PaparazziUAV - User contributions [en]

TU Delft - Search and Rescue with AR Drone 2

2012-12-13T09:05:21Z

Remcovdplaats:

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specifications | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR.Drone 2 - Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

The last part of this project consist of making the AR.Drone2 Autonomous. The this process consist of 4 branches:

*[[Autonomous flight of Paparazzi AR.Drone2]]
*[[Multidirectional distance measurement AR.Drone2]]
*[[Object Avoidance AR.Drone2]]
*[[Fail safe AR.Drone2]]

=== Search and Rescue Features===

*[[Mapping AR.Drone2]]
*[[Hull Desing AR.Drone2]]
*[[Optical flow AR.Drone2]]
*[[Immage recognitionAR.Drone2]]

[[Category: TU Delft - Automonous Quadrotor]]

TU Delft - Search and Rescue with AR Drone 2

2012-12-13T09:04:26Z

Remcovdplaats: Undo revision 13854 by Remcovdplaats (Talk)

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR.Drone 2 - Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

The last part of this project consist of making the AR.Drone2 Autonomous. The this process consist of 4 branches:

*[[Autonomous flight of Paparazzi AR.Drone2]]
*[[Multidirectional distance measurement AR.Drone2]]
*[[Object Avoidance AR.Drone2]]
*[[Fail safe AR.Drone2]]

=== Search and Rescue Features===

*[[Mapping AR.Drone2]]
*[[Hull Desing AR.Drone2]]
*[[Optical flow AR.Drone2]]
*[[Immage recognitionAR.Drone2]]

[[Category: TU Delft - Automonous Quadrotor]]

TU Delft - Search and Rescue with AR Drone 2

2012-12-13T09:03:06Z

Remcovdplaats: /* GPS */

[[Image:2012-10-03 12.40.46.jpg|thumb|right|400px|TU Delft Minor Robotics: Quadrotor Group 1]]__TOC__

== Introduction==
The high maneuverability and stability of a quadrotor inspired us to make an autonomous search and rescue vehicle. For this the AR Drone 2 was used. The goal of this project is thus to further develop the AR Drone2 into a robot capable of performing an autonomous search mission. All the steps taken are described on this page.

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. In order to get the quadrotor flying paparazzi was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

First some general information about the project is given in chapter2. How all the data was obtained is presented in chapter 3. In chapter 4 it is described how to get paparazzi working on the drone. Next in chapter 5 we present how simulation was done and finally the proces of making the drone capable of performing an autonomous search and rescue mission is described in chapter 6.

== General project information==

This project was develloped using Linux, more specific Ubuntu. So except for the simulation part all steps are explained for this operating system. But it's a free operating system, so if you want to retrace our steps you can simply download it and access it from your current operating system using virtual box. A small tutorial can be found [[ Virtualbox 4.1.22 for Windows Hosts & Ubuntu 12.04 LTS| here]].

For this project we used a repository, Github. This allows multiple people to work on the same project at the same time without getting in eachother's way. So all files assosiated with our project assosiated can be accesed using Github. For beginners, you can read the manual to setup Github for Ubuntu:

* [[Github manual for Ubuntu]]

Our git repository is at [https://github.com/RoboticaTUDelft/paparazzi Github RoboticaTUDelft] in the "minor1" branch. You can change to this branch by executing the following command "git checkout minor1". The related project, [[TU Delft - Lasergame with Autonomous AR Drone]], can be found under the minor2 branch.

== Data acquisition==

So as explained in the introduction, firstly the raw data had to be extracted from the AR Drone2. So this data could be fed to paparazzi. So we started with trying to connect and pass files to the AR Drone2, which is desribed in the connecing section. The exact details of the extraction of the data is described in the NAV board section. Next the data from paparazzi had to be passed on to our actuators correctly. This is described in the motor driver section. To be able to perform better in our autonomous mission a GPS was added to the AR Drone2. The details of this are described in the GPS section.

