCSIM, YASIM and JSBSIM are tried as FDM backend.

A FDM is a set of mathematical equations used to calculate the physical forces acting on a simulated aircraft, such as thrust, lift, and drag.

== Compiling and starting ==

'''This describes the basic fixedwing sim, for rotorcraft or advanced fixedwing simulation, see [[NPS]].'''

From the [[Paparazzi_Center|Paparazzi Center]] select the Microjet aircraft (from the '''A/C''' combo box) which is configured with the <tt>basic.xml</tt> flight plan. From the '''Target''' combo box, select <tt>sim</tt> and click the '''Build''' button to compile the airbone code to be run on your Linux box. From the '''Session''' combo box, select <tt>Simulation</tt> entry and click '''Execute''' to start the simulation. It will start
three processes which are listed in the window below:
* '''Microjet''' is the interface of a simulator program. It runs the same code as the one for the autopilot processor plus a rudimentary flight dynamic model. it allows you to test the interactions with the UAV and the flight plan execution.
* '''GCS''' ([[GCS|Ground Control Station]]) is the main window. It displays the track of the aircraft, as well as informations about the execution of its flight plans. This program provide menus for the datalink functions and is able to edit a flight plan.
* '''Server''' is a hidden process which won't be described here (see [[Overview|the architecture of the system]])

== Start the Simulation ==

The aircraft has automatically been booted, as if the autopilot board had been powered. Its position and its flight parameters are displayed in the GCS window. If you omit the -boot option of the sim the aircraft is not automatically booted and you can first place the aircraft where you want it to start from and then boot.

If the -norc option is ommited, a window for a virtual remote control (including on/off switch and a mode-switch) is started:

[[file:PPRZ_sim_no_rc.png]]

In the GCS the map widget is able to use many map formats and display them according to many projections. To make things simple, we start by using images from [http://maps.google.com Google]. From the toolbar in the top right corner of the GCS, click the Google Earth icon ('''Google maps fill'''). The program attempts to download the required satellite images from the Google servers. If it succeeds, you should now see the nice countryside of Muret (a city close to Toulouse, France). Navigation and other features of the map are described on the [[GCS#map|GCS]] page.

The lower part of the GCS displays the flight plan in a tree view. You see that the current flight plan is composed of several ''blocks'':
* '''wait GPS''' and '''geo init''' which are instructions to run this flight plan anywhere in the world, by translating the waypoints around the current location of aircraft as soon as it is reported by the GPS.
* '''Holding point''' (it should be the current active block) which instructs the autopilot to wait for launch.
* '''Takeoff''' which will instruct the aircraft to climb full throttle to a security altitude
* '''Standby''' which is a simple circle around the '''STDBY''' waypoint.

Switch to the '''Takeoff''' block by a double click on the line or using the corresponding button (an icon figuring an airway) on the left side of the strip.

== Fly ==

In the Simulator ('''Microjet''' window), press the '''Launch''' button to simulate a hand launch or click the launch button in the GCS (the green aircraft icon). The autopilot detects the launch by monitoring the groundspeed. The flight time (in the aircraft label on the GCS) then starts to count.

Position of the aircraft is displayed on the map: the aircraft goes to the '''CLIMB''' waypoint (to the norht-west) and then around the '''STDBY''' waypoint. Current block also changes accordingly in the flight plan display.

The orange triangle (the carrot) on the map is the point that the aircraft is navigating toward.

== Line ==

Jump to this block with double-click on the <tt>Line 1-2</tt> line in the flight plan or using the corresponding button in the strip (figuring a blue line between two white points). The aircraft will try to follow a line joining the waypoints '''1''' and '''2''', doing nice U-turns at both ends.

=== Move waypoints ===

While the aircraft is flying (or here while the simulator is integrating differential equations), you can move the waypoints on the GCS interface by cliking and dragging (with the left button). When the mouse button is released, a popup window allows you to change the altitude of the waypoint. After validation, the waypoint changes are sent to the autopilot and the followed track is changed accordingly.

=== Coming back around ===

Select the '''Standby''' block (the ''home'' blue icon) to instruct the aircraft to fly around the '''STDBY''' waypoint.

== Fly too far ==

If you unzoom the map (using the PageDown key or he mouse wheel), you will see a large circle around the waypoints. This circle show the allowed flying zone that the autopilot must not leave or it will enter an emergency navigation mode and circles the '''HOME''' waypoint until the further direction is received.

Move the waypoint '''2''' out of this circle (close to the circle in the north-east corner) and switch back to the 'Line 1-2''' block to force the plane to get out of this safety zone.

The aircraft flies to the '''2''' waypoint, cross the protection enveloppe and switches to ''home'' mode: the AP mode in the aircraft strip switches from '''AUTO2''' to '''HOME'''.

To get out of this mode and switch back to the default '''AUTO2''', click on the '''AUTO2''' button in the aircraft strip. The aircraft then flies again towards '''too far''' and again swithes to '''HOME''' mode.

== Change the environment ==

Launch the '''Environment Simulator''' from the '''Tools' menu in the '''Paparazzi Center'''.

[[file:PPRZ_Environment_settings_Gaia_GUI_up.png]]

This interface, also known as '''Gaia''', allows the user to change:

* The time-scale: This make the simulation of the flight speed up time, good if you have a extensive flightpland and you do not want to wait the real time it would taketo fly the aircraft in a real life flight. It is best not use a times-cale higher than 2x for a first tryout.
* The Wind speed: Set the wind speed while simulating. Try to set it to e.g. 5m/s and observe the trajectory and the speed evolution in the aircraft strip and in the '''PFD''' page of the notebook
* The Wind direction: Set the direction the wind comse from. For fun try to take of with stong wind from the side.
* Wind up: Simulates updraft (e.g. by thermals) or downdraft wind (beside thunderstorms or in mountains, which could e.g. shift the UAS higher than permitted, which can be counteracted by exceptions in the flightplan.
* A GPS failure: Simulate GPS loss on the aircraft ('''GPS OFF''') and observe the resulting mode ('''NO_GPS''') and trajectory. In this mode, the autopilot can for example use a the failsafe roll, pitch and throttle settings defined in the airframe file. Note that in a real flight, an aircraft without GPS won't be able to send it's position ... The simulation is cheating here! It must, otherwise not possible to show the path in the simulator ofcourse.

Environment Simulator, Gaia can also be started with initial values set by command line option.

-b Bus Default is 127.255.255.255:2010
-t Set time scale (default: 1.0)
-w Set wind speed (0-30m/s)
-d Set wind direction 0-359 deg
-g Turn off GPS
-help Display this list of options
--help Display this list of options

If you are in the testfield and forgot the parameters, just use the "help"

$ ./gaia --help

This make testing more convienient since on can save a session with this parameters and on restart imidately have the same settings again.

=== Example ===

Starting gaia with the following parameters on the command line:

$ sw/simulator/gaia -t 3 -d 340 -w 11

This sets a 3x speedup of the time with wind coming from 340 degrees with a windspeed of 11m/s

== Other navigation patterns ==

Using the buttons in the strip, you can play with other navigation patterns: figure of eights, oval, survey of a rectangle (with a north-south sweeping), ''Circle around here'' (which sets a waypoint to the current location of the plane and flies a circle around).

== Landing ==

To automatically land the aircraft:
* Set the '''TD''' (Touch Down) waypoint where you want to land. Be sure that the waypoint is on the ground (185m in Muret)
* Set the '''AF''' (Approach Fix) waypoint where you want to start the final descent (the ''glide''). If you have set some wind with Gaia, you probably want to fly '''AF-TD''' upwind (an estimation of the wind experienced by the aircraft is displayed in the left-upper corner of the map).
* Switch to the '''Land right''' or the '''Land left''' block (icons in the strip) according to the direction of the last turn you want to do (for example, if '''AF''' is on the east side of '''TD''' and you want to maneuvre from the north, choose a '''Land right''')

== Multiple UAV Simulation ==

To simulate multiple aircrafts, you just have to launch a second simulator (tools->simulator, then -a yourairframe) and the server and the GCS should take care of the rest.

== View the simulation in Flight Gear ==

To view the simulation in [[FlightGear]], do the following:
* [[FlightGear|install Flight Gear]]
* In Paparazzi Center, add the option <tt>--fg_host 127.0.0.1</tt> (replace the IP address if FG is running on another host as appropriate) to the Simulator line and restart it, e.g.:
<path_to_paparazzi>/sw/simulator/pprzsim-launch --aircraft <your_ac_name> -t sim --boot --norc --fg_host 127.0.0.1
<div class="toccolours mw-collapsible mw-collapsed">
Prior to '''v5.0''' launchsitl was used instead of pprzsim-launch. Click expand to see the details.
<div class="mw-collapsible-content">
<path_to_paparazzi>/sw/simulator/launchsitl -a <your_ac_name> -boot -norc -fg 127.0.0.1
</div></div>
* Launch Flight Gear with the following command:
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp

=== Old version ===
For Flight Gear visualization, version 2.12 or greater with rembrand visualisation options switched on is the nicest. If you wish to use a very old version, Flightgear v2.4 or lower, you must add the following to the firmware section of your airframe file:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<define name="FG_2_4" value="1"/>
...
</firmware>
</source>
}}

[[Category:Simulation]] [[Category:Software]] [[Category:User_Documentation]]

Simulation

2017-07-07T12:55:48Z

Philipan: added hint on omitting the -norc option and updated the gaia image

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

This page describes the steps needed to run a simulated flight with an UAS.

== Available Simulators ==

Paparazzi currently has two different simulator targets with different degrees of realism and intended purpose:

# '''sim''': The basic fixedwing simulator written in OCaml without IMU simulation or any sensor models (noise, bias, etc) and mainly intended to test [[Flight_Plans|flight plan]] logic.
# '''nps''': [[NPS]] is a more advanced rotorcraft and fixedwing simulator with sensor models and commonly uses [[JSBSim]] as FDM ('''F'''light '''D'''ynamic '''M'''odel). Other FDM's can be integrated easily. At the moment CRRCSIM, YASIM and JSBSIM are tried as FDM backend.

A FDM is a set of mathematical equations used to calculate the physical forces acting on a simulated aircraft, such as thrust, lift, and drag.

== Compiling and starting ==

'''This describes the basic fixedwing sim, for rotorcraft or advanced fixedwing simulation, see [[NPS]].'''

From the [[Paparazzi_Center|Paparazzi Center]] select the Microjet aircraft (from the '''A/C''' combo box) which is configured with the <tt>basic.xml</tt> flight plan. From the '''Target''' combo box, select <tt>sim</tt> and click the '''Build''' button to compile the airbone code to be run on your Linux box. From the '''Session''' combo box, select <tt>Simulation</tt> entry and click '''Execute''' to start the simulation. It will start
three processes which are listed in the window below:
* '''Microjet''' is the interface of a simulator program. It runs the same code as the one for the autopilot processor plus a rudimentary flight dynamic model. it allows you to test the interactions with the UAV and the flight plan execution.
* '''GCS''' ([[GCS|Ground Control Station]]) is the main window. It displays the track of the aircraft, as well as informations about the execution of its flight plans. This program provide menus for the datalink functions and is able to edit a flight plan.
* '''Server''' is a hidden process which won't be described here (see [[Overview|the architecture of the system]])

== Start the Simulation ==

The aircraft has automatically been booted, as if the autopilot board had been powered. Its position and its flight parameters are displayed in the GCS window. If you omit the -boot option of the sim the aircraft is not automatically booted and you can first place the aircraft where you want it to start from and then boot.

If the -norc option is ommited, a window for a virtual remote control (including on/off switch and a mode-switch) is started:

[[file:PPRZ_Environment_settings_Gaia_GUI_up.png]]

In the GCS the map widget is able to use many map formats and display them according to many projections. To make things simple, we start by using images from [http://maps.google.com Google]. From the toolbar in the top right corner of the GCS, click the Google Earth icon ('''Google maps fill'''). The program attempts to download the required satellite images from the Google servers. If it succeeds, you should now see the nice countryside of Muret (a city close to Toulouse, France). Navigation and other features of the map are described on the [[GCS#map|GCS]] page.

The lower part of the GCS displays the flight plan in a tree view. You see that the current flight plan is composed of several ''blocks'':
* '''wait GPS''' and '''geo init''' which are instructions to run this flight plan anywhere in the world, by translating the waypoints around the current location of aircraft as soon as it is reported by the GPS.
* '''Holding point''' (it should be the current active block) which instructs the autopilot to wait for launch.
* '''Takeoff''' which will instruct the aircraft to climb full throttle to a security altitude
* '''Standby''' which is a simple circle around the '''STDBY''' waypoint.

Switch to the '''Takeoff''' block by a double click on the line or using the corresponding button (an icon figuring an airway) on the left side of the strip.

== Fly ==

In the Simulator ('''Microjet''' window), press the '''Launch''' button to simulate a hand launch or click the launch button in the GCS (the green aircraft icon). The autopilot detects the launch by monitoring the groundspeed. The flight time (in the aircraft label on the GCS) then starts to count.

Position of the aircraft is displayed on the map: the aircraft goes to the '''CLIMB''' waypoint (to the norht-west) and then around the '''STDBY''' waypoint. Current block also changes accordingly in the flight plan display.

The orange triangle (the carrot) on the map is the point that the aircraft is navigating toward.

== Line ==

Jump to this block with double-click on the <tt>Line 1-2</tt> line in the flight plan or using the corresponding button in the strip (figuring a blue line between two white points). The aircraft will try to follow a line joining the waypoints '''1''' and '''2''', doing nice U-turns at both ends.

=== Move waypoints ===

While the aircraft is flying (or here while the simulator is integrating differential equations), you can move the waypoints on the GCS interface by cliking and dragging (with the left button). When the mouse button is released, a popup window allows you to change the altitude of the waypoint. After validation, the waypoint changes are sent to the autopilot and the followed track is changed accordingly.

=== Coming back around ===

Select the '''Standby''' block (the ''home'' blue icon) to instruct the aircraft to fly around the '''STDBY''' waypoint.

== Fly too far ==

If you unzoom the map (using the PageDown key or he mouse wheel), you will see a large circle around the waypoints. This circle show the allowed flying zone that the autopilot must not leave or it will enter an emergency navigation mode and circles the '''HOME''' waypoint until the further direction is received.

Move the waypoint '''2''' out of this circle (close to the circle in the north-east corner) and switch back to the 'Line 1-2''' block to force the plane to get out of this safety zone.

The aircraft flies to the '''2''' waypoint, cross the protection enveloppe and switches to ''home'' mode: the AP mode in the aircraft strip switches from '''AUTO2''' to '''HOME'''.

To get out of this mode and switch back to the default '''AUTO2''', click on the '''AUTO2''' button in the aircraft strip. The aircraft then flies again towards '''too far''' and again swithes to '''HOME''' mode.

== Change the environment ==

Launch the '''Environment Simulator''' from the '''Tools' menu in the '''Paparazzi Center'''.

[[file:PPRZ_Environment_settings_Gaia_GUI_up.png]]

This interface, also known as '''Gaia''', allows the user to change:

* The time-scale: This make the simulation of the flight speed up time, good if you have a extensive flightpland and you do not want to wait the real time it would taketo fly the aircraft in a real life flight. It is best not use a times-cale higher than 2x for a first tryout.
* The Wind speed: Set the wind speed while simulating. Try to set it to e.g. 5m/s and observe the trajectory and the speed evolution in the aircraft strip and in the '''PFD''' page of the notebook
* The Wind direction: Set the direction the wind comse from. For fun try to take of with stong wind from the side.
* Wind up: Simulates updraft (e.g. by thermals) or downdraft wind (beside thunderstorms or in mountains, which could e.g. shift the UAS higher than permitted, which can be counteracted by exceptions in the flightplan.
* A GPS failure: Simulate GPS loss on the aircraft ('''GPS OFF''') and observe the resulting mode ('''NO_GPS''') and trajectory. In this mode, the autopilot can for example use a the failsafe roll, pitch and throttle settings defined in the airframe file. Note that in a real flight, an aircraft without GPS won't be able to send it's position ... The simulation is cheating here! It must, otherwise not possible to show the path in the simulator ofcourse.

Environment Simulator, Gaia can also be started with initial values set by command line option.

-b Bus Default is 127.255.255.255:2010
-t Set time scale (default: 1.0)
-w Set wind speed (0-30m/s)
-d Set wind direction 0-359 deg
-g Turn off GPS
-help Display this list of options
--help Display this list of options

If you are in the testfield and forgot the parameters, just use the "help"

$ ./gaia --help

This make testing more convienient since on can save a session with this parameters and on restart imidately have the same settings again.

=== Example ===

Starting gaia with the following parameters on the command line:

$ sw/simulator/gaia -t 3 -d 340 -w 11

This sets a 3x speedup of the time with wind coming from 340 degrees with a windspeed of 11m/s

== Other navigation patterns ==

Using the buttons in the strip, you can play with other navigation patterns: figure of eights, oval, survey of a rectangle (with a north-south sweeping), ''Circle around here'' (which sets a waypoint to the current location of the plane and flies a circle around).

== Landing ==

To automatically land the aircraft:
* Set the '''TD''' (Touch Down) waypoint where you want to land. Be sure that the waypoint is on the ground (185m in Muret)
* Set the '''AF''' (Approach Fix) waypoint where you want to start the final descent (the ''glide''). If you have set some wind with Gaia, you probably want to fly '''AF-TD''' upwind (an estimation of the wind experienced by the aircraft is displayed in the left-upper corner of the map).
* Switch to the '''Land right''' or the '''Land left''' block (icons in the strip) according to the direction of the last turn you want to do (for example, if '''AF''' is on the east side of '''TD''' and you want to maneuvre from the north, choose a '''Land right''')

== Multiple UAV Simulation ==

To simulate multiple aircrafts, you just have to launch a second simulator (tools->simulator, then -a yourairframe) and the server and the GCS should take care of the rest.

== View the simulation in Flight Gear ==

To view the simulation in [[FlightGear]], do the following:
* [[FlightGear|install Flight Gear]]
* In Paparazzi Center, add the option <tt>--fg_host 127.0.0.1</tt> (replace the IP address if FG is running on another host as appropriate) to the Simulator line and restart it, e.g.:
<path_to_paparazzi>/sw/simulator/pprzsim-launch --aircraft <your_ac_name> -t sim --boot --norc --fg_host 127.0.0.1
<div class="toccolours mw-collapsible mw-collapsed">
Prior to '''v5.0''' launchsitl was used instead of pprzsim-launch. Click expand to see the details.
<div class="mw-collapsible-content">
<path_to_paparazzi>/sw/simulator/launchsitl -a <your_ac_name> -boot -norc -fg 127.0.0.1
</div></div>
* Launch Flight Gear with the following command:
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp

=== Old version ===
For Flight Gear visualization, version 2.12 or greater with rembrand visualisation options switched on is the nicest. If you wish to use a very old version, Flightgear v2.4 or lower, you must add the following to the firmware section of your airframe file:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
...
<define name="FG_2_4" value="1"/>
...
</firmware>
</source>
}}

[[Category:Simulation]] [[Category:Software]] [[Category:User_Documentation]]

Sensors/GPS

2016-11-29T20:54:05Z

Philipan: ad hint on virtualbox

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div>

 

=GPS Receivers=

An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.
 

=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=

[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|240px|thumb|left|G0 GPS]]

[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.

The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.

The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.

[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.

For more information go to the [[G0|G0 GPS wiki page]].

 

=[http://swiftnav.com/ Swiftnav] Piksi=

A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]
 

=LS20031 GPS Receiver=

[[Image:ls20031.jpg|170px|thumb|left|LS20031]]
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).

More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]
 

=Globalsat BU 353=

[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]

USB US Globalsat GPS-Mouse

Typical Uses:

* Parrot AR Drone 2.0
* Ground Station GPS (direct support with Linux / gpsd)

''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''

Basic compatibility with Windows, Mac and Linux. 
More information at the [[GPS/BU_353]] site.
 

=uBlox=

[[Image:U-blox_color_warm_60.gif|100px]]
[http://www.u-blox.com uBlox is a Swiss technology company] that develops very good positioning modules. They are the recommended GPS modules for use with Paparazzi autopilots. Note that u-Blox produces the modules only. They do not sell complete boards to end users. These are sold by a multitude of vendors.

Why uBlox:
*Low cost ([[Sensors/GPS#u-blox_NEO-6M|i.e. NEO6-M]])
*Small size
*Excellent performance (u-Blox 7 and 8 series)
*Up to 10Hz update rate
*5V tolerant UART
*Works out of the box with Paparazzi's u-Blox [[Module/GPS_UBlox_UCenter|auto-configuration module]]

The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]].

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. For details take a look at the code in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.

==u-Blox LEA Series Receivers==


[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-acquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].

<source lang="xml">

<load name="gps_ubx_ucenter.xml" />
</source>

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position noise figure

 

==Paparazzi Stand-alone uBlox GPS Receivers==

<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi source provides a design for an external GPS board. An external GPS board is required for other boards like Lisa, TWOG, Elle0 and Classix.
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.

The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.


===Wiring Diagram===

{|align = none
|-
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]
|}

===uBlox to ARdrone 2===

[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2
 

==3rd Party u-blox Reference Design Boards==


[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well.


The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART.


The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.


 

==NAVILOCK NL-507ETTL==

[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

==SPK GS407==

[[Image:GS407.jpg|thumb|left|SPK GS407]]
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.
 

==u-blox NEO-6M==

[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].

They come with different (sized) patch antenna, mounted on a separate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be separated by hand.
 

==Navilock NL-652ETTL==

Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]

==u-Blox C04-6H Reference Design==

[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.
 

==Drotek Boards==
[http://www.drotek.com Drotek's] u-Blox GPS boards work well and are not expensive.

==uBlox GPS configuration==

===using U-Center===

''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list or the Gitter chat and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.''

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this (assuming your serial device is /dev/ttyUSB0):
mkdir -p ~/.wine/dosdevices
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1

This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''

* Note 4: You can run u-center on Linux also by installing Win10 in Virtualbox and Guest Additions for Activating USB devices. This works fine e.g. on Ubuntu 16.04.

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accommodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]).
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===

Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]
* [[Media:Hk_NEO-6M.zip‎| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]
* [[Media:Drotek_NEO_M8_38400.txt.zip |Drotek NEO-M8 at Baud 38400]]

===Automatic Configuration at Startup===

You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.

===Manual Configuration===

If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

# Right Click on the '''NMEA''' Icon and choose '''disable child'''
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.

====LEA-6H====

We use the same configuration as for version 5

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better 
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver. Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)

====NEO-M8====

* UBX - CFG - PRT: disable NMEA output (only UBX protocol)
{|align = center
|-
[[Image:u-center-prt.png|thumb|left|U-Center-PRT]]
|}
 

* UBX - CFG - MSG: activate POSLLH, VELNED, SOL, STATUS, SVINFO messages for UART1
{|align = center
|-
[[Image:u-center-msg.png|thumb|left|U-Center-MSG]]
|}
 

==uBlox Tips==

===Reset to Default Settings===

The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===Invalid argument===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].

===WAAS issues===

WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.

The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled.

===Assist Now===
u-Blox modules that have a flash memory can keep the almanac correction data for up to 35 days into the future. That will give you a 3d GPS fix within seconds. [https://www.u-blox.com/en/assistnow-lock-your-position-instantly AssitNow] Offline data can be uploaded to the module while it is connected to the u-center application. To use this feature you need to provide a u-Blox account credentials that you can receive from the [https://www.u-blox.com/en/assistnow-service-registration-form u-Blox registration site].

===Antenna options for the Tiny and Paparazzi GPS units===
See [[GPS/Antenna]].

=Tips=

There is a huge amount of good information on the Internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.

==EGNOS==

EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

==DGPS (Differential GPS)==

Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio receiver. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]

File:U-center-msg.png

2016-11-29T20:43:36Z

Philipan:

File:U-center-prt.png

2016-11-29T20:42:49Z

Philipan:

Sensors/GPS

2016-11-29T20:42:23Z

Philipan: jpg 2 png

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div>

 

=GPS Receivers=

An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.
 

=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=

[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|240px|thumb|left|G0 GPS]]

[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.

The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.

The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.

[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.

For more information go to the [[G0|G0 GPS wiki page]].

 

=[http://swiftnav.com/ Swiftnav] Piksi=

A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]
 

=LS20031 GPS Receiver=

[[Image:ls20031.jpg|170px|thumb|left|LS20031]]
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).

More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]
 

=Globalsat BU 353=

[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]

USB US Globalsat GPS-Mouse

Typical Uses:

* Parrot AR Drone 2.0
* Ground Station GPS (direct support with Linux / gpsd)

''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''

Basic compatibility with Windows, Mac and Linux. 
More information at the [[GPS/BU_353]] site.
 

=uBlox=

[[Image:U-blox_color_warm_60.gif|100px]]
[http://www.u-blox.com uBlox is a Swiss technology company] that develops very good positioning modules. They are the recommended GPS modules for use with Paparazzi autopilots. Note that u-Blox produces the modules only. They do not sell complete boards to end users. These are sold by a multitude of vendors.

Why uBlox:
*Low cost ([[Sensors/GPS#u-blox_NEO-6M|i.e. NEO6-M]])
*Small size
*Excellent performance (u-Blox 7 and 8 series)
*Up to 10Hz update rate
*5V tolerant UART
*Works out of the box with Paparazzi's u-Blox [[Module/GPS_UBlox_UCenter|auto-configuration module]]

The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]].

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. For details take a look at the code in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.

==u-Blox LEA Series Receivers==


[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-acquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].

<source lang="xml">

<load name="gps_ubx_ucenter.xml" />
</source>

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position noise figure

 

==Paparazzi Stand-alone uBlox GPS Receivers==

<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi source provides a design for an external GPS board. An external GPS board is required for other boards like Lisa, TWOG, Elle0 and Classix.
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.

The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.


===Wiring Diagram===

{|align = none
|-
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]
|}

===uBlox to ARdrone 2===

[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2
 

==3rd Party u-blox Reference Design Boards==


[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well.


The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART.


The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.


 

==NAVILOCK NL-507ETTL==

[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

==SPK GS407==

[[Image:GS407.jpg|thumb|left|SPK GS407]]
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.
 

==u-blox NEO-6M==

[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].

They come with different (sized) patch antenna, mounted on a separate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be separated by hand.
 

==Navilock NL-652ETTL==

Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]

==u-Blox C04-6H Reference Design==

[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.
 

==Drotek Boards==
[http://www.drotek.com Drotek's] u-Blox GPS boards work well and are not expensive.

==uBlox GPS configuration==

===using U-Center===

''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list or the Gitter chat and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.''

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this (assuming your serial device is /dev/ttyUSB0):
mkdir -p ~/.wine/dosdevices
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1

This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accommodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]).
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===

Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]
* [[Media:Hk_NEO-6M.zip‎| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]
* [[Media:Drotek_NEO_M8_38400.txt.zip |Drotek NEO-M8 at Baud 38400]]

===Automatic Configuration at Startup===

You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.

===Manual Configuration===

If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

# Right Click on the '''NMEA''' Icon and choose '''disable child'''
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.

====LEA-6H====

We use the same configuration as for version 5

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better 
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver. Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)

====NEO-M8====

* UBX - CFG - PRT: disable NMEA output (only UBX protocol)
{|align = center
|-
[[Image:u-center-prt.png|thumb|left|U-Center-PRT]]
|}
 

* UBX - CFG - MSG: activate POSLLH, VELNED, SOL, STATUS, SVINFO messages for UART1
{|align = center
|-
[[Image:u-center-msg.png|thumb|left|U-Center-MSG]]
|}
 

==uBlox Tips==

===Reset to Default Settings===

The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===Invalid argument===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].

===WAAS issues===

WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.

The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled.

===Assist Now===
u-Blox modules that have a flash memory can keep the almanac correction data for up to 35 days into the future. That will give you a 3d GPS fix within seconds. [https://www.u-blox.com/en/assistnow-lock-your-position-instantly AssitNow] Offline data can be uploaded to the module while it is connected to the u-center application. To use this feature you need to provide a u-Blox account credentials that you can receive from the [https://www.u-blox.com/en/assistnow-service-registration-form u-Blox registration site].

===Antenna options for the Tiny and Paparazzi GPS units===
See [[GPS/Antenna]].

=Tips=

There is a huge amount of good information on the Internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.

==EGNOS==

EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

==DGPS (Differential GPS)==

Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio receiver. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]

File:Drotek NEO M8 38400.txt.zip

2016-11-29T20:36:32Z

Philipan:

Sensors/GPS

2016-11-29T20:36:06Z

Philipan: add manual config for neo-m8

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div>

 

=GPS Receivers=

An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.
 

=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=

[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|240px|thumb|left|G0 GPS]]

[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.

The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.

The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.

[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.

For more information go to the [[G0|G0 GPS wiki page]].

 

=[http://swiftnav.com/ Swiftnav] Piksi=

A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]
 

=LS20031 GPS Receiver=

[[Image:ls20031.jpg|170px|thumb|left|LS20031]]
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).

More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]
 

=Globalsat BU 353=

[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]

USB US Globalsat GPS-Mouse

Typical Uses:

* Parrot AR Drone 2.0
* Ground Station GPS (direct support with Linux / gpsd)

''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''

Basic compatibility with Windows, Mac and Linux. 
More information at the [[GPS/BU_353]] site.
 

=uBlox=

[[Image:U-blox_color_warm_60.gif|100px]]
[http://www.u-blox.com uBlox is a Swiss technology company] that develops very good positioning modules. They are the recommended GPS modules for use with Paparazzi autopilots. Note that u-Blox produces the modules only. They do not sell complete boards to end users. These are sold by a multitude of vendors.

Why uBlox:
*Low cost ([[Sensors/GPS#u-blox_NEO-6M|i.e. NEO6-M]])
*Small size
*Excellent performance (u-Blox 7 and 8 series)
*Up to 10Hz update rate
*5V tolerant UART
*Works out of the box with Paparazzi's u-Blox [[Module/GPS_UBlox_UCenter|auto-configuration module]]

The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]].

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. For details take a look at the code in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.

==u-Blox LEA Series Receivers==


[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-acquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].

<source lang="xml">

<load name="gps_ubx_ucenter.xml" />
</source>

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position noise figure

 

==Paparazzi Stand-alone uBlox GPS Receivers==

<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi source provides a design for an external GPS board. An external GPS board is required for other boards like Lisa, TWOG, Elle0 and Classix.
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.

The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.


===Wiring Diagram===

{|align = none
|-
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]
|}

===uBlox to ARdrone 2===

[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2
 

==3rd Party u-blox Reference Design Boards==


[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well.


The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART.


The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.


 

==NAVILOCK NL-507ETTL==

[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

==SPK GS407==

[[Image:GS407.jpg|thumb|left|SPK GS407]]
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.
 

==u-blox NEO-6M==

[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].

They come with different (sized) patch antenna, mounted on a separate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be separated by hand.
 

==Navilock NL-652ETTL==

Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]

==u-Blox C04-6H Reference Design==

[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.
 

==Drotek Boards==
[http://www.drotek.com Drotek's] u-Blox GPS boards work well and are not expensive.

==uBlox GPS configuration==

===using U-Center===

''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list or the Gitter chat and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.''

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this (assuming your serial device is /dev/ttyUSB0):
mkdir -p ~/.wine/dosdevices
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1

This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accommodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]).
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===

Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]
* [[Media:Hk_NEO-6M.zip‎| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]
* [[Media:Drotek_NEO_M8_38400.txt.zip |Drotek NEO-M8 at Baud 38400]]

===Automatic Configuration at Startup===

You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.

===Manual Configuration===

If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

# Right Click on the '''NMEA''' Icon and choose '''disable child'''
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.

====LEA-6H====

We use the same configuration as for version 5

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better 
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver. Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)

====NEO-M8====

* UBX - CFG - PRT: disable NMEA output (only UBX protocol)
{|align = center
|-
[[Image:u-center-prt.jpg|thumb|left|U-Center-PRT]]
|}
 

* UBX - CFG - MSG: activate POSLLH, VELNED, SOL, STATUS, SVINFO messages for UART1
{|align = center
|-
[[Image:u-center-msg.jpg|thumb|left|U-Center-MSG]]
|}
 

==uBlox Tips==

===Reset to Default Settings===

The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===Invalid argument===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].

===WAAS issues===

WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.

The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled.

===Assist Now===
u-Blox modules that have a flash memory can keep the almanac correction data for up to 35 days into the future. That will give you a 3d GPS fix within seconds. [https://www.u-blox.com/en/assistnow-lock-your-position-instantly AssitNow] Offline data can be uploaded to the module while it is connected to the u-center application. To use this feature you need to provide a u-Blox account credentials that you can receive from the [https://www.u-blox.com/en/assistnow-service-registration-form u-Blox registration site].

===Antenna options for the Tiny and Paparazzi GPS units===
See [[GPS/Antenna]].

=Tips=

There is a huge amount of good information on the Internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.

==EGNOS==

EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

==DGPS (Differential GPS)==

Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio receiver. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]

Sensors/GPS

2016-11-27T16:06:22Z

Philipan: add config info

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div>

 

=GPS Receivers=

An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.
 

=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=

[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|240px|thumb|left|G0 GPS]]

[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.

The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.

The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.

[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.

For more information go to the [[G0|G0 GPS wiki page]].

 

=[http://swiftnav.com/ Swiftnav] Piksi=

A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]
 

=LS20031 GPS Receiver=

[[Image:ls20031.jpg|170px|thumb|left|LS20031]]
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).

More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]
 

=Globalsat BU 353=

[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]

USB US Globalsat GPS-Mouse

Typical Uses:

* Parrot AR Drone 2.0
* Ground Station GPS (direct support with Linux / gpsd)

''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''

Basic compatibility with Windows, Mac and Linux. 
More information at the [[GPS/BU_353]] site.
 

=uBlox=

[[Image:U-blox_color_warm_60.gif|100px]]
[http://www.u-blox.com uBlox is a Swiss technology company] that develops very good positioning modules. They are the recommended GPS modules for use with Paparazzi autopilots. Note that u-Blox produces the modules only. They do not sell complete boards to end users. These are sold by a multitude of vendors.

Why uBlox:
*Low cost ([[Sensors/GPS#u-blox_NEO-6M|i.e. NEO6-M]])
*Small size
*Excellent performance (u-Blox 7 and 8 series)
*Up to 10Hz update rate
*5V tolerant UART
*Works out of the box with Paparazzi's u-Blox [[Module/GPS_UBlox_UCenter|auto-configuration module]]

The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]].

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. For details take a look at the code in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.

==u-Blox LEA Series Receivers==


[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-acquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].

<source lang="xml">

<load name="gps_ubx_ucenter.xml" />
</source>

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position noise figure

 

==Paparazzi Stand-alone uBlox GPS Receivers==

<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi source provides a design for an external GPS board. An external GPS board is required for other boards like Lisa, TWOG, Elle0 and Classix.
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.

The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.


===Wiring Diagram===

{|align = none
|-
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]
|}

===uBlox to ARdrone 2===

[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2
 

==3rd Party u-blox Reference Design Boards==


[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well.


The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART.


The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.


 

==NAVILOCK NL-507ETTL==

[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

==SPK GS407==

[[Image:GS407.jpg|thumb|left|SPK GS407]]
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.
 

==u-blox NEO-6M==

[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].

They come with different (sized) patch antenna, mounted on a separate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be separated by hand.
 

==Navilock NL-652ETTL==

Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]

==u-Blox C04-6H Reference Design==

[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.
 

==Drotek Boards==
[http://www.drotek.com Drotek's] u-Blox GPS boards work well and are not expensive.

==uBlox GPS configuration==

===using U-Center===

''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list or the Gitter chat and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.''

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this (assuming your serial device is /dev/ttyUSB0):
mkdir -p ~/.wine/dosdevices
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1

This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accommodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]).
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===

Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]
* [[Media:Hk_NEO-6M.zip‎| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]
* [[Media:Drotek_NEO_M8.txt.zip|Drotek NEO-M8]] (disable NMEA output (only UBX protocol) and activate POSLLH, VELNED, SOL, STATUS, SVINFO messages for UART1)

===Automatic Configuration at Startup===

You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.

===Manual Configuration===

If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

# Right Click on the '''NMEA''' Icon and choose '''disable child'''
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.

====LEA-6H====

We use the same configuration as for version 5

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better 
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver. Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)

==uBlox Tips==

===Reset to Default Settings===

The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===Invalid argument===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].

===WAAS issues===

WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.

The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled.

===Assist Now===
u-Blox modules that have a flash memory can keep the almanac correction data for up to 35 days into the future. That will give you a 3d GPS fix within seconds. [https://www.u-blox.com/en/assistnow-lock-your-position-instantly AssitNow] Offline data can be uploaded to the module while it is connected to the u-center application. To use this feature you need to provide a u-Blox account credentials that you can receive from the [https://www.u-blox.com/en/assistnow-service-registration-form u-Blox registration site].

===Antenna options for the Tiny and Paparazzi GPS units===
See [[GPS/Antenna]].

=Tips=

There is a huge amount of good information on the Internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.

==EGNOS==

EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

==DGPS (Differential GPS)==

Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio receiver. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]

File:Drotek NEO M8.txt.zip

2016-11-27T15:44:58Z

Philipan:

Sensors/GPS

2016-11-27T15:44:09Z

Philipan: corrected 8M to M8

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div>

 

=GPS Receivers=

An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.
 

=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=

[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|240px|thumb|left|G0 GPS]]

[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.

The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.

The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.

[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.

For more information go to the [[G0|G0 GPS wiki page]].

 

=[http://swiftnav.com/ Swiftnav] Piksi=

A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]
 

=LS20031 GPS Receiver=

[[Image:ls20031.jpg|170px|thumb|left|LS20031]]
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).