=== Connecting===

For our project the operating system Ubuntu was used, so all the steps described here are for an Ubuntu operating system.

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

The actual transferring of files is done using a File Transfer Protocol (FTP).

*[[FTP AR.Drone2]]

=== NAV board===

Throughout this project, on several different occasions, it will be apparent that the AR Drone2 was never really meant to be used as we inteded to. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. So with what little information is publicly available, reverse engineering was a lot harder than we first thought when we began the project. However the AR.Drone2 looks a lot like the AR.Drone1, its predecessor, for which a lot of reverse engineering has allready been done by other people. Ofcourse there are differences and this is where we started reverse engineering the bits and pieces for the NAV board.

*[[NAV board AR.Drone2]]

=== Motor driver===

Using a similar technique as for the NAV board, the motor drivers were obtained.

*[[Motor driver AR.Drone2]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[BU_353_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[GPS Driver AR.Drone2]]

== Paparazzi==

Now the necessary raw data can be obtained and the actuators can be controlled, it's time to focus on paparazzi. This section consists of two parts. The first part deals with integrating the AR.Drone2 into the paparazzi libraries, the second part deals with compiling paparazzi for the drone. More inforamtion on how to install paparazzi can be found [[installation|here]].

=== Using Paparazzi===

This parts describes the process of adapting the paparazzi libraries to make them compatible with the AR.Drone’s hard en software.

*[[Integrating the AR Drone 2 with Paparazzi]]

=== Compiling===

Finally paparazzi can be compiled and be put on the AR.Drone 2. This is describes in this section.

*[[compiling paparazzi for the AR.Drone2]]

=== Paparazzi architecture===

In the near future, we'd like to add features like object avoidance. Since this isn't yet implemented in paparazzi we have to start from scratch. Therefore we tried to understand the architecture a little better than is explained on this wiki at the moment.

*[[Insight of paparazzi architecture]]

== Simulation==

Now paparazzi was compiled and our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. This are also the 2 parts in this section. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

=== JSBSim===
'''Creating A Flight Dynamics Model'''

In order to control the otherwise highly active dynamic nature of the quadrotor, an autopilot system will be necessary because the reaction time of the pilot will, otherwise, not be sufficient to maintain stable flight. The autopilot system will be created in Paparazzi for which a prerequisite is a proper flight dynamics model (FDM). To create the FDM the team will use [http://jsbsim.sourceforge.net/ JSBSIM], an open-source, platform-independent, flight-dynamics and control software library. Installing JSBSIM is covered for several different operating systems on the Paparazzi Wiki, [[JSBSim|Installing JSBSIM]].

Once JSBSim had been installed, the actual work could begin. Flight Dynamics and the creation of an individual model for an aircraft is essentially a case study regarding its control, stability, and performance. To model those three dynamics aspects is essentially what JSBSIM was used for but before work could begin, JSBSIM would first need to be fed a configuration file. The configuration file is written in a .xml format and, naturally, is unique to each aircraft. Although not applicable to this project, it is worth mentioning in the event that the reader of this page is not following the instruction exactly and is using it more for reference, there is a tool on the JSBSIM page called [http://jsbsim.sourceforge.net/aeromatic2.html Aeromatic], which is a capable .xml configuration file generator. For those following this project closely, a link will follow for creating a suitable JSBSIM .xml configuration file for the AR.Drone2.

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR.Drone 2 - Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

This section deals with the final stage of our project of making the further developing the AR.Drone2 into a quadrotor performing an autonomous search and rescue mission. First autonomous flight is discussed, next the features in order to perform a search and rescue mission are discussed.

=== Autonomous flight===

The last part of this project consist of making the AR.Drone2 Autonomous. The this process consist of 4 branches:

*[[Autonomous flight of Paparazzi AR.Drone2]]
*[[Multidirectional distance measurement AR.Drone2]]
*[[Object Avoidance AR.Drone2]]
*[[Fail safe AR.Drone2]]

=== Search and Rescue Features===

*[[Mapping AR.Drone2]]
*