More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]
 

=Globalsat BU 353=

[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]

USB US Globalsat GPS-Mouse

Typical Uses:

* Parrot AR Drone 2.0
* Ground Station GPS (direct support with Linux / gpsd)

''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''

Basic compatibility with Windows, Mac and Linux. 
More information at the [[GPS/BU_353]] site.
 

=uBlox=

[[Image:U-blox_color_warm_60.gif|100px]]
[http://www.u-blox.com uBlox is a Swiss technology company] that develops very good positioning modules. They are the recommended GPS modules for use with Paparazzi autopilots. Note that u-Blox produces the modules only. They do not sell complete boards to end users. These are sold by a multitude of vendors.

Why uBlox:
*Low cost ([[Sensors/GPS#u-blox_NEO-6M|i.e. NEO6-M]])
*Small size
*Excellent performance (u-Blox 7 and 8 series)
*Up to 10Hz update rate
*5V tolerant UART
*Works out of the box with Paparazzi's u-Blox [[Module/GPS_UBlox_UCenter|auto-configuration module]]

The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]].

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. For details take a look at the code in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.

==u-Blox LEA Series Receivers==


[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-acquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].

<source lang="xml">

<load name="gps_ubx_ucenter.xml" />
</source>

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position noise figure

 

==Paparazzi Stand-alone uBlox GPS Receivers==

<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi source provides a design for an external GPS board. An external GPS board is required for other boards like Lisa, TWOG, Elle0 and Classix.
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.

The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.


===Wiring Diagram===

{|align = none
|-
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]
|}

===uBlox to ARdrone 2===

[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2
 

==3rd Party u-blox Reference Design Boards==


[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well.


The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART.


The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.


 

==NAVILOCK NL-507ETTL==

[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

==SPK GS407==

[[Image:GS407.jpg|thumb|left|SPK GS407]]
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.
 

==u-blox NEO-6M==

[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].

They come with different (sized) patch antenna, mounted on a separate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be separated by hand.
 

==Navilock NL-652ETTL==

Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]

==u-Blox C04-6H Reference Design==

[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.
 

==Drotek Boards==
[http://www.drotek.com Drotek's] u-Blox GPS boards work well and are not expensive.

==uBlox GPS configuration==

===using U-Center===

''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list or the Gitter chat and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.''

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this (assuming your serial device is /dev/ttyUSB0):
mkdir -p ~/.wine/dosdevices
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1

This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accommodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]).
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===

Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]
* [[Media:Hk_NEO-6M.zip‎| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]
* [[Media:Drotek_NEO_M8.txt.zip|Drotek NEO-M8]]

===Automatic Configuration at Startup===

You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.

===Manual Configuration===

If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

# Right Click on the '''NMEA''' Icon and choose '''disable child'''
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.

====LEA-6H====

We use the same configuration as for version 5

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better 
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver. Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)

==uBlox Tips==

===Reset to Default Settings===

The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===Invalid argument===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].

===WAAS issues===

WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.

The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled.

===Assist Now===
u-Blox modules that have a flash memory can keep the almanac correction data for up to 35 days into the future. That will give you a 3d GPS fix within seconds. [https://www.u-blox.com/en/assistnow-lock-your-position-instantly AssitNow] Offline data can be uploaded to the module while it is connected to the u-center application. To use this feature you need to provide a u-Blox account credentials that you can receive from the [https://www.u-blox.com/en/assistnow-service-registration-form u-Blox registration site].

===Antenna options for the Tiny and Paparazzi GPS units===
See [[GPS/Antenna]].

=Tips=

There is a huge amount of good information on the Internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.

==EGNOS==

EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

==DGPS (Differential GPS)==

Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio receiver. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]

File:Drotek NEO 8M.txt.zip

2016-11-27T15:37:17Z

Philipan:

Sensors/GPS

2016-11-27T15:36:57Z

Philipan: gz to zip

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div>

 

=GPS Receivers=

An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.
 

=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=

[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|240px|thumb|left|G0 GPS]]

[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.

The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.

The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.

[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.

For more information go to the [[G0|G0 GPS wiki page]].

 

=[http://swiftnav.com/ Swiftnav] Piksi=

A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]
 

=LS20031 GPS Receiver=

[[Image:ls20031.jpg|170px|thumb|left|LS20031]]
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).

More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]
 

=Globalsat BU 353=

[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]

USB US Globalsat GPS-Mouse

Typical Uses:

* Parrot AR Drone 2.0
* Ground Station GPS (direct support with Linux / gpsd)

''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''

Basic compatibility with Windows, Mac and Linux. 
More information at the [[GPS/BU_353]] site.
 

=uBlox=

[[Image:U-blox_color_warm_60.gif|100px]]
[http://www.u-blox.com uBlox is a Swiss technology company] that develops very good positioning modules. They are the recommended GPS modules for use with Paparazzi autopilots. Note that u-Blox produces the modules only. They do not sell complete boards to end users. These are sold by a multitude of vendors.

Why uBlox:
*Low cost ([[Sensors/GPS#u-blox_NEO-6M|i.e. NEO6-M]])
*Small size
*Excellent performance (u-Blox 7 and 8 series)
*Up to 10Hz update rate
*5V tolerant UART
*Works out of the box with Paparazzi's u-Blox [[Module/GPS_UBlox_UCenter|auto-configuration module]]

The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]].

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. For details take a look at the code in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.

==u-Blox LEA Series Receivers==


[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-acquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].

<source lang="xml">

<load name="gps_ubx_ucenter.xml" />
</source>

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position noise figure

 

==Paparazzi Stand-alone uBlox GPS Receivers==

<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi source provides a design for an external GPS board. An external GPS board is required for other boards like Lisa, TWOG, Elle0 and Classix.
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.

The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.


===Wiring Diagram===

{|align = none
|-
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]
|}

===uBlox to ARdrone 2===

[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2
 

==3rd Party u-blox Reference Design Boards==


[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well.


The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART.


The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.


 

==NAVILOCK NL-507ETTL==

[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

==SPK GS407==

[[Image:GS407.jpg|thumb|left|SPK GS407]]
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.
 

==u-blox NEO-6M==

[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].

They come with different (sized) patch antenna, mounted on a separate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be separated by hand.
 

==Navilock NL-652ETTL==

Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]

==u-Blox C04-6H Reference Design==

[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.
 

==Drotek Boards==
[http://www.drotek.com Drotek's] u-Blox GPS boards work well and are not expensive.

==uBlox GPS configuration==

===using U-Center===

''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list or the Gitter chat and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.''

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this (assuming your serial device is /dev/ttyUSB0):
mkdir -p ~/.wine/dosdevices
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1

This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accommodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]).
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===

Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]
* [[Media:Hk_NEO-6M.zip‎| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]
* [[Media:Drotek_NEO_8M.txt.zip|Drotek NEO-8M]]

===Automatic Configuration at Startup===

You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.

===Manual Configuration===

If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

# Right Click on the '''NMEA''' Icon and choose '''disable child'''
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.

====LEA-6H====

We use the same configuration as for version 5

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better 
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver. Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)

==uBlox Tips==

===Reset to Default Settings===

The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===Invalid argument===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].

===WAAS issues===

WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.

The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled.

===Assist Now===
u-Blox modules that have a flash memory can keep the almanac correction data for up to 35 days into the future. That will give you a 3d GPS fix within seconds. [https://www.u-blox.com/en/assistnow-lock-your-position-instantly AssitNow] Offline data can be uploaded to the module while it is connected to the u-center application. To use this feature you need to provide a u-Blox account credentials that you can receive from the [https://www.u-blox.com/en/assistnow-service-registration-form u-Blox registration site].

===Antenna options for the Tiny and Paparazzi GPS units===
See [[GPS/Antenna]].

=Tips=

There is a huge amount of good information on the Internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.

==EGNOS==

EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

==DGPS (Differential GPS)==

Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio receiver. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]

Sensors/GPS

2016-11-27T15:33:35Z

Philipan: added config file for NEO-8M

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
<div style="float:left; clear:left; margin-right:2ex; padding: 0.7ex;">__TOC__</div>

 

=GPS Receivers=

An overview of GPS receivers used in combination with Paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you have used with Paparazzi that is not listed here, it would be great if you could add that information to this page.
 

=[http://1bitsquared.com 1BitSquared] [http://1bitsquared.com/products/g0-gps G0 GPS]=

[[Image:G0_GPS_V1_1_Top_with_skirt.jpeg|240px|thumb|left|G0 GPS]]

[http://1bitsquared.com 1BitSquared] sells a Paparazzi UAV compatible GPS module called [[G0]]. It is designed to neatly fit on top of the [[Elle0]] autopilot. It can also be used with any other Paparazzi UAV compatible hardware. [[G0]] GPS module features a large ground plane with optional ground plane skirt, as well as RF shielding on the back of the module.

The large ground plane improves the directionality of the unit helping reject multi-path. When using the [[G0]] GPS unit on a multi-copter it results in less drift when taking off the ground, and improves GPS lock when flying from waypoint to waypoint.

The EMI shielding on the back of the unit decreases the amount of noise injected from the aircraft avionics into the GPS unit, improving the noise to signal ratio. An increased signal results in a more robust satellite lock, and more reliable fully autonomous and guided flight operations.

[[G0]] GPS module is using a U-Blox that is providing very fast speed updates that are crucial for accurate navigation within Paparazzi UAV. Additionally Paparazzi UAV supports the binary U-Blox protocol that is very efficient to parse compared to the very vaguely defined NMEA text protocol. Just enable the UCenter Module in your airframe file and Paparazzi will configure the module for best performance without the need for user interaction.

For more information go to the [[G0|G0 GPS wiki page]].

 

=[http://swiftnav.com/ Swiftnav] Piksi=

A very special receiver is the OpenSource (almost all...) Swiftnav Piksi GPS receiver. How to use this device with Paparazzi is described on the a specific page
[[Image:Piksi_GPS_back.jpg|200px|thumb|left|Swiftnav Piksi]]
 

=LS20031 GPS Receiver=

[[Image:ls20031.jpg|170px|thumb|left|LS20031]]
Sparkfun sells the LS20031 GPS module which uses NMEA (Paparazzi support for NMEA is BETA right now.) This Locosys GPS module supports WAAS (U.S. DGPS), EGNOS (EU DGPS), and MSAS (Japanese DGPS).

More information on configuring the GPS via PMTK can be found [http://dallasmakerspace.org/wiki/LS20031_GPS here]
 

=Globalsat BU 353=

[[Image:BU-353_gps_receiver.jpg|thumb|left|170px|BU-353 GPS receiver]]

USB US Globalsat GPS-Mouse

Typical Uses:

* Parrot AR Drone 2.0
* Ground Station GPS (direct support with Linux / gpsd)

''Not appropriate for many airborne applications due to extra USB-serial circuitry and weight of housing and internal magnet''

Basic compatibility with Windows, Mac and Linux. 
More information at the [[GPS/BU_353]] site.
 

=uBlox=

[[Image:U-blox_color_warm_60.gif|100px]]
[http://www.u-blox.com uBlox is a Swiss technology company] that develops very good positioning modules. They are the recommended GPS modules for use with Paparazzi autopilots. Note that u-Blox produces the modules only. They do not sell complete boards to end users. These are sold by a multitude of vendors.

Why uBlox:
*Low cost ([[Sensors/GPS#u-blox_NEO-6M|i.e. NEO6-M]])
*Small size
*Excellent performance (u-Blox 7 and 8 series)
*Up to 10Hz update rate
*5V tolerant UART
*Works out of the box with Paparazzi's u-Blox [[Module/GPS_UBlox_UCenter|auto-configuration module]]

The '''[[Tiny]]''' series features an onboard LEA series GPS receiver and patch antenna, while most other boards boards require an external receiver+antenna such as the [[#Paparazzi_Stand-alone_GPS_Receivers|Paparazzi GPS]] or [[#u-Blox_SAM-LS_GPS_Smart_Antenna|SAM-LS]].

{|align = center
|-
|[[Image:Lea big.jpg|200px|thumb|center|u-blox LEA GPS Receiver]]
|[[Image:Ublox_SAM-LS.jpg|200px|thumb|center|u-Blox SAM-LS GPS receiver (w/built-in Smart Antenna)]]
|[[Image:UBlox_LEA-6H_Sarantel_Helix_s.jpg|200px|thumb|center|u-Blox LEA-6H GPS receiver with Sarantel Helix Antenna]]
|}

'''Note:''' The proprietary UBX protocol is used as it offers more information and efficiency than the universal NMEA protocol. For details take a look at the code in <tt>sw/airborne/subsystems/gps/gps_ubx.c</tt>.

==u-Blox LEA Series Receivers==


[[Image:Lea5htiny13.jpg|thumb|left|200px|LEA-5H installed on the Tiny]]
The '''[[Lisa]]''' series, '''[[Twog_v1|TWOG]]''', '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external GPS module and antenna. The '''[[Tiny]]''' features an integrated receiver and antenna. Either type is designed for [http://www.u-blox.com/ u-blox] 4, 5 and 6 series GPS receivers and the proprietary UBX binary protocol. An external battery or capacitor is typically used to enable the GPS to retain data while powered off for significantly faster signal re-acquisition. Any of the LEA-4, LEA-5 and LEA-6 series receivers can be used including the less expensive LEA-4A, 4S, 5A and 5S and similar low cost 6-series models as the special boot configuration code required for these models is already written as a [[Module/GPS_UBlox_UCenter|module]].

<source lang="xml">

<load name="gps_ubx_ucenter.xml" />
</source>

*4Hz Position update rate
*Supports active or passive antennas
*Supports [http://en.wikipedia.org/wiki/DGPS DGPS], [http://en.wikipedia.org/wiki/WAAS WAAS], [http://en.wikipedia.org/wiki/EGNOS EGNOS], and [http://en.wikipedia.org/wiki/MSAS MSAS]
*Low position noise figure

 

==Paparazzi Stand-alone uBlox GPS Receivers==

<gallery>
Image:Ppzgps13med01.jpg|Top
Image:Ppzgps13_lrg_02.jpg|Bottom
</gallery>
Paparazzi source provides a design for an external GPS board. An external GPS board is required for other boards like Lisa, TWOG, Elle0 and Classix.
Programming it is similar to the Tiny2.11 GPS configuration. If you build your own you will want to upload the latest u-blox firmware before you configure. See [[Get Hardware]] for sources of assembled boards.

The Paparazzi design in https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/gps/gps_13. The board is very small and light as it has only the components required. It is powered from the 5v line on the "downloads" connector of a TWOG. Also note it is a 4-layer PCB that means better noise resistance. The board has pins for USB connection but requires a different cable and a solder jumper to be move from the ground (default) to 3.3v input to enable the USB port on the module.


[http://paparazzi.enac.fr/wiki_images/Gps_13_BOM.xls V1 BOM.xls] 
[http://paparazzi.enac.fr/wiki_images/TinygpsBOM.txt Eagle Parts List Output.txt] 
See [[Get_Hardware|Get Hardware]] page for suppliers.


===Wiring Diagram===

{|align = none
|-
|[[Image:TWOG to GPS.jpg|200px|thumb|center|TWOG to Standalone GPS Cable Schematic]]
|[[Image:gps13v09FTDIcable.jpg|200px|thumb|center|GPS13 v0.9 Ucenter cable (ftdi)]]
|[[Image:booz gps.jpg|200px|thumb|center|BoozGPS (quadrotor gps V1.1 2009/5) Ucenter cable (ftdi)]]
|}

===uBlox to ARdrone 2===

[[Image:HowtoConnectUSBHelixGPSForParrotARDrone2.jpg|thumb|left|How to connect USB to uBlox Helix GPS for Parrot ARDrone2]]
To connect a uBlox with Helix antenna via a USB to serial cable that you can just plug into your ARdrone 2
 

==3rd Party u-blox Reference Design Boards==


[[Image:LEA5HExternalModulePinout.jpg|thumb|left|LEA-5H Full Board Pinout]]
The only other GPS board in use seems to be u-blox reference designs or similar to it. They have LEA-4H, LEA-5H and LEA-6H (typically) and several interfaces. Often a larger antenna as well.


The board in the photo is a [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Receiver-Boards.asp RF DESIGN] LEA-5H-SMART.


The jumpers adjacent to the TTL interface connectors need to be closed with low value resistors for paparazzi uart port use. Also a [http://nz.element14.com/jsp/search/productdetail.jsp?SKU=1514218 battery] has to be added with an appropriate charging resistor to enable RTC functionality.


 

==NAVILOCK NL-507ETTL==

[[Image:Navilock NL-507ETTL.jpg|thumb|left|NAVILOCK NL-507TTL]]
The NAVILOCK NL-507TTL u-blox TTL Modul 60416 features an LEA-4 series receiver and 25mm patch antenna on a 30mm x 30mm board.
* Datasheet: [http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481 http://www.navilock.de/download/Dokumente_SLASH_Sonstiges/60415_-_Datenblatt_u-blox_GPS_Module/481]
* Purchase: Available for 28€ at [http://www.amazon.de/Navilock-NL-507TTL-u-blox-TTL-Modul/dp/B0011E6VQG www.amazon.de]
 

==SPK GS407==

[[Image:GS407.jpg|thumb|left|SPK GS407]]
[https://www.sparkfun.com/products/11466 This] is the model Sparkfun recommends as a replacement for the old GS406. It's essentially the same, but uses the newer 6-series receiver, and is not using a ribbon cable as an interface. It uses [http://www.sarantel.com/products/sl1206 Sarantels] SL1206 active antenna.
It's recommended to buy [https://www.sparkfun.com/products/574 This extension cable] to use with it.
 

==u-blox NEO-6M==

[[Image:Hk neo gps.jpg|thumb|left|Hobbyking NEO 6M back]]
This is the cheapest GPS module with antenna for ~13€ at [http://www.hobbyking.com/hobbyking/store/__31135__NEO_6M_GPS_Module.html Hobbyking].

They come with different (sized) patch antenna, mounted on a separate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be separated by hand.
 

==Navilock NL-652ETTL==

Nice module with u-blox 6 chip and without the annoying cable that the HK NEO-6m has.
[http://www.navilock.de/produkte/G_61846/merkmale.html?setLanguage=en Navilock NL-652ETTL]

==u-Blox C04-6H Reference Design==

[[Image:abavimage.jpg|thumb|left|u-blox C04-5H]]
u-Blox sells a complete module with antenna for around $200 and will also provide complete schematics, BOM, and PCB files for free if you wish to make your own. Two versions are offered, one with an 18mm patch antenna and the other with the Sarantel P2 helical antenna.
See [http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html http://www.ublox.com/en/evaluation-tools-a-software/reference-designs/for-gps-chips/c04-6h.html] for more info.
 

==Drotek Boards==
[http://www.drotek.com Drotek's] u-Blox GPS boards work well and are not expensive.

==uBlox GPS configuration==

===using U-Center===

''Note: Before attempting manual configuration consider using the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] instead. If automatic configuration does not work with more recent modules you should report it to the mailing list or the Gitter chat and may attempt the manual procedure below. But be aware that a wrong configuration can cause Paparazzi not acquiring any GPS lock for sometimes hard to find reasons.''

[[Image:U-center_screencap.jpg|thumb|u-center configuration software]]
[http://www.u-blox.com/products/u_center.html U-Center] is a very comprehensive freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html Download u-center]

* Note 1: You must [[tunnel|install the UART tunnel firmware]] to enable direct access to the built-in GPS on the [[Tiny|Tiny]].

* Note 2: You will need a driver for your FTDI cable if you run u-center on Windows, which can be found [http://www.ftdichip.com/Drivers/D2XX.htm here].

* Note 3: You can run u-center on Linux by installing "Wine" ([http://www.winehq.org/site/download-deb Installation of Wine]) and set up COM1 as /dev/ttyUSB0. You need to create a symbolic link from the COM device to TTY like this (assuming your serial device is /dev/ttyUSB0):
mkdir -p ~/.wine/dosdevices
ln -s /dev/ttyUSB0 ~/.wine/dosdevices/COM1

or what worked in Ubuntu 9.10

ln -s /dev/ttyUSB0 ~/.wine/dosdevices/com1

This command will create the symbolic link from ttyUSB0 to COM1. See Info on Wine for "dosdevices" setup. Just download the u-setup.exe and run it with Wine, follow prompts. This has been tested with Ubuntu7.10 and Ubuntu 8.04 so far.

''Depending on your connection method and your udev configuration your serial device may have a different path. Just look it up using <code>dmesg</code> or <code>tail -f /var/log/syslog</code> after plugging in.''

The u-blox and Tiny UARTs both operate at 3.3V TTL levels and are 5V TTL tolerant. You must use a level shifter such as the common MAX232 to connect these devices to a standard PC serial port. The easiest and most recommended method is to connect to a USB port instead of serial with an [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. You can also use the [[UU0]] adapter designed and manufactured by [[1BitSquared]]. Instead of a cable it has a USB-A connector directly on the board. Other similar converters are available from [http://www.pololu.com/products/pololu/0391/ pololu] / [http://www.sparkfun.com/commerce/product_info.php?products_id=199 sparkfun]. A stand-alone GPS such as the SAM-LS will require clean 3.3V/50mA power and a common ground with the TTL converter.

* U-blox occasionally releases firmware updates. Log on to the u-blox website using ''paparazzi'' for username & password to view or download the latest firmware images. There have 'never' been any updates released for the Antaris-4 series used in the Tiny.

Start U-center and choose your com port from the pull down list under the connect button near the top left corner of the window. Choose your baudrate from the pull down box to the right of the connect button or select the auto-baud button to the right of that. U-blox default is 9600 baud. This must be changed to 19200 or higher to accommodate the 4Hz update rate. It needs to match whatever your module is configured to (if you configured it with the U-blox U-Center or the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]]).
 [[Image:U-center_buttons.jpg|connect, baud, and autobaud buttons]]
 

===Uploading the Configuration File===

Download the appropriate configuration file below and use u-center to load in onto your receiver. Under the ''Tools'' menu, choose ''GPS configuration''. Be sure the box 'Store configuration into BBR/Flash' is checked and hit the button ''File>>GPS''. A few errors and retries are normal, but a significant number of errors may indicate a poor connection and the software will notify you if it is unable to send all the data successfully.
* [[Media:Tiny_LEA-4P-v6.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]
* [[Media:Tiny_LEA-5H-v5.zip|LEA-5H (For Use w/ Firmware V5 ONLY!)]]
* [[Media:Hk_NEO-6M.zip‎| Hobbyking NEO-6M]] [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html this module]
* [[Media:Drotek_NEO_8M.txt.gz|Drotek NEO-8M]]

===Automatic Configuration at Startup===

You can also use the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] which will take over the task of initializing the GPS for you when you power your autopilot.

===Manual Configuration===

If you prefer to setup your receiver manually or have a model not listed above, here are instructions to configure your receiver in u-center.
Open the message window (menu View->messages view) to start the configuration process by changing the following settings:

====LEA-4P====

# Right Click on the '''NMEA''' Icon and choose '''disable child'''
# Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RXM(Receiver Manager) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

====LEA-5H====

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-5H get u-center >= 5.03, revert the GPS receiver to the default configuration, get an appropriate image from u-Blox (fitting your receivers serial number), find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.

#NOTE: If you have a Tiny with LEA-5H module you must use u-center and manually setup the parameters as shown above (at least switch to 38400 baud manually before transferring the configuration file).
#NOTE: POSUTM is not available on LEA-5H. Instead, use POSLLH.

====LEA-6H====

We use the same configuration as for version 5

# Right Click on the '''NMEA''' Text on top of the tree and choose '''disable child messages'''
# Choose UBX->CFG->NAV5(Navigation 5) - set it to use '''Airborne 8 <4G'''. This tells the Kalman filter to expect significant changes in direction. Note that this setting is only good for faster moving airplanes. For a fixed position hovering heli, 'pedestrian' setting is better 
# UBX->CFG->PRT - set '''USART1''' to '''38400bps''' (must match the value in your [[Airframe_Configuration#GPS|Airframe file]])
# Change the baudrate of U-Center to 38400bps if the connection is lost at this point
# UBX->CFG->RATE(Rates) - change the '''Measurement Period''' to '''250ms''' This gives a 4 Hz position update since 4 x 250ms is one second.
# UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calculation errors)
# UBX->NAV (not UBX->CFG->NAV): double click on '''POSLLH, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
# UBX->CFG->CFG : '''save current config''', click '''"send"''' in the lower left corner to permanently save these settings to the receiver. Make sure you activate '''"2 - I2C-EEPROM"''' if using a ROM-based NEO chipset with external EEPROM (like [http://www.hobbyking.com/hobbyking/store/__31135__neo_6m_gps_module.html HK 31135])

* Cycle the power and verify that the new configuration was saved
* To reset the receiver to the factory defaults go to ''UBX->CFG->CFG'', select 'Revert to default configuration', and click ''Send'' at the bottom left corner. To permanently save these values choose 'Save current configuration' and click ''Send''.
* To backup the configuration to a file on your PC: under the tools menu, choose GPS configuration, then click GPS>>file. This file can be re-loaded in a similar manner to configure additional identical receivers. Be sure the box 'Store configuration into BBR/Flash' is checked when reloading a configuration file to make the changes permanent.
* To update the firmware on a LEA-6H get u-center >= 6.21, revert the GPS receiver to the default configuration, get an appropriate firmaware file from u-Blox, find the flash identification flash.txt file in the u-center install directory and be prepared to wait a long time.(seriously)

==uBlox Tips==

===Reset to Default Settings===

The GPS module can be reset to its original default settings by pulling BOOT_INT high(3.3V) during a power cycle ([http://www.u-blox.com/customersupport/gps.g4/ANTARIS4_Modules_SIM(GPS.G4-MS4-05007).pdf Antaris Manual, p. 122]). It may be required after a wrong firmware upgrade or a bad configuration change.

===Invalid argument===

Problem: I keep getting this error with my nice shiny Tiny v2.1 with a LEA-5H: Invalid_argument ("Latlong.of_utm")
Solution: Select the correct [[Subsystem/gps|GPS subsystem]].

===WAAS issues===

WAAS has been officially operational and "suitable for safety-of-life applications" since 2003. The default setting of all u-blox receivers ignores WAAS correction data and only uses the WAAS satellites for regular navigation like any other satellite. U-blox recommends further limiting this setting to exclude any stray EGNOS/MSAS satellites in North America, and completely disabling all SBAS functions for use outside North America. In 2006 one formerly reliable Paparazzi aircraft began having great GPS problems and displaying very erratic altitude calculations, disabling WAAS immediately resolved the issue and this phenomenon was recreated several times for verification. Turns out a new WAAS satellite was being added to the system and the others were being moved that week for better distribution. Our advice is to first test if SBAS works well in your region.

The default used by the [[Module/GPS_UBlox_UCenter|u-blox UCenter module]] keeps SBAS enabled.

===Assist Now===
u-Blox modules that have a flash memory can keep the almanac correction data for up to 35 days into the future. That will give you a 3d GPS fix within seconds. [https://www.u-blox.com/en/assistnow-lock-your-position-instantly AssitNow] Offline data can be uploaded to the module while it is connected to the u-center application. To use this feature you need to provide a u-Blox account credentials that you can receive from the [https://www.u-blox.com/en/assistnow-service-registration-form u-Blox registration site].

===Antenna options for the Tiny and Paparazzi GPS units===
See [[GPS/Antenna]].

=Tips=

There is a huge amount of good information on the Internet about GPS specifics that gives some good insight into GPS. This Paparazzi wiki is not intended to repeat already available information, some is added here.

==EGNOS==

EGNOS augments the GPS satellite navigation system and makes it suitable for safety critical UAS applications. EGNOS became operational on 1 October 2009. ESA claims that it can determine position to within 2 meters compared with about 20 meters for GPS alone. Note that the service is currently provided only in western Europe. For further information take a look on the [http://www.esa.int/esaNA/egnos.html ESA EGNOS website].

For the latest update about functionality of EGNOS please check the website: [http://www.gsa.europa.eu European GNSS Supervisory Authority]"

==DGPS (Differential GPS)==

Differential GPS is any method of improving GPS accuracy by comparing the GPS-indicated position of a nearby location to the known value and transmitting any error to the mobile unit. DGPS was originally created as a means of bypassing the deliberately introduced inaccuracies in civilian GPS signals. The original method used low frequency ground radios to relay correction data to the mobile unit and is still used today at airports, shipping ports, and even individual farms. Satellite Based Augmentation System (SBAS) is a modern form of DGPS where the ground stations relay correction data to a GEO-Stationary satellite, which then relays it to the mobile unit on standard GPS frequencies eliminating the need for a separate radio receiver. SBAS is currently available in 3 regions, [http://www.esa.int/esaNA/ESAF530VMOC_egnos_1.html WAAS, EGNOS, and MSAS regions]. U-blox receivers support all common varieties of DGPS [http://www.u-blox.com/customersupport/gps.g3/ENGOS_Issues(GPS.G3-CS-04009).pdf read the u-blox SBAS application note].
* It is important to note that DGPS methods only improve the ''accuracy'' of the position calculation, not the ''precision''. Since Paparazzi navigation is typically performed relative to the power-on location, any static error that could be corrected with DGPS is irrelevant.

[[Category:Hardware]] [[Category:Sensors]] [[Category:User_Documentation]]

Tuning

2016-07-09T15:26:44Z

Philipan: corrected link to users manual

== Intro ==

This page provides guidelines for tuning a new aircraft and additional practical tips. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID|PID Controllers]] before you begin tuning your airframe. Use of the [[RTPlotter|real time plotter]] may help to visualize and understand the behavior of the control loops. Review [https://wiki.paparazziuav.org/w/images/0/0a/Users_manual.pdf User Manual] as well. Also reading [http://www.av8n.com/how/ See How It Flies, by John S. Denker] is very beneficial to get your airframe tuned well.

==Energy Control==

If you came to this page and want to learn about how to perform your [[Tuning_energy_control_loops | Energy control tuning]], this is '''not''' the page to read, go to [[Tuning_energy_control_loops | tuning energy control loops]].

==Quickstart==

'''Here is the sub-minimal ultra-quick-start guide: note that point 1 and 3 should ALWAYS be performed every time you reflash your plane!!!'''

# Before take-off [[Tuning#Directions|check]] (beware: do not skip a test as it is not because 2 are good that the third will also be good)
## RC-left is aileron-left and up is up in [[AutopilotModes|MANUAL]].
## RC-left is aileron-left and up is up in [[AutopilotModes|AUTO1]].
## [[Tuning#Directions|turning the plane-left is aileron-right]] and nose-up is elevator-down with RC in neutral in [[AutopilotModes|AUTO1]]. (to check the [[GCS#PFD|Artificial horizon]] in the [[GCS|GCS]]: use the words: right wing sees the ground to not mess up left and right if uncertain.)
# Fly manual
## [[Tuning#Neutrals|trim your plane]]
## check [[Fixedwing_Configuration#Servos|servo deflections]] are good (sufficient but not aerobatic)
## remember the cruise throttle. (and max/min throttle if you will use aggressive-climb)
# On the ground, after trimming:
## Check with plane flat/cruise attitude on the ground that the ailerons/elevator do not move when you switch from MANUAL to AUTO1. This checks your IMU/Thermopiles are properly aligned and that [[Tuning#Trim|your trim values are in the airframe file and not the RC-transmitter]]
# Test [[Tuning#Auto_1|try AUTO1]]
## When entering AUTO1, make sure you try to turn before your plane is too far away since [[Fixedwing_Configuration#Auto1|AUTO1 circles are usually much larger than manual circles]].
## Make a [[RTPlotter|graph]] on the groundstation of DESIRED->phi/theta and ATTITUDE-phi/theta to see if they match.
## When flying with IMU pay special attention here if after several left turns the plane still turns right too. Plot the IMU_ACC->ax,ay,az to see the average vibration in your plane. If the vibration level is lower than half of gravity (5m/s2) than usually you are OK. If it is much more, you should dampen your IMU more. (in foam, or mounted on your heavy battery, ...)
# Only when AUTO1 works fine you can [[Tuning#Auto_1|go to AUTO2]]
## check that your throttle is not killed (RED) in the groundstation
## check that your cruise throttle is correct if you have a powerful motor
## if tuning the altitude loop seems difficult try the [[Tuning#Sample.2FSimple_Altitude_and_Throttle_Loop|simple 3 gain auto_throttle_loop]]

== Sensors ==

=== IMU / Sensors ===
You may want to look at the [[ImuCalibration]]. 
While some Sensors can be operated with factory calibration (MPU6050 or 6000) other, for example Magnetometers require a calibration to the earth magnetic field and UAV radiated magnetic field to work satisfactory.

=== Directions ===
* Reverse any servos and make sure no mechanical binding occurs at the limits of travel in Manual mode.
* Take the plane outside and engage AUTO1. Bank and pitch the plane and verify that the controls respond in the correct direction AND that the PFD in the notebook responds correctly. Note that your body will have a tremendous impact on the measured angles if using IR sensors. If using an IMU, there is no need to be outside. See note.
* Verify that AUTO1 stick movements respond in the correct direction - important! See note.
* Move the plane rapidly to ensure the gyro response resists motion - increase the gain if needed for better visualization.
NOTE: If the PFD responds in the wrong direction to the motion, you should adjust parameters in the INFRARED or IMU parts of the airframe file. If the control surfaces respond in the wrong direction to counteract motion (stabilize the aircraft, bring it back to neutral), reverse the servos in the airframe file. If the manual input from R/C causes the control surfaces to respond in the wrong direction (want them to force motion, not counteract motion), then you must reverse the channel on the R/C transmitter. Be sure to recheck surface neutrals and endpoints after doing such modifications. Also double check the gain signs, make sure none are positive that should be negative.

== R/C, Modem, and GPS ==
* Make sure the GPS signal is strong (outdoors) - you should have a 3-D fix in less than 1 minute and at least some satellite signals above 40dB. The plane should not drift on the map by more than 10 meters.
* Perform a range test of R/C and modem signals.
* Ensure that two way communications are in place. Check that the motor starts up when launch is commanded or move a waypoint and check that it's updated in the autopilot.

== Trim ==
Important: You must never keep any trim, mixers, or rates in your R/C transmitter. R/C trim can be applied in flight but must be corrected and removed on the ground before attempting autonomous flight. Exponential can be useful and will not adversely affect AUTO1 flight but if "low rates" are needed they should be programmed on the same transmitter switch with AUTO1 so that you always have full travel in AUTO1.
* Fly the plane at what you feel is a suitable "cruise" throttle setting and set the trims. Note that setting in the GCS and try to return to that exact setting in subsequent tests. Enter that throttle setting in your airframe file.
* Check maximum pitch and roll response and adjust the mixer parameters or mechanical linkages after landing.
* Land and adjust the linkages. If necessary, the PPM values can be read from the GCS and servo neutrals adjusted electronically, but manual adjustment will produce far better results.
* Fly again to verify trim and control response. If satisfactory, check for any significant throttle-dependent roll. Again, this is best to correct mechanically but can be addressed with the ''AILERON_OF_THROTTLE'' mixer in the autopilot. Check also for any odd behavior at full throttle.
* Make sure that GPS and modem data is reliable during these test flights. Note particularly any tendency for the aircraft to appear to fly sideways on the map - this is an indication of weak GPS signals.

== Auto 1 ==
* Engage Auto1 and ''immediately'' make sure you can turn both left and right!
* Fly at your "cruise" throttle and adjust the ''ROLL_PGAIN'' until the plane doesn't quite oscillate
* Adjust the IR roll neutral as needed
* Verify adequate pitch response and adjust PITCH_PGAIN as needed
* Experiment with different throttle settings and tune P and D gains as needed

If you are alone in the field while tuning, setting values via your RC transmitter may come in handy, see [[Telemetry#R.2FC_Transmitter_Data_Uplink|RC receiver data uplink]]

== Auto 2 ==
* Engage [[AutopilotModes|AUTO2]] and you're done! Make sure you keep a finger on the Mode switch to take over just in case.

==Alternate Tuning Procedure==
Danstah wrote up a tuning procedure on this website http://www.engr.usu.edu/wiki/index.php/OSAMtuning

==Sample/Simple Altitude and Throttle Loop==

The dash button changes the NOMINAL_CRUISE_THROTTLE to the MAX_CRUISE_THROTTLE while the loiter button changes it to MIN_CRUISE_THROTTLE.

This makes it easy to suddenly make the UAV fly a bit slower or a bit faster. However, when changing the throttle, you also need to change the elevator trim in order not to climb/descend too much. This it what AUTO_THROTTLE_LOITER_TRIM and AUTO_THROTTLE_DASH_TRIM are for. (I think the unit is MAX_PPRZ = 9600 = full deflection?)

The auto-throttle loop is actually the most difficult loop to tune as it has both the speed and altitude that are correlated. Controlling both speed and altitude with high performance is very hard. It is way easier to control 1 entity (e.g. altitude) with higher performance and let the speed change a bit, or have an airspeed controller but then do the altitude slowly...

Sample altitude controller:
---------------------

Step1: outerloop: if altitude is not good -> compute a climb/descend rate. (including ALTITUDE_MAX_CLIMB)

climb_command = altitude_error x alt_pgain

e.g. 10 m too low x 0.1 alt gain = climb_command at 1 m/s
e.g. 50 m too low x 0.1 alt gain = climb at 5 m/s > ALTITUDE_MAX_CLIMB(2) -> climb_command = 2m/s

---------------------

Step2: innerloop: [many many options here, but since you ask for simple I'll only give one robust and simple:]

too low -> pitch up and extra throttle (if you only apply throttle, airspeed will increase and might even start to dive with full throttle if the nose is a bit heavy, if you only apply pitch airspeed will decrease and could lead to stall, with proper tuning you can get a pretty constant speed even while climbing and descending)

pitch_command = climb_command x pitch_of_vz
throttle_command = nominal_cruise_trim_throttle + climb_command x throttle_climb_increment

e.g. climb_command at 1 m/s x pitch_of_vz 0.15 = 0.15 radians pitch = 9 degrees pitch up

e.g. climb_command at 1 m/s x throttle_climb_increment 0.25 with nominal_cruise_trim_throttle 0.5 = 75% throttle

-------------------

If you use AGRESSIVE_CLIMB then if the altitude error is larger than the chosen threshold a precomputed pitch and throttle will be applied.

AUTO_PITCH is for constant throttle and control height with elevator only

auto_throttle_p/i/d_gains are to regulate the climb rate more precisely

==Other Misc things before flying==

It's very important to address the issue of low voltage cut-off before flying (LVC).
There's a good chance that the LVC will kick in on the brushless ESC before the Paparazzi detects it.
If this happens, the ESC cut's off throttle, and there's no way the autopilot knows this, the plane keeps loosing altitude,
the autopilot tries to increase throttle, but the ESC does not respond, almost always leading to a mishap.
To avoid this, either turn off the LVC on the ESC, OR, make sure the autopilot kills throttle first,
by programming the CATASTROPHIC_BAT_LEVEL to something higher than the ESC LVC.
For example, set CATASTROPHIC_BAT_LEVEL to 9.5V, and the ESC LVC at 9V.
Don't ask how we know, it was a safe landing into a small tree :) No damage. BUT you cant get lucky always!

Have a look at the [[Failsafe|failsafe]] and [[Airframe_Configuration#Battery|battery configuration]] for more details.

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

FAQ

2016-04-08T08:13:00Z

Philipan: Updated information about data logging

__TOC__

==Is it possible to do XYZ?==
:Yes, sure! The beauty Paparazzi is that it is fully opensource'ed - '''Any''' feature or function you want '''can be added''' to the software and even the hardware.

==How can I contribute?==
:See the [[Contributing| how to contribute]] wiki page.

==How do I check which Paparazzi Version I'm using==
: Run ./paparazzi_version from you paparazzi directory.
: This simple script will run ''git describe'' to find the next reachable tag and print something like ''v5.1.1_testing-43-ge060371''.
: The output contains the most recent reachable tag, number of commits since then, SHA1 of that commit and whether the working directory was dirty.
: If you have an older version of Paparazzi that does not contain that script you can just run <tt>git describe --match "v[0-9].[0-9]*" --dirty --always --long</tt>

==What equipment and components are suggested==
# Linux (Debian or Ubuntu) compatible or Apple Macintosh notebook computer, preferably with a very bright screen for outdoor use.
# Most any airframe that will accommodate a Paparazzi Autopilot and some extra weight and wiring - ''brushless motors are strongly suggested.'' See the [[Gallery|User's Gallery]] for some airframe examples.
# One of the [[Autopilots]] from one of the [[Get_Hardware|Paparazzi vendors]] or build your own from the downloadable plans/gerbers
# If it is not already included with the AP a external [[IMU]]
# A 2.4 GHz R/C Transmitter and Receiver with a 3-position switch and PPM output for selecting Manual/Stabilized/Auto.
# A pair of [[Modems]] along with any enclosures and antennas
# A [[Serial_Adapter|USB <-> UART]] adapter for connecting the modem to your USB port and/or for serial flashing of bootloader code or tunnel access to the GPS receiver
# A standard Mini-B and Micro-B USB cable
# Lots of [[Other_Hardware#Wiring|very durable wire, crimpers, and molex pins or pre-crimped wire.]]

==Are internal combustion engines supported?==
:Yes, not relying solely on inertial measurement, the Paparazzi system is very well suited for aircraft with high vibration levels. Care must be taken to prevent oily exhaust residue buildup on the IR sensors and a simple variable must be added to properly address the special idle/kill needs of an IC engine.

==Can Paparazzi fly a glider?==
:Sure. Paparazzi uses throttle and pitch to control climb rate by default. You can fit an airspeed sensor and adjust your airframe configuration to maintain airspeed instead.

==Will the autopilot provide enough 5V power for many/large/digital servos as well as a modem, video TX, etc.?==
:Depends on the Autopilot, compare the maximum output of the AP and the needed power
:The [[Tiny]] includes a high capacity and high efficiency switching voltage regulator intended to power servos, modems, video systems and other payloads. This regulator should be preferred to power the servos rather than a linear regulator. While linear regulators may be rated for several amps, they require a great deal of cooling and can easily overheat with only a few hundred milliamps of continuous current without cooling. By comparison, the switching regulator included on the Tiny can work continuously at 2A with little or no cooling. Be careful using high power or digital servos consuming a lot of current. If you use four or more of them on your airframe it is recommended to supply them separately. It is important to realize that the servos in any stabilized aircraft will operate continuously. Therefore a power supply that powers the servos reliably in manual flight may easily overheat or produce critical voltage drops in autonomous flight.

==Do I need a separate battery or regulator to isolate the autopilot, servos, video, modem, etc. from one another?==
:The autopilot processor and sensors are powered by a 3.3V regulator and therefore are rather isolated from voltage fluctuations on the battery or 5V bus.

==Can I use a Sirf, Trimble, etc. instead of the u-Blox GPS receiver?==
:Yes, but it would require a tremendous amount of work as some of the navigation code is dependent on some of the UBX messages. NMEA does not provide messages in the desired form and substantial calculation would be required for conversion. Any of the other proprietary protocols would work but you would need to write your own protocol handler. u-Blox (Hobbyking's costs <14€) offers great performance, size, and speed as well as the ability to easily configure the internal Kalman filter parameters to expect significant acceleration in 3-D space - a very important feature.

==Does Paparazzi use DGPS, WAAS, EGNOS, or MSAS?==
:Most modern GPS receivers have the ability to process serial data sent from an external DGPS receiver, but the advent of WAAS/EGNOS has made the early ground-based DGPS transmitters nearly obsolete. The u-Blox GPS receiver supports all common SBAS systems (WAAS, EGNOS, and MSAS), as well as any standard form of external DGPS. It's important to understand that DGPS merely improves the ''accuracy'' of the position estimate by subtracting any static error. The only way to improve the ''precision'' of the GPS is by improving the antenna or the GPS module itself. See [http://en.wikipedia.org/wiki/Accuracy_and_precision Wikipedia:Accuracy and Precsion] for a detailed explanation of these terms.

==How does the R/C receiver interface with the autopilot?==
:Standard hobby R/C transmitters multiplex up to 9 channels of PWM servo data into a single PPM signal which is encoded onto an FM wave for transmission, this signal is then decoded by the RF section of the R/C receiver back into the original PPM signal containing 9 servo position PWM values. This signal is normally then sent to a demultiplexer (i.e. 4017) where it is separated into 9 individual servo signals on 9 individual pins. The Paparazzi autopilot intercepts the signal between the RF section and the demultiplexer and does its own demultiplexing, filtering, and processing before multiplexing the manual or autonomous servo commands back into a single signal and passing them to the 4017 to be distributed to the servos.

==Why does Paparazzi tap directly into the R/C receiver instead of using individual servo signals?==
:By connecting directly to the RF section of the R/C receiver we are able to obtain up to 9 channels of R/C servo data from a small, lightweight inexpensive 4 channel receiver with only 3 wires needed to connect the components. Furthermore, the autopilot then has direct access to the raw R/C signal where it can be filtered, evaluated, and assessed for quality. The autopilot can then alert the user of any loss of R/C signal as well as perform any pre-configured autonomous commands in response to a loss of signal.

==Are PCM or 2.4GHz R/C systems compatible with Paparazzi?==
:Yes. Most good 2.4Ghz receivers can directly output a PPM signal on one servo pin. A general rule of thumb is that if you see any type of demultiplexer on your R/C receiver, you can look up the data sheet for it and likely tap into the input pin with success. Some information on compatible R/C receivers and how to find the PPM signal of your own receiver is given in the [[Other_Hardware#R.2FC_Receiver|RC receiver]] section.

:If that's not possible, you can use the available PPM encoder board, to re-multiplex the servo channels into one PPM signal. This seems to be a common solution.

==What R/C transmitters are compatible?==
:No mixing or programming is done in the transmitter so even the simplest models will suffice but one important requirement is a 3-position switch to select among the three autopilot modes: manual, stabilized only, and fully autonomous. Those handy with electronics can replace a dial with a switch and resistor if needed. The transmitter's PPM values need to be recorded and the channel used to control the autopilot mode must be stated. Some commonly used transmitter configuration files are provided in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios] folder and the syntax of these files is easy to follow for those using other brands or models.

==Can a gamepad/joystick be used to control the aircraft through the modem?==
:Yes, the code to do this was written some time ago though it was not tested in flight due to latency concerns with the primitive [[Modems#Coronis_WaveCard|Coronis]] modems used at the time. Any of the [[modems]] currently recommended should work well in this manner but the theoretical reliability is still questionable due to the fact that no interrupt or prioritization structure exists for the telemetry data so any manual control inputs would be lumped in with the rest of the data to be lost or delayed as needed.

==What do MANUAL/AUTO1/AUTO2 stand for?==

:Those are the three modes that Paparazzi can operate in. Confer to [[AutopilotModes]] for more information.

==What Electronic Speed Controllers (ESC) are compatible?==
:Any controller can be used, the exact PWM value that is sent to the controller for 0-100% throttle is completely configurable in the airframe file so all controllers are compatible and any controller will arm properly with or without the use of an R/C transmitter. Upon each boot, the autopilot immediately sends whatever you have defined as 0% throttle (typically around 1200μs) and maintains that signal until a manual or autonomous command is given. Most modern controllers are "auto calibrating" which is an undesirable feature for R/C pilots and even more so for autonomous systems but can be dealt with. The calibration is done by defining the PWM value at boot to be 0% power and then defining some initial arbitrary mid-range value such as 1500μs to be 100% until a higher value is seen. The net result of this behavior is that the motor is given full power at any command above 50% throttle until 100% throttle has actually been commanded at least once. This is not an issue for planes that routinely take off at 100% throttle but can disrupt the throttle tuning and altitude control on any flights where 100% throttle has never been commanded. [http://www.castlecreations.com/products/products_fly.html Castle Creations Electronic Speed Controllers] can be configured for "fixed endpoints" so the ESC does not need to "learn" the endpoints at first takeoff this providing a consistent and predictable throttle response. By default this range 1250-1850μs but can be set at different values where needed.

: For quadrocopters a ESc with a very low latency is highly recommended. That can be a cheap standard ESC with a upgraded firmware (which uses I2C as input) or a high quality esc (mocrocopter ESC)

==Can traditional throttle stick programming be done on the ESC once connected to the autopilot?==
:Yes. If the transmitter is on with the throttle at full or whatever is required for your ESC when the autopilot is first booted, the autopilot will immediately see the manual control signal and the throttle position and pass that along to the ESC as the first value, triggering the programming mode.

==Does Paparazzi support digital servos?==
:Of course. Digital servos use exactly the same electrical interface as their analog counterparts, the only difference being in the way they control the motor. Analog servos use a '''P'''roportional feedback loop, meaning the voltage sent to the motor is proportional to the difference between the measured and intended position of the arm. Digital servos use a '''P'''roportional + '''D'''erivative ('''PD''') feedback loop. The derivative term considers the current speed and direction of the servo as well as the speed and direction of the pilot's stick command. The derivative term will increase power to the motor if the servo is moving the wrong direction (providing faster direction changes) and will reduce/reverse power if the servo is near it's desired position but moving too fast (reducing overshoot). The net effect of this is that a digital servo can use a much stronger '''P''' term without risk of oscillation and overshoot because the '''D''' term is there to intelligently dampen it as needed and boost it whenever it can.
:How does the inclusion of a '''D''' term make an analog servo become digital? Analog servos use a simple opamp to linearly relate the motor voltage to the difference between the potentiometer reading and PWM signal, whereas digital servos use a microprocessor to analyze the potentiometer position and velocity as well as the current and recent PWM signals to calculate the optimum voltage to send to the motor.
:'''Important:''' Please be aware that autonomous flight involves ''continuous'' movement of all servos. Make sure your power supply is capable of handling this and that your servos are capable of continuous operation without overheating - especially if you use digital servos.

==Can I solder wires directly to the autopilot instead of using the molex connectors?==
:Sure, only for some board it is easier to do than for others. Tiny: All of the molex headers are thru-hole and you can easily solder small gauge wire directly to the pins that protrude from these headers on the back of the board. It's important to note that '''standard servo wire cannot be soldered reliably''' in this fashion - you must use only high-grade wire intended for soldering (no vinyl insulation!). Direct soldering is not recommended, but it is possible ofcourse. See the [[Other_Hardware#Wiring|Wiring]] section for suggested wire types and sources. If you want to go the direct soldering path, be sure to you have '''excellent soldering skills''' and use high quality wiring.

==What are the paparazzi failsafe features and how do I configure them?==
The basic autopilot already has several built-in failsafe features ranging from lowlevel to highlevel and from implied to optional. For more details take a look on the [[Failsafe]] page.

==Why do I only get a blank (black) GCS==
:The GCS stays blank until you get telemetry messages (either from the real aircraft or simulated) with the correct MD5 checksum meaning the autopilot has the correct and up to date flightplan/airframe/... programmed in it (in case of an MD5 problem you constantly get a lot of warnings in paparazzi center).
:'''Solution''': Probably your telemetry is not set up correctly, this is most likely a [[XBee configuration]] issue.[[Subsystem/telemetry#Configure_Options|Configure the baudrate for your XBee connected to the autopilot]] and [[Subsystem/telemetry#Set_GCS_baud_rate|set the baudrate for the link to the one the ground XBee uses]] (They don't need to be the same). Also make sure your xbee cable is correct, transmit (tx) of xbee goes to receive (rx) on the autopilot and vice versa.

==Why do I get a Failure("#of_world:no georef") when trying to load map tiles==
:You get the georef error because the location is not initialized (probably GCS still blank and no aircraft are present). You can't get map tiles for nowhere...
:'''Solution''': Set up your telemetry properly so you get messages from the aircraft OR start a simulation with the appropriate coordinates then load the map tiles.

==How do I check if my telemetry is working?==
:'''Solution''': Launch the link and messages tools in the Paparazzi Center. You should see the the messages coming in (blinking green) in the messages window.
: If you get an the error ''Failure("Error opening modem serial device : fd < 0 (/dev/ttyUSB0)")'' from ''link'', your modem is either not connected at all, or just available under a different device name. Check if you set the [[Installation#Setting_access_rights_for_USB_download|udev rules]] and if your modem becomes available under the device you set.
: You might need to adjust the device and baud-rate of the link according to your setup, e.g. <tt>link -d /dev/ttyUSB0 -s 57600</tt>
: If you're stuck you can make ''link'' very verbose by setting the ''PPRZ_DEBUG'' environment variable to '' '*' ''

==Why don't I get a GPS position?==
:'''Problem''': Your GPS seems to be working, but you cannot get a valid position fix. Speed and course are displayed correctly, though. Possibly you also see Invalid_argument("Latlong.of_utm") errors on the GCS log.

This may happen if you have configured the wrong GPS subsystem for your Tiny board.
If you have the LEA-5H module on your Tiny board, but have configured
<tt><subsystem name="gps" type="ublox_utm"/></tt>
in your airframe file, this will occur because the 5H module does not support UTM position.

:'''Solution''': Make sure your GPS is [[GPS#GPS_configuration_using_U-Center|configured]] correctly and change the gps type to "<tt>ublox</tt>" if applicable.

==Why do I get a CRITICAL **: murrine_style_draw_box: assertion `width >= -1' failed error message on starting the GCS==
:'''Solution''': This error is not critical at all and can be safely ignored.
It is triggered by a bug in the Murrine GTK engine in combination with the default theme which Ubuntu uses, as detailed here:
https://bugs.launchpad.net/ubuntu/+source/light-themes/+bug/538499

==Do Paparazzi autopilots support onboard datalogging with an uSD or SD card?==
:This depends on the board you are using. Writing to an SD card takes a considerable amount of processor resources, enough to significantly impact critical timings and autopilot performance on usual processors. For this reason, onboard datalogging is not supported on those autopilots. If logging is needed for these processors (say for use without a datalink) then a second board that "sniffs" the datalink telemetry is needed (see [[Data Logger]]). However, Recently introduced boards like the [[Apogee/v1.00]] using a faster processor and an on board SD card tray allow logging of flight recorder information and individual data of sensors if activated in the air frame file.

==Telemetry not working==
:If you are receiving the error "Failure("Error opening modem serial device : fd < 0 (/dev/ttyUSB0)")"
:'''Solution''': You might need to add your user to the modems group (dialout), then log out and in again.
:write in terminal:$ sudo adduser <user> dialout
:it will be effective after your next login or simply write:
:$newgrp dialout

==What does the name "Paparazzi" mean?==
:The original name of the project reads "PaparaDzIY" (http://www.nongnu.org/paparazzi/gallery_v0.html) which might be a French abbreviation, but the meaning of that name seems to be lost. In cases where the name "Paparazzi" is unfavorably (i.e. for serious applications not dealing with taking unasked pictures of persons) the use of the abbreviation PPRZ can be recommended.

[[Category:User_Documentation]]

FAQ

2016-04-08T08:11:31Z

Philipan:

__TOC__

==Is it possible to do XYZ?==
:Yes, sure! The beauty Paparazzi is that it is fully opensource'ed - '''Any''' feature or function you want '''can be added''' to the software and even the hardware.

==How can I contribute?==
:See the [[Contributing| how to contribute]] wiki page.

==How do I check which Paparazzi Version I'm using==
: Run ./paparazzi_version from you paparazzi directory.
: This simple script will run ''git describe'' to find the next reachable tag and print something like ''v5.1.1_testing-43-ge060371''.
: The output contains the most recent reachable tag, number of commits since then, SHA1 of that commit and whether the working directory was dirty.
: If you have an older version of Paparazzi that does not contain that script you can just run <tt>git describe --match "v[0-9].[0-9]*" --dirty --always --long</tt>

==What equipment and components are suggested==
# Linux (Debian or Ubuntu) compatible or Apple Macintosh notebook computer, preferably with a very bright screen for outdoor use.
# Most any airframe that will accommodate a Paparazzi Autopilot and some extra weight and wiring - ''brushless motors are strongly suggested.'' See the [[Gallery|User's Gallery]] for some airframe examples.
# One of the [[Autopilots]] from one of the [[Get_Hardware|Paparazzi vendors]] or build your own from the downloadable plans/gerbers
# If it is not already included with the AP a external [[IMU]]
# A 2.4 GHz R/C Transmitter and Receiver with a 3-position switch and PPM output for selecting Manual/Stabilized/Auto.
# A pair of [[Modems]] along with any enclosures and antennas
# A [[Serial_Adapter|USB <-> UART]] adapter for connecting the modem to your USB port and/or for serial flashing of bootloader code or tunnel access to the GPS receiver
# A standard Mini-B and Micro-B USB cable
# Lots of [[Other_Hardware#Wiring|very durable wire, crimpers, and molex pins or pre-crimped wire.]]

==Are internal combustion engines supported?==
:Yes, not relying solely on inertial measurement, the Paparazzi system is very well suited for aircraft with high vibration levels. Care must be taken to prevent oily exhaust residue buildup on the IR sensors and a simple variable must be added to properly address the special idle/kill needs of an IC engine.

==Can Paparazzi fly a glider?==
:Sure. Paparazzi uses throttle and pitch to control climb rate by default. You can fit an airspeed sensor and adjust your airframe configuration to maintain airspeed instead.

==Will the autopilot provide enough 5V power for many/large/digital servos as well as a modem, video TX, etc.?==
:Depends on the Autopilot, compare the maximum output of the AP and the needed power
:The [[Tiny]] includes a high capacity and high efficiency switching voltage regulator intended to power servos, modems, video systems and other payloads. This regulator should be preferred to power the servos rather than a linear regulator. While linear regulators may be rated for several amps, they require a great deal of cooling and can easily overheat with only a few hundred milliamps of continuous current without cooling. By comparison, the switching regulator included on the Tiny can work continuously at 2A with little or no cooling. Be careful using high power or digital servos consuming a lot of current. If you use four or more of them on your airframe it is recommended to supply them separately. It is important to realize that the servos in any stabilized aircraft will operate continuously. Therefore a power supply that powers the servos reliably in manual flight may easily overheat or produce critical voltage drops in autonomous flight.

==Do I need a separate battery or regulator to isolate the autopilot, servos, video, modem, etc. from one another?==
:The autopilot processor and sensors are powered by a 3.3V regulator and therefore are rather isolated from voltage fluctuations on the battery or 5V bus.

==Can I use a Sirf, Trimble, etc. instead of the u-Blox GPS receiver?==
:Yes, but it would require a tremendous amount of work as some of the navigation code is dependent on some of the UBX messages. NMEA does not provide messages in the desired form and substantial calculation would be required for conversion. Any of the other proprietary protocols would work but you would need to write your own protocol handler. u-Blox (Hobbyking's costs <14€) offers great performance, size, and speed as well as the ability to easily configure the internal Kalman filter parameters to expect significant acceleration in 3-D space - a very important feature.

==Does Paparazzi use DGPS, WAAS, EGNOS, or MSAS?==
:Most modern GPS receivers have the ability to process serial data sent from an external DGPS receiver, but the advent of WAAS/EGNOS has made the early ground-based DGPS transmitters nearly obsolete. The u-Blox GPS receiver supports all common SBAS systems (WAAS, EGNOS, and MSAS), as well as any standard form of external DGPS. It's important to understand that DGPS merely improves the ''accuracy'' of the position estimate by subtracting any static error. The only way to improve the ''precision'' of the GPS is by improving the antenna or the GPS module itself. See [http://en.wikipedia.org/wiki/Accuracy_and_precision Wikipedia:Accuracy and Precsion] for a detailed explanation of these terms.

==How does the R/C receiver interface with the autopilot?==
:Standard hobby R/C transmitters multiplex up to 9 channels of PWM servo data into a single PPM signal which is encoded onto an FM wave for transmission, this signal is then decoded by the RF section of the R/C receiver back into the original PPM signal containing 9 servo position PWM values. This signal is normally then sent to a demultiplexer (i.e. 4017) where it is separated into 9 individual servo signals on 9 individual pins. The Paparazzi autopilot intercepts the signal between the RF section and the demultiplexer and does its own demultiplexing, filtering, and processing before multiplexing the manual or autonomous servo commands back into a single signal and passing them to the 4017 to be distributed to the servos.

==Why does Paparazzi tap directly into the R/C receiver instead of using individual servo signals?==
:By connecting directly to the RF section of the R/C receiver we are able to obtain up to 9 channels of R/C servo data from a small, lightweight inexpensive 4 channel receiver with only 3 wires needed to connect the components. Furthermore, the autopilot then has direct access to the raw R/C signal where it can be filtered, evaluated, and assessed for quality. The autopilot can then alert the user of any loss of R/C signal as well as perform any pre-configured autonomous commands in response to a loss of signal.

==Are PCM or 2.4GHz R/C systems compatible with Paparazzi?==
:Yes. Most good 2.4Ghz receivers can directly output a PPM signal on one servo pin. A general rule of thumb is that if you see any type of demultiplexer on your R/C receiver, you can look up the data sheet for it and likely tap into the input pin with success. Some information on compatible R/C receivers and how to find the PPM signal of your own receiver is given in the [[Other_Hardware#R.2FC_Receiver|RC receiver]] section.

:If that's not possible, you can use the available PPM encoder board, to re-multiplex the servo channels into one PPM signal. This seems to be a common solution.

==What R/C transmitters are compatible?==
:No mixing or programming is done in the transmitter so even the simplest models will suffice but one important requirement is a 3-position switch to select among the three autopilot modes: manual, stabilized only, and fully autonomous. Those handy with electronics can replace a dial with a switch and resistor if needed. The transmitter's PPM values need to be recorded and the channel used to control the autopilot mode must be stated. Some commonly used transmitter configuration files are provided in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios] folder and the syntax of these files is easy to follow for those using other brands or models.

==Can a gamepad/joystick be used to control the aircraft through the modem?==
:Yes, the code to do this was written some time ago though it was not tested in flight due to latency concerns with the primitive [[Modems#Coronis_WaveCard|Coronis]] modems used at the time. Any of the [[modems]] currently recommended should work well in this manner but the theoretical reliability is still questionable due to the fact that no interrupt or prioritization structure exists for the telemetry data so any manual control inputs would be lumped in with the rest of the data to be lost or delayed as needed.

==What do MANUAL/AUTO1/AUTO2 stand for?==

:Those are the three modes that Paparazzi can operate in. Confer to [[AutopilotModes]] for more information.

==What Electronic Speed Controllers (ESC) are compatible?==
:Any controller can be used, the exact PWM value that is sent to the controller for 0-100% throttle is completely configurable in the airframe file so all controllers are compatible and any controller will arm properly with or without the use of an R/C transmitter. Upon each boot, the autopilot immediately sends whatever you have defined as 0% throttle (typically around 1200μs) and maintains that signal until a manual or autonomous command is given. Most modern controllers are "auto calibrating" which is an undesirable feature for R/C pilots and even more so for autonomous systems but can be dealt with. The calibration is done by defining the PWM value at boot to be 0% power and then defining some initial arbitrary mid-range value such as 1500μs to be 100% until a higher value is seen. The net result of this behavior is that the motor is given full power at any command above 50% throttle until 100% throttle has actually been commanded at least once. This is not an issue for planes that routinely take off at 100% throttle but can disrupt the throttle tuning and altitude control on any flights where 100% throttle has never been commanded. [http://www.castlecreations.com/products/products_fly.html Castle Creations Electronic Speed Controllers] can be configured for "fixed endpoints" so the ESC does not need to "learn" the endpoints at first takeoff this providing a consistent and predictable throttle response. By default this range 1250-1850μs but can be set at different values where needed.

: For quadrocopters a ESc with a very low latency is highly recommended. That can be a cheap standard ESC with a upgraded firmware (which uses I2C as input) or a high quality esc (mocrocopter ESC)

==Can traditional throttle stick programming be done on the ESC once connected to the autopilot?==
:Yes. If the transmitter is on with the throttle at full or whatever is required for your ESC when the autopilot is first booted, the autopilot will immediately see the manual control signal and the throttle position and pass that along to the ESC as the first value, triggering the programming mode.

==Does Paparazzi support digital servos?==
:Of course. Digital servos use exactly the same electrical interface as their analog counterparts, the only difference being in the way they control the motor. Analog servos use a '''P'''roportional feedback loop, meaning the voltage sent to the motor is proportional to the difference between the measured and intended position of the arm. Digital servos use a '''P'''roportional + '''D'''erivative ('''PD''') feedback loop. The derivative term considers the current speed and direction of the servo as well as the speed and direction of the pilot's stick command. The derivative term will increase power to the motor if the servo is moving the wrong direction (providing faster direction changes) and will reduce/reverse power if the servo is near it's desired position but moving too fast (reducing overshoot). The net effect of this is that a digital servo can use a much stronger '''P''' term without risk of oscillation and overshoot because the '''D''' term is there to intelligently dampen it as needed and boost it whenever it can.
:How does the inclusion of a '''D''' term make an analog servo become digital? Analog servos use a simple opamp to linearly relate the motor voltage to the difference between the potentiometer reading and PWM signal, whereas digital servos use a microprocessor to analyze the potentiometer position and velocity as well as the current and recent PWM signals to calculate the optimum voltage to send to the motor.
:'''Important:''' Please be aware that autonomous flight involves ''continuous'' movement of all servos. Make sure your power supply is capable of handling this and that your servos are capable of continuous operation without overheating - especially if you use digital servos.

==Can I solder wires directly to the autopilot instead of using the molex connectors?==
:Sure, only for some board it is easier to do than for others. Tiny: All of the molex headers are thru-hole and you can easily solder small gauge wire directly to the pins that protrude from these headers on the back of the board. It's important to note that '''standard servo wire cannot be soldered reliably''' in this fashion - you must use only high-grade wire intended for soldering (no vinyl insulation!). Direct soldering is not recommended, but it is possible ofcourse. See the [[Other_Hardware#Wiring|Wiring]] section for suggested wire types and sources. If you want to go the direct soldering path, be sure to you have '''excellent soldering skills''' and use high quality wiring.

==What are the paparazzi failsafe features and how do I configure them?==
The basic autopilot already has several built-in failsafe features ranging from lowlevel to highlevel and from implied to optional. For more details take a look on the [[Failsafe]] page.

==Why do I only get a blank (black) GCS==
:The GCS stays blank until you get telemetry messages (either from the real aircraft or simulated) with the correct MD5 checksum meaning the autopilot has the correct and up to date flightplan/airframe/... programmed in it (in case of an MD5 problem you constantly get a lot of warnings in paparazzi center).
:'''Solution''': Probably your telemetry is not set up correctly, this is most likely a [[XBee configuration]] issue.[[Subsystem/telemetry#Configure_Options|Configure the baudrate for your XBee connected to the autopilot]] and [[Subsystem/telemetry#Set_GCS_baud_rate|set the baudrate for the link to the one the ground XBee uses]] (They don't need to be the same). Also make sure your xbee cable is correct, transmit (tx) of xbee goes to receive (rx) on the autopilot and vice versa.

==Why do I get a Failure("#of_world:no georef") when trying to load map tiles==
:You get the georef error because the location is not initialized (probably GCS still blank and no aircraft are present). You can't get map tiles for nowhere...
:'''Solution''': Set up your telemetry properly so you get messages from the aircraft OR start a simulation with the appropriate coordinates then load the map tiles.

==How do I check if my telemetry is working?==
:'''Solution''': Launch the link and messages tools in the Paparazzi Center. You should see the the messages coming in (blinking green) in the messages window.
: If you get an the error ''Failure("Error opening modem serial device : fd < 0 (/dev/ttyUSB0)")'' from ''link'', your modem is either not connected at all, or just available under a different device name. Check if you set the [[Installation#Setting_access_rights_for_USB_download|udev rules]] and if your modem becomes available under the device you set.
: You might need to adjust the device and baud-rate of the link according to your setup, e.g. <tt>link -d /dev/ttyUSB0 -s 57600</tt>
: If you're stuck you can make ''link'' very verbose by setting the ''PPRZ_DEBUG'' environment variable to '' '*' ''

==Why don't I get a GPS position?==
:'''Problem''': Your GPS seems to be working, but you cannot get a valid position fix. Speed and course are displayed correctly, though. Possibly you also see Invalid_argument("Latlong.of_utm") errors on the GCS log.

This may happen if you have configured the wrong GPS subsystem for your Tiny board.
If you have the LEA-5H module on your Tiny board, but have configured
<tt><subsystem name="gps" type="ublox_utm"/></tt>
in your airframe file, this will occur because the 5H module does not support UTM position.

:'''Solution''': Make sure your GPS is [[GPS#GPS_configuration_using_U-Center|configured]] correctly and change the gps type to "<tt>ublox</tt>" if applicable.

==Why do I get a CRITICAL **: murrine_style_draw_box: assertion `width >= -1' failed error message on starting the GCS==
:'''Solution''': This error is not critical at all and can be safely ignored.
It is triggered by a bug in the Murrine GTK engine in combination with the default theme which Ubuntu uses, as detailed here:
https://bugs.launchpad.net/ubuntu/+source/light-themes/+bug/538499

==Do Paparazzi autopilots support onboard datalogging with an uSD or SD card?==
:This depends on the board you are using. Writing to an SD card takes a considerable amount of processor resources, enough to significantly impact critical timings and autopilot performance on usual processors. For this reason, onboard datalogging is not supported on those autopilots. If logging is needed for these processors (say for use without a datalink) then a second board that "sniffs" the datalink telemetry is needed (see [[Data Logger]]). However, Recently introduced boards like the [Apogee/v1.00] using a faster processor and an on board SD card tray allow logging of flight recorder information and individual data of sensors if activated in the air frame file.

==Telemetry not working==
:If you are receiving the error "Failure("Error opening modem serial device : fd < 0 (/dev/ttyUSB0)")"
:'''Solution''': You might need to add your user to the modems group (dialout), then log out and in again.
:write in terminal:$ sudo adduser <user> dialout
:it will be effective after your next login or simply write:
:$newgrp dialout

==What does the name "Paparazzi" mean?==
:The original name of the project reads "PaparaDzIY" (http://www.nongnu.org/paparazzi/gallery_v0.html) which might be a French abbreviation, but the meaning of that name seems to be lost. In cases where the name "Paparazzi" is unfavorably (i.e. for serious applications not dealing with taking unasked pictures of persons) the use of the abbreviation PPRZ can be recommended.

[[Category:User_Documentation]]

FAQ

2016-04-08T07:59:04Z

Philipan: Added a question on the name Paparazzi

__TOC__

==Is it possible to do XYZ?==
:Yes, sure! The beauty Paparazzi is that it is fully opensource'ed - '''Any''' feature or function you want '''can be added''' to the software and even the hardware.

==How can I contribute?==
:See the [[Contributing| how to contribute]] wiki page.

==How do I check which Paparazzi Version I'm using==
: Run ./paparazzi_version from you paparazzi directory.
: This simple script will run ''git describe'' to find the next reachable tag and print something like ''v5.1.1_testing-43-ge060371''.
: The output contains the most recent reachable tag, number of commits since then, SHA1 of that commit and whether the working directory was dirty.
: If you have an older version of Paparazzi that does not contain that script you can just run <tt>git describe --match "v[0-9].[0-9]*" --dirty --always --long</tt>

==What equipment and components are suggested==
# Linux (Debian or Ubuntu) compatible or Apple Macintosh notebook computer, preferably with a very bright screen for outdoor use.
# Most any airframe that will accommodate a Paparazzi Autopilot and some extra weight and wiring - ''brushless motors are strongly suggested.'' See the [[Gallery|User's Gallery]] for some airframe examples.
# One of the [[Autopilots]] from one of the [[Get_Hardware|Paparazzi vendors]] or build your own from the downloadable plans/gerbers
# If it is not already included with the AP a external [[IMU]]
# A 2.4 GHz R/C Transmitter and Receiver with a 3-position switch and PPM output for selecting Manual/Stabilized/Auto.
# A pair of [[Modems]] along with any enclosures and antennas
# A [[Serial_Adapter|USB <-> UART]] adapter for connecting the modem to your USB port and/or for serial flashing of bootloader code or tunnel access to the GPS receiver
# A standard Mini-B and Micro-B USB cable
# Lots of [[Other_Hardware#Wiring|very durable wire, crimpers, and molex pins or pre-crimped wire.]]

==Are internal combustion engines supported?==
:Yes, not relying solely on inertial measurement, the Paparazzi system is very well suited for aircraft with high vibration levels. Care must be taken to prevent oily exhaust residue buildup on the IR sensors and a simple variable must be added to properly address the special idle/kill needs of an IC engine.

==Can Paparazzi fly a glider?==
:Sure. Paparazzi uses throttle and pitch to control climb rate by default. You can fit an airspeed sensor and adjust your airframe configuration to maintain airspeed instead.

==Will the autopilot provide enough 5V power for many/large/digital servos as well as a modem, video TX, etc.?==
:Depends on the Autopilot, compare the maximum output of the AP and the needed power
:The [[Tiny]] includes a high capacity and high efficiency switching voltage regulator intended to power servos, modems, video systems and other payloads. This regulator should be preferred to power the servos rather than a linear regulator. While linear regulators may be rated for several amps, they require a great deal of cooling and can easily overheat with only a few hundred milliamps of continuous current without cooling. By comparison, the switching regulator included on the Tiny can work continuously at 2A with little or no cooling. Be careful using high power or digital servos consuming a lot of current. If you use four or more of them on your airframe it is recommended to supply them separately. It is important to realize that the servos in any stabilized aircraft will operate continuously. Therefore a power supply that powers the servos reliably in manual flight may easily overheat or produce critical voltage drops in autonomous flight.

==Do I need a separate battery or regulator to isolate the autopilot, servos, video, modem, etc. from one another?==
:The autopilot processor and sensors are powered by a 3.3V regulator and therefore are rather isolated from voltage fluctuations on the battery or 5V bus.

==Can I use a Sirf, Trimble, etc. instead of the u-Blox GPS receiver?==
:Yes, but it would require a tremendous amount of work as some of the navigation code is dependent on some of the UBX messages. NMEA does not provide messages in the desired form and substantial calculation would be required for conversion. Any of the other proprietary protocols would work but you would need to write your own protocol handler. u-Blox (Hobbyking's costs <14€) offers great performance, size, and speed as well as the ability to easily configure the internal Kalman filter parameters to expect significant acceleration in 3-D space - a very important feature.

==Does Paparazzi use DGPS, WAAS, EGNOS, or MSAS?==
:Most modern GPS receivers have the ability to process serial data sent from an external DGPS receiver, but the advent of WAAS/EGNOS has made the early ground-based DGPS transmitters nearly obsolete. The u-Blox GPS receiver supports all common SBAS systems (WAAS, EGNOS, and MSAS), as well as any standard form of external DGPS. It's important to understand that DGPS merely improves the ''accuracy'' of the position estimate by subtracting any static error. The only way to improve the ''precision'' of the GPS is by improving the antenna or the GPS module itself. See [http://en.wikipedia.org/wiki/Accuracy_and_precision Wikipedia:Accuracy and Precsion] for a detailed explanation of these terms.

==How does the R/C receiver interface with the autopilot?==
:Standard hobby R/C transmitters multiplex up to 9 channels of PWM servo data into a single PPM signal which is encoded onto an FM wave for transmission, this signal is then decoded by the RF section of the R/C receiver back into the original PPM signal containing 9 servo position PWM values. This signal is normally then sent to a demultiplexer (i.e. 4017) where it is separated into 9 individual servo signals on 9 individual pins. The Paparazzi autopilot intercepts the signal between the RF section and the demultiplexer and does its own demultiplexing, filtering, and processing before multiplexing the manual or autonomous servo commands back into a single signal and passing them to the 4017 to be distributed to the servos.

==Why does Paparazzi tap directly into the R/C receiver instead of using individual servo signals?==
:By connecting directly to the RF section of the R/C receiver we are able to obtain up to 9 channels of R/C servo data from a small, lightweight inexpensive 4 channel receiver with only 3 wires needed to connect the components. Furthermore, the autopilot then has direct access to the raw R/C signal where it can be filtered, evaluated, and assessed for quality. The autopilot can then alert the user of any loss of R/C signal as well as perform any pre-configured autonomous commands in response to a loss of signal.

==Are PCM or 2.4GHz R/C systems compatible with Paparazzi?==
:Yes. Most good 2.4Ghz receivers can directly output a PPM signal on one servo pin. A general rule of thumb is that if you see any type of demultiplexer on your R/C receiver, you can look up the data sheet for it and likely tap into the input pin with success. Some information on compatible R/C receivers and how to find the PPM signal of your own receiver is given in the [[Other_Hardware#R.2FC_Receiver|RC receiver]] section.

:If that's not possible, you can use the available PPM encoder board, to re-multiplex the servo channels into one PPM signal. This seems to be a common solution.

==What R/C transmitters are compatible?==
:No mixing or programming is done in the transmitter so even the simplest models will suffice but one important requirement is a 3-position switch to select among the three autopilot modes: manual, stabilized only, and fully autonomous. Those handy with electronics can replace a dial with a switch and resistor if needed. The transmitter's PPM values need to be recorded and the channel used to control the autopilot mode must be stated. Some commonly used transmitter configuration files are provided in the [http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/conf/radios/ conf/radios] folder and the syntax of these files is easy to follow for those using other brands or models.

==Can a gamepad/joystick be used to control the aircraft through the modem?==
:Yes, the code to do this was written some time ago though it was not tested in flight due to latency concerns with the primitive [[Modems#Coronis_WaveCard|Coronis]] modems used at the time. Any of the [[modems]] currently recommended should work well in this manner but the theoretical reliability is still questionable due to the fact that no interrupt or prioritization structure exists for the telemetry data so any manual control inputs would be lumped in with the rest of the data to be lost or delayed as needed.

==What do MANUAL/AUTO1/AUTO2 stand for?==

:Those are the three modes that Paparazzi can operate in. Confer to [[AutopilotModes]] for more information.

==What Electronic Speed Controllers (ESC) are compatible?==
:Any controller can be used, the exact PWM value that is sent to the controller for 0-100% throttle is completely configurable in the airframe file so all controllers are compatible and any controller will arm properly with or without the use of an R/C transmitter. Upon each boot, the autopilot immediately sends whatever you have defined as 0% throttle (typically around 1200μs) and maintains that signal until a manual or autonomous command is given. Most modern controllers are "auto calibrating" which is an undesirable feature for R/C pilots and even more so for autonomous systems but can be dealt with. The calibration is done by defining the PWM value at boot to be 0% power and then defining some initial arbitrary mid-range value such as 1500μs to be 100% until a higher value is seen. The net result of this behavior is that the motor is given full power at any command above 50% throttle until 100% throttle has actually been commanded at least once. This is not an issue for planes that routinely take off at 100% throttle but can disrupt the throttle tuning and altitude control on any flights where 100% throttle has never been commanded. [http://www.castlecreations.com/products/products_fly.html Castle Creations Electronic Speed Controllers] can be configured for "fixed endpoints" so the ESC does not need to "learn" the endpoints at first takeoff this providing a consistent and predictable throttle response. By default this range 1250-1850μs but can be set at different values where needed.

: For quadrocopters a ESc with a very low latency is highly recommended. That can be a cheap standard ESC with a upgraded firmware (which uses I2C as input) or a high quality esc (mocrocopter ESC)

==Can traditional throttle stick programming be done on the ESC once connected to the autopilot?==
:Yes. If the transmitter is on with the throttle at full or whatever is required for your ESC when the autopilot is first booted, the autopilot will immediately see the manual control signal and the throttle position and pass that along to the ESC as the first value, triggering the programming mode.

==Does Paparazzi support digital servos?==
:Of course. Digital servos use exactly the same electrical interface as their analog counterparts, the only difference being in the way they control the motor. Analog servos use a '''P'''roportional feedback loop, meaning the voltage sent to the motor is proportional to the difference between the measured and intended position of the arm. Digital servos use a '''P'''roportional + '''D'''erivative ('''PD''') feedback loop. The derivative term considers the current speed and direction of the servo as well as the speed and direction of the pilot's stick command. The derivative term will increase power to the motor if the servo is moving the wrong direction (providing faster direction changes) and will reduce/reverse power if the servo is near it's desired position but moving too fast (reducing overshoot). The net effect of this is that a digital servo can use a much stronger '''P''' term without risk of oscillation and overshoot because the '''D''' term is there to intelligently dampen it as needed and boost it whenever it can.
:How does the inclusion of a '''D''' term make an analog servo become digital? Analog servos use a simple opamp to linearly relate the motor voltage to the difference between the potentiometer reading and PWM signal, whereas digital servos use a microprocessor to analyze the potentiometer position and velocity as well as the current and recent PWM signals to calculate the optimum voltage to send to the motor.
:'''Important:''' Please be aware that autonomous flight involves ''continuous'' movement of all servos. Make sure your power supply is capable of handling this and that your servos are capable of continuous operation without overheating - especially if you use digital servos.

==Can I solder wires directly to the autopilot instead of using the molex connectors?==
:Sure, only for some board it is easier to do than for others. Tiny: All of the molex headers are thru-hole and you can easily solder small gauge wire directly to the pins that protrude from these headers on the back of the board. It's important to note that '''standard servo wire cannot be soldered reliably''' in this fashion - you must use only high-grade wire intended for soldering (no vinyl insulation!). Direct soldering is not recommended, but it is possible ofcourse. See the [[Other_Hardware#Wiring|Wiring]] section for suggested wire types and sources. If you want to go the direct soldering path, be sure to you have '''excellent soldering skills''' and use high quality wiring.

==What are the paparazzi failsafe features and how do I configure them?==
The basic autopilot already has several built-in failsafe features ranging from lowlevel to highlevel and from implied to optional. For more details take a look on the [[Failsafe]] page.

==Why do I only get a blank (black) GCS==
:The GCS stays blank until you get telemetry messages (either from the real aircraft or simulated) with the correct MD5 checksum meaning the autopilot has the correct and up to date flightplan/airframe/... programmed in it (in case of an MD5 problem you constantly get a lot of warnings in paparazzi center).
:'''Solution''': Probably your telemetry is not set up correctly, this is most likely a [[XBee configuration]] issue.[[Subsystem/telemetry#Configure_Options|Configure the baudrate for your XBee connected to the autopilot]] and [[Subsystem/telemetry#Set_GCS_baud_rate|set the baudrate for the link to the one the ground XBee uses]] (They don't need to be the same). Also make sure your xbee cable is correct, transmit (tx) of xbee goes to receive (rx) on the autopilot and vice versa.

==Why do I get a Failure("#of_world:no georef") when trying to load map tiles==
:You get the georef error because the location is not initialized (probably GCS still blank and no aircraft are present). You can't get map tiles for nowhere...
:'''Solution''': Set up your telemetry properly so you get messages from the aircraft OR start a simulation with the appropriate coordinates then load the map tiles.

==How do I check if my telemetry is working?==
:'''Solution''': Launch the link and messages tools in the Paparazzi Center. You should see the the messages coming in (blinking green) in the messages window.
: If you get an the error ''Failure("Error opening modem serial device : fd < 0 (/dev/ttyUSB0)")'' from ''link'', your modem is either not connected at all, or just available under a different device name. Check if you set the [[Installation#Setting_access_rights_for_USB_download|udev rules]] and if your modem becomes available under the device you set.
: You might need to adjust the device and baud-rate of the link according to your setup, e.g. <tt>link -d /dev/ttyUSB0 -s 57600</tt>
: If you're stuck you can make ''link'' very verbose by setting the ''PPRZ_DEBUG'' environment variable to '' '*' ''

==Why don't I get a GPS position?==
:'''Problem''': Your GPS seems to be working, but you cannot get a valid position fix. Speed and course are displayed correctly, though. Possibly you also see Invalid_argument("Latlong.of_utm") errors on the GCS log.

This may happen if you have configured the wrong GPS subsystem for your Tiny board.
If you have the LEA-5H module on your Tiny board, but have configured
<tt><subsystem name="gps" type="ublox_utm"/></tt>
in your airframe file, this will occur because the 5H module does not support UTM position.

:'''Solution''': Make sure your GPS is [[GPS#GPS_configuration_using_U-Center|configured]] correctly and change the gps type to "<tt>ublox</tt>" if applicable.

==Why do I get a CRITICAL **: murrine_style_draw_box: assertion `width >= -1' failed error message on starting the GCS==
:'''Solution''': This error is not critical at all and can be safely ignored.
It is triggered by a bug in the Murrine GTK engine in combination with the default theme which Ubuntu uses, as detailed here:
https://bugs.launchpad.net/ubuntu/+source/light-themes/+bug/538499

==Do Paparazzi autopilots support onboard datalogging with an uSD or SD card?==
:Currently, writing to an SD card takes a considerable amount of processor resources, enough to significantly impact critical timings and autopilot performance. For this reason, no onboard datalogging is supported on current autopilots. If logging is needed on the aircraft (say for use without a datalink) then a second board that "sniffs" the datalink telemetry is needed. Support for this is available in Paparazzi. For information, see [[Data Logger]].

==Telemetry not working==
:If you are receiving the error "Failure("Error opening modem serial device : fd < 0 (/dev/ttyUSB0)")"
:'''Solution''': You might need to add your user to the modems group (dialout), then log out and in again.
:write in terminal:$ sudo adduser <user> dialout
:it will be effective after your next login or simply write:
:$newgrp dialout

==What does the name "Paparazzi" mean?==
:The original name of the project reads "PaparaDzIY" (http://www.nongnu.org/paparazzi/gallery_v0.html) which might be a French abbreviation, but the meaning of that name seems to be lost. In cases where the name "Paparazzi" is unfavorably (i.e. for serious applications not dealing with taking unasked pictures of persons) the use of the abbreviation PPRZ can be recommended.

[[Category:User_Documentation]]

Talk:Flight Plans

2016-02-08T19:40:57Z

Philipan: documentation of available flight plan variables

At 6.1 Expressions there is the entry:
"some internal autopilot variables (not fully documented, see examples)".

I think it would be very helpful to start a list of these variables, in order to know how powerful flightplan programming can be.

In order to start (may be alphabetically):

* autopilot_flight_time := time since autopilot was booted
* datalink_time := time since last connection of telemetry to ground control station
* GetPosAlt() := returns the current altitude above ground level
* GetPosX() := returns x (easting) of current position (relative to reference???)
* GetPosY() := returns y (northing) of current position (relative to reference???)
* ground_alt := altitude above ground level
* nav_radius := default radius as given in the airframe file
* NavKillThrottle() := function to switch off throttle
* PowerVoltage() := return current voltage of the battery
* InsideKill(GetPosX(), GetPosY())) := inside of a point???

Users

2015-08-09T10:51:36Z

Philipan: add user

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

== Wiki User Pages ==

{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ User Pages
|-
|- style="background:bisque; color:black"
|[[User:Dconger|Dconger]]
|[[User:MarcusWolschon|MarcusWolschon]]
|[[User:Alfamyke|Alfamyke]]
|[[User:Danstah|Danstah]]
|[[User:Martinmm|Martinmm]]
|- style="background:bisque; color:black"
|[[User:John_Burt|John Burt]]
|[[User:SilaS|SilaS]]
|[[User:Mecevans|Mecevans]]
|[[User:CSU-FCUAV|CSU-FCUAV]]
|[[User:GPH|Pierre-Selim]]
|- style="background:bisque; color:black"
|[[User:Martinpi|martinpi]]
|[[User:VAMK|VAMK]]
|[[User:EldenC|Elden_Crom]]
|[[User:Rbdavison|Bernard Davison]]
|[[User:jvs84|U of Arizona Autonomous Glider]]
|- style="background:bisque; color:black"
|[[User:Marc|Marc]]
|[[User:Bu5hm4nn|Bu5hm4nn]]
|[[User:HWal|HWal]]
|[[User:Aerodolphin|Rui Costa]]
|[[User:Scdwyer|Stephen Dwyer]]
|- style="background:bisque; color:black"
|[[User:PaulCox|Paul Cox]]
|[[User:Bruzzlee|Bruzzlee]]
|[[User:Stspies|Stspies]]
|[[User:Mzr|Mzr]]
|[http://brquad.blogspot.com AGRESSiVA]
|- style="background:bisque; color:black"
|add yourself here
|[[User:Martial Martial|Châteauvieux]]
|[[User:Christoph|Christoph]]
|[[User:Opt|Opt]]
|
|}

== Developers ==
See [[Developers]]

== Paparazzi Users sorted geographically ==

===Asia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|+ Asia
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:wzxwyvippt@126.com WANGYAO]|| China || UMARIM,twog,tiny2.11 lisa/m2.0 ||| 2008|| fly with lisa/m2.0 now, fully auto takeoff and landing
|- style="background:bisque; color:black"
| [mailto:zhaojinhust@gmail.com ZHAOJin]|| China || Tiny2.11 ||| 2011|| Just Finished my hand-soldered Tiny2.11 board. Welcome to my blog: freikorps.blogcn.com (CHINESE中文)
|- style="background:bisque; color:black"
| [mailto:laizzb@126.com dianzhichong]|| China || Umarim,apogee ||| 2011|| fly with apogee now,Fixed-wing autonomous flight. Establish QQ group (group No. 5436583) and technology sharing
|- style="background:bisque; color:black"
| [mailto:wangcfan@163.com Wangcfan]|| China || Tiny2.11 ||| 2008 || The beginning, is now in learning phase;Learning in Tiny2.11 using the method of IMU!
|- style="background:bisque; color:black"

| [mailto:mnwxiaobao@gmail.com MNW]|| China || Tiny2.11 ||| 2009 || Just starting,having troubles with parts.
|- style="background:bisque; color:black"
| [mailto:shubhamearly@gmail.com Shubham]|| India || Tiny2.11 ||| 2009 || Writing the configuration code for airframe
|- style="background:bisque; color:black"
| [mailto:mundhra@gmail.com M Mundhra] || India || Tiny 1.3 ||| 2007 || Gain tuning on a flying wing configuration airframe
|- style="background:bisque; color:black"
| [mailto:ngkiangloong_at_hopetechnik.com Jianlun]|| Singapore || TWOG V1 ||| 2008 || trying to get TWOG onto an EasyStar. very much a newbie!
|- style="background:bisque; color:black"
| [mailto:praxmail@gmail.com prashanth] || India || Tiny 2.11 ||| 2008 || 6 autonomous flights till now, currently build a new wing like funjet
|- style="background:bisque; color:black"
| [mailto:spencerpangborn@gmail.com spencer] || Taipei, Taiwan || none ||| 2009 || research for now, hope to take aerial photos of Taipei City soon
|- style="background:bisque; color:black"
| [mailto:benybeejz@gmail.com benybee] || Bandar Lampung, Indonesia || Tiny13 1.1 ||| 2010 || trying to get wing dragon fully autonomous, for aireal photograph and research
|- style="background:bisque; color:black"
| [mailto:iman.shirdareh@gmail.com Iman Shirdareh]|| Iran || YAPA V2,TWOG ||| 2010 || Many flight in AUTO2 by different aircraft(1.7-21Kg)
|- style="background:bisque; color:black"
| [mailto:anilvanjare83@gmail.com Anil vanjare] || India || TWOG, Tiny v2.1,Umarim v10 ||| 2011 || ,Umarim board assembled and tested all are ok on ground, now building a MAV to do test flight using UMARIM, with prashant
|}

===Europe===
{| class="wikitable" style="text-align:center;background:black; color:blue"

! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:lightgreen; color:black"
|Austria

|- style="background:bisque; color:black"
| [[User:NeoFromMatrix|NeoFromMatrix]] || Lower Austria/Vienna, Austria || STM32F4-discovery, LisaMV2 || 2013 || wiki doc, testing with low cost/high performance hardware
|- style="background:bisque; color:black"
| [[User:Martinpi|Martin Piehslinger]] || Vienna, Austria || Tiny 2.11 || 2008 || just starting

|- style="background:bisque; color:black"
| [mailto:st.jr_at_gmx.at TomS] || Graz, Austria || Tiny 2.11 ||| 2008 || Starting to complete the wiring for the tiny and then trying to apply it to my TwinStar II.

|- style="background:bisque; color:black"
| [[User:Mbina|Markus Bina]] || Lower Austria/Vienna, Austria || LisaMV2 || 2013 || wiki doc, testing with low/medium cost hardware

|- style="background:lightgreen; color:black"
|France

|- style="background:bisque; color:black"
| [mailto:x-microdrones@2007.polytechnique.org X-MicroDrones] || Paris, France || Tiny 2.11, Quad-Tilt-Rotor VTOL ||| 2008 || Wiring completed, first flights soon... We're trying to adapt Paparazzi to a Quad-Tilt-Rotor VTOL able to perform both airplane-like and helicopter-like flights. Working on inertial measurement units implementation.

|- style="background:bisque; color:black"
| [mailto:pvol_at_club.fr Philippe Volivert] || Paris, France || TWOG 2.12, EasyGlider, MPX3030 ||| July 2009 || Working on pan/tilt/roll camera

|- style="background:bisque; color:black"
| [mailto:thibaut.bergal@estaca.eu ESTACA Modélisme] || Paris, France || TWOG 2.11, Swift 2, MC22 ||| January 2010 || Starting

|- style="background:bisque; color:black"
| [mailto:limaiem@gmail.com Imed Limaiem] || Paris, France || TWOG 2.11, EPP-CF FPV ||| January 2010 || flight test; Town pollution measurement;

|- style="background:bisque; color:black"
| [mailto:pauldanielcox_at_gmail_dot_com Paul Cox]
| Toulouse
| Tiny v2.11 || Nov. 2008 || GWS Slow Stick flying in AUTO2 reliably. Starting on stabilized video and payload drops Skype: pauldanielcox Gtalk: [use email]

|- style="background:bisque; color:black"
| [mailto:charles-edmond.bichot@ec-lyon.fr Charles-Edmond Bichot] || Lyon, France || Tiny/YAPA, IR+GPS, XBee/smartphone ||| September 2009 || Teaching projects, solar cells, object detection in video / image

|- style="background:lightgreen; color:black"
|Germany

|- style="background:bisque; color:black"
| [mailto:maik.hoepfel_at_web.de Maik Hoepfel] || Berlin, Germany || TWOG, Borjet Maja, Futaba 9C 35 Mhz ||| August 2009 || Have flown different airframes and am flying a Borjet Maja right now; built a more rugged case and connecting board for PPRZ; taking surveying pictures

|- style="background:bisque; color:black"
| [[User:MarcusWolschon|Marcus Wolschon]] || Freiburg, Germany || Gumstix, Paraplane ||| 2008 || Porting Paparazzi to Linux-Userland with UDP-communication using mesh-networking.
UDP-Downlink working, GPS via GPSD working, Pararazzi in Linux working, Hardware still RC-only due to sensor-soldering-issues

|- style="background:bisque; color:black"
| [[User:Flixr|Felix Ruess]] || Munich, Germany || Lisa/M, Lisa/L, Booz, Twog ||| 2008 || coding more than flying.... unfortunately

|- style="background:bisque; color:black"
| [[User:Christoph|Christoph Niemann]] || Hamburg, Germany || Mini-Quadrotor with HBMini ||| 2010 || Several successful AUTO2-Flights.

|- style="background:bisque; color:black"
| [[User:Martial|Martial Châteauvieux]] || Munich, Germany || Bormatec/Maja with TWOG and IR ||| 2011 || Next test in January 2012, as soon as the weather permits. Hopefully I can switch in AUTO2.
|- style="background:bisque; color:black"
| [[User:Stspies|Steffen Spies]] || Wolfsburg, Germany || Multiplex TwinStar with Tiny V2.11 and IR/FreeIMU ||| 2010 || Maiden flight succesfully done. Now tuning.

|- style="background:bisque; color:black"
| [[User:Tobi|Tobias M]] || Germany || Multiplex TwinStar II TWOG v1 and IR/imu ||| 2007 || about 120h of flight tests in Auto2 with IR - coding and testing a new vertical control with airspeed - just changed from IR to Aspirin imu - about 3h Auto2 in that configuration

|- style="background:bisque; color:black"
| [[User:RoN|Rolf N]] || Bremen, Germany || TWOG, YAPA2, analog airspeed, imu ||| 2010 || many AUTO2 flights

|- style="background:bisque; color:black"
| [mailto:rijo1011_at_gmail.com Jochen Rieger] || Karlsruhe, Germany || Bormatec Maja, Lisa/L ||| 2011 || I hope the first flight is coming soon.

|- style="background:bisque; color:black"
| [[User:Opt|Opt]] || Berlin, Germany || ARDrone, Lisa/M Quadrotor ||| 2011 || First flights + some hacking

|- style="background:bisque; color:black"
| [mailto:a.philipp_at_geo.uni-augsburg.de philipan] || Augsburg, Germany || Board: APOGEE, Plattforms: Flying Wings (Knurrus Maximus, A2-No1FPV, Skywalker-X8) and Gliders (Easystar2 and Arcus Sport), RC: Graupner MX16, Sensors: Navilock NL-652ETTL, ETS Airspeed, SHT75, TEMP-TEMOD, Telemetry: Xbee ||| 2013 || Meteorological sounding of the boundary layer and photogrammetry in research and student projects. Latest measurement campaign of 102 autonomous flights finished sucessfully in August 2015.

|- style="background:lightgreen; color:black"
| Portugal

|- style="background:bisque; color:black"
| [mailto:azoreanuav_at_gmail.com Rui Costa] || Azores, Portugal || Outrunner Twinstar II with Tiny 2.11, Aerocomm datalink, 1W video tx ||| 2008 || Only ground test and software configuration.

|- style="background:bisque; color:black"
| [mailto:muralha_at_gmail.com Nuno Guedes] || Lamego, Portugal || Tiny 2.11 || 2008 || Starting

|- style="background:lightgreen; color:black"
|Switzerland

|- style="background:bisque; color:black"
| [mailto:markggriffin_at_gmail.com MarkG] || Geneva, Switzerland || Modified Tiny v2.11, TWOG v1, EeePC as GCS, Multiplex FunJet & EasyStar ||| 2008 || Many successful flights.

|- style="background:bisque; color:black"
| [mailto:spam1_at_marzer.com CedricM] || Geneva, Switzerland || Tiny 2.11, Multiplex FunJet with video camera ||| 2008 || Many successful flights working on an osd module and weather probes.

|- style="background:bisque; color:black"
| [mailto:reto.buettner_at_gmail.com RetoB] || Meilen, Switzerland || TWOG, Tiny 2.11, Cougar, eHawk, Y-UAV, EzOSD, Scherrer UHF ||| 2010 || Many successful flights. See [http://www.aerovista.ch/news.html www.aerovista.ch] and [http://www.y-uav.com www.y-uav.com] for current status.

|- style="background:bisque; color:black"
| [mailto:schmiemi_at_students.zhaw.ch EmilioS] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Borjet Maja, UMARS||| 2010 || Many successful flights. See [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html UMARS] for current status.

|- style="background:bisque; color:black"
| [mailto:enso@zhaw.ch Oliver E] || Winterthur, Switzerland || Tiny 2.11 incl. ArduIMU, Kyosho Calmato, UMARS||| 2010 || Many Successful flights. A lot of experience as savety pilot. Experience with pich based speed control (best you can have). No programming skills unfortuanatley.

|- style="background:bisque; color:black"
| [mailto:samuelbryner_gmx.ch Samuel B.] || Winterthur, Switzerland || Tiny 2.11, Multiplex Easyglider ||| 2010 || Just starting. No flight so far :/

|- style="background:bisque; color:black"
| [mailto:sjwilks_at_gmail.com Simon W.] || Aarau, Switzerland || TWOG with ArduIMU in Jamara Roo, TWOG on a Telink Tempest flying wing, YAPA2 on a Bormatec Maja, Lisa/L on a Droidworx AD-8 HL ||| 2010 || Many successful flights. See [http://sites.google.com/site/paparazziuav/ http://sites.google.com/site/paparazziuav/].

|- style="background:lightgreen; color:black"
| UK

|- style="background:bisque; color:black"
| [mailto:et@onyxnet.co.uk Alan K] || Middlesbrough, England || Tiny 2.11 & MaxStream ||| 2008 || Just starting.

|- style="background:bisque; color:black"
| [[User:G R|Gareth R]] || Sheffield, UK || Tiny 2.11, video, bunch of helicopters, Multiplex Mentor, Multiplex Funjet, Multiplex Fox, GWS Formosa ||| 2008 || Came 4th in EMAV09 (although won the Golden Balls award for courage in the face of adversity and exceptional partying). Many AUTO2 flights with a camera and XBee868s. Current main airframe is a GWS Formosa (they are so cheap!).

|- style="background:lightgreen; color:black"
| Other

|- style="background:bisque; color:black"
| [mailto:silas_at_silas.hu SilaS] || Budapest || Tiny 1.3,2.11, Twog 1.0 ||| 2007 || Applied tiny to GWS Estarter, finished long travels in AUTO2. Now transfert it to a Twinstar and working on pairing tiny with FPV. Successfull. Now using it on large gliders and jets.

|- style="background:bisque; color:black"
| [mailto:hendrix@gmail.gr| Chris Efstathiou] || Piraeus Hellas || tiny 2.11 on a Mpx EasyGlider, TWOG 1.3 on a Boomerang turbine jet, and my newest toy a X8 with a on camera ||| 2008 || The Easyglider is fully operational, still working on the jet which had his first flight with the TWOG at 25/1/2009

|- style="background:bisque; color:black"
| [[User:openuas|OpenUAS]] || Amsterdam, The Netherlands || TWOG, Tiny, Lisa/L and various airframes || 2007 || Quite a few AUTO2 flights. Improving airspeed, IMU and strong wind integration

|- style="background:bisque; color:black"
| [mailto:sanarlab@yandex.ru Andrew Saenko] || Russia, St-Petersburg || Tiny 1.13, Tiny 2.11, two own hardware designs, 5 kg aerial photo plane, 2.5 kg survelliance uav, Easystar ||| 2007 || Use modified autopilot and GCS in professional tasks, add self desidned IMU

|- style="background:bisque; color:black"
| [mailto:chebuzz_at_gmail.com David "Buzz" Carlson] || Cyprus || Tiny 2.11, Lynx EDF & GWS SloStick, 9XTend datalink ||| 2008 || Quite a few AUTO2 flights. Plane currently grounded due to a TX run-in with a 1 year-old. Currently working on getting new TX and completing CBP store setup.

|- style="background:bisque; color:black"
| [mailto:kostalexis@ece.upatras.gr AneMos-Group] || Patras, Greece || Tiny 2.11, Quadrotor VTOL ||| 2008 || Working on IMU, Trying to implement Constrained Control for the quadrotor trajectory flight

|- style="background:bisque; color:black"
| [[User:VAMK|Allan Ojala (VAMK)]] || Vaasa, Finland || TWOG, with AC4790 radio and LEA-5H GPS ||| 2009 || Ditched the SIG Kadet. Built a new big plane TaigaCam. Self-build model made out of EPP and a plastic tube.

|- style="background:bisque; color:black"
| [mailto:alexandru.panait@ral.ro Phineas] || Bucharest, Romania || Tiny2.11 (PPZUAV) ||| November 2009 || Just started to set-up

|- style="background:bisque; color:black"
| [mailto:lukeiron@hotmail.com Luke] || Torino, Italy || TWOG ||| December 2009 || Close to mount the AP on my Mentor
|

|- style="background:bisque; color:black"
| [mailto:helgewal@gmail.com Helge] || Bergen, Norway || TWOG ||| 2009 || First Auto2 flight with Twinstar2 in October 2010
|}

===North America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status

|- style="background:bisque; color:black"
| [[User:Mcurrie|Matthew Currie]] || Nanaimo, BC Canada || Tiny 13 v1.1 (Self-built) ||| November 2006 || Funjet + XBee

|- style="background:bisque; color:black"
| [mailto:quill_at_u.washington.edu John Burt] [http://paparazzi.enac.fr/wiki/User:John_Burt wiki page]|| Portland, Oregon || Tiny v2.11 + LEA-4H (PPZUAV), Multiplex Cularis/Easystar, 9Xtend modem, T7CAP TX, ground station: EEE PC701 and/or Nokia N810 ||| Jan 2009 || Initial flight tests w/ Easystar in AUTO1 & AUTO2.

|- style="background:bisque; color:black"
| [mailto:ogar0007@umn.edu Pat O'Gara] || St. Paul, MN || Tiny 2.11 and TWOG (PPZUAV) |||Oct. 2008 || Completed and flown FunJet and Minimag in Auto 2. Currently rebuilding MiniMag as an improved development platform.

|- style="background:bisque; color:black"
| [mailto:kochesj@gvsu.edu John Koches] || Muskegon, Michigan || Tiny 2.11 (PPZUAV) ||| 2007 || currently flying a 48 inch zagi, 80 inch under construction.

|- style="background:bisque; color:black"
| [mailto:Stdeguir@gmail.com Steve Deguir] || New York, New York || Tiny2.11+LEA-5H (PPZUAV), XbeePro 2.4, Berg4L, JR FMA ||| Feb 2009 ||

|- style="background:bisque; color:black"
| [mailto:bmw330i@me.com David Conger] || San Diego (Ramona), California || Tiny1.3 (PPZUAV) ||| Sept 2007 || Flying Wing MAV with onboard video. Test platform for the new 900mhz XBPro 900 RF modems.

|- style="background:bisque; color:black"
| [mailto:mecevans@gmail.com Michael Evans] || Seaside(Monterey Bay), California || Tiny2.11 (PPZUAV) ||| Feb 2009 ||http://www.rcgroups.com/forums/showthread.php?t=1000937.

|- style="background:bisque; color:black"
| USU AggieAir Remote Sensing || Logan, UT || TWOG (PPZUAV) ||| January 2009 || Building 72" Flying Wings which will be used for remote sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [http://www.engr.usu.edu/wiki/index.php/OSAM USU OSAM-UAV] || Logan, UT || TWOG (PPZUAV) ||| June 2007 || 2x72" 5x48" 1x60" Flying Wings. Research backyard for AggieAir Remote Sensing. Routine autonomous flight.

|- style="background:bisque; color:black"
| [[User:CSU-FCUAV|CSU Fuel Cell UAV]] || Fort Collins, Co || Tiny 2.11 + LEA-5H (PPZUAV), 2.4Ghz XBPro ||| Mar 2009 || Maiden flight complete Feb 28. New Airframe in development.

|- style="background:bisque; color:black"
| [mailto:armz12@gmail.com Armen Gharibans] || La Jolla, California || Tiny2.11 (PPZUAV) ||| March 2009 || UCSD Project with Multiplex Mentor. Completed August 2, 2009. Several Successful Auto2 Flights. A LOT of help from David Conger.

|- style="background:bisque; color:black"
| [[User:EldenC|Elden Crom]] || Tucson, AZ || Twog 1.0 ||| July 2009 || Multiplex Twinstar, XBee Pro. Several Successful Auto2 Flights. Working toward precise Auto-Takeoff and Auto-Land

|- style="background:bisque; color:black"
| [[User:jvs84|U of Arizona Autonomous Glider]] || Tucson, AZ || None, will use TWOG 1.0 ||| December 2009 || Super Dimona, Aerocomm. No Flight test. Working toward setting waypoints within Paparazzi code

|- style="background:bisque; color:black"
| [Reegan] || Lubbock, TX || Planning on Tiny 2.11 (PPZUAV), 900mhz XBPro |||Dec. 2009 || Gaining info to begin a collegiate project

|- style="background:bisque; color:black"
| Team UAV UALR Caleb Tenberge || Little Rock, AR || Using TWOG 1.0 ||| Feb 2010 || Using a Telemaster, we are learning the GCS and building our plane.

|- style="background:bisque; color:black"
| [mailto:changho.nam@asu.edu Arizona State University POLY - Capstone Team: Development of UAV /w surveillance System] || Mesa, AZ || Using TINY 2.1 - 2.4GHz Modem, CCD Camera /w 900 MHz Video Transmitter ||| March 2010 || 4-lbs Flying Wings. We made successful autonomous flights.

|- style="background:bisque; color:black"
| [[User:Scdwyer|Stephen Dwyer]] || Edmonton, AB, CAN || Nothing Yet ||| Jan 2011 || Obtaining Hardware

|- style="background:bisque; color:black"
| [mailto:muratagenc@yahoo.com Murat A. Genc] || New York, NY || not decided yet ||| May 2011 || just started

|- style="background:bisque; color:black"
| [[UAlberta_UASGroup|University of Alberta UAS Group]] || Edmonton, AB, CAN || TWOG 1.0, Asprin IMU ||| Aug 2011 || Completing tuning flights in Auto 1 on a Senior Telemaster with 26cc gas engine. Working towards a stable platform for research.

|- style="background:bisque; color:black"
| [mailto:piotr@esden.net Piotr Esden-Tempski] || Santa Cruz, CA || Lisa/L, Lisa/M, Aspirin, Quadshot, Rotorcraft ||| 2009 || Software and Hardware development as well as [http://thequadshot.com The Quadshot]

|- style="background:bisque; color:black"
| [http://clubs.asua.arizona.edu/~mavclub University of Arizona MAV] || Tucson, AZ || Lisa/M 2.0, Aspirin v2.0, uBlox MAX-6Q, XBee 900 Pro/868LP, Mini-Vertigo ||| 2005 || University of Arizona Micro Air Vehicle Club (competing in IMAVs with Paparazzi since 2003.)

|- style="background:bisque; color:black"
| [[User:Cwozny|Chris Wozny]] || Nashua, New Hampshire || Lisa/M, Aspirin ||| 2008 || Currently building quadcopter around Lisa/M 2.0 platform.

|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Central America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:joschau@comcast.net Joekadet] || David Panama' || Tiny v2.11/LEA-4P, RF Modems XBee Pro 2.4 GHz (PPZUAV). Multiplex Mentor ||| 2008 || Seven flights now. Flights 6 & 7 in Auto2. Now only a matter of fine tuning.
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===South America===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:gustavoviolato@gmail.com Gustavo Violato] || São José dos Campos, Brasil || Tiny v2.11/LEA-4P, Modem XBee Pro 2.4 GHz Swift II ||| 2009 || Flying autonomously and enjoying it. Planning to use the system for flight test data acquisition and aircraft parameter recognition.
|- style="background:bisque; color:black"
| [mailto:agressiva@hotmail.com Eduardo Lavratti] || Porto Alegre - RS, Brasil || TWOG / BOOZ / LISA-M, UBLOX, Xbee900 60mw||| 2011 || Working with geoprocessing - developping new modules and sensors to paparazzi. [http://brquad.blogspot.com ACCENT AERiALS]
|- style="background:bisque; color:black"
| New User || 1 || 2 ||| 3 || 4
|}

===Australia===
{| class="wikitable" style="text-align:center;background:black; color:blue"
|-
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [[User:RH1N0|RH1N0]] || Brisbane, QLD || TWOG, Multiplex Easystar, PPZGPS, H.264 live digital video, Ubiquiti modems ||| May 2011 || Multiple AUTO2 flights up to 40 min. Currently testing PPZIMU.
|- style="background:bisque; color:black"
| [mailto:todd_soaring@yahoo.com.au Todd Sandercock] || Adelaide, SA || Tiny v2.11, Multiplex Twinjet, 9Xtend modems ||| Jan 2008 || Completed successful flight testing. Now designing new airframe.
|- style="background:bisque; color:black"
| [mailto:reubenb87@gmail.com Reuben Brown]|| Gawler, SA || Tiny v2.11 ||| May 2009 || Getting the autopilot set up
|- style="background:bisque; color:black"
| [[User:Rbdavison|Bernard Davison]] || Neutral Bay, NSW || Tiny v2.11, Vertical + Horizontal IR sensors, XBee PRO modems, Futaba T6EXAP TX, Futaba R136F RX, Funjet, MacBook laptop ||| August 2008 || Several flights in Auto1
|- style="background:bisque; color:black"
| [[User:Rufus|Chris Gough]] || Canberra || TWOG v2.11, EZ* || September 09 || not yet airborn
|- style="background:bisque; color:black"
| [[User:Adam.A|Adam Amos]] || Sydney, NSW || TWOG, IMU, BORJET MAJA || March 2010 || see [http://www.rescuerobotics.com.au www.rescuerobotics.com.au] for current status
|}

===Africa===
{| class="wikitable" style="text-align:center;background:black; color:blue"
! Name !! Location !! Hardware !! Joined !! Current activities / project status
|- style="background:bisque; color:black"
| [mailto:w1_th@yahoo.com W1th] || South Africa KZN || TWOG V1 ,LEA-5H GPS , RF Modems XBee Pro 868 (CheBuzz) ||| July 2009 || Got TWOG,GPS etc interfacing with Laptop and working , Have not done anything to it recently but...Made a website [http://sites.google.com/site/scarfclub/paparazi-uav SCARF Paparazzi-UAV] of my struggle ...
|- style="background:bisque; color:black"
| [mailto:willie.smit@nwu.ac.za Willie Smit] || South Africa NW || Tiny v2.11, LEA-4P GPS, RF Modems XBee Pro ||| April 2010 || We are currently doing test flights. Also doing research on obstacle avoidance.
|- style="background:bisque; color:black"
|}

==Need help adding your information?==
To have your information added by another paparazzi user, please send me an [http://www.rcgroups.com/forums/showpost.php?p=6575288&postcount=1 EMAIL] at with the
following:

*Name:chenxiangjun
*Email:228941758@qq.com
*Location:shenzhen china
*Hardware:lisa/M 2.0
*Join date:2014
*Current activities / project status :Writing the configuration code for airframe

[[Category:Community]]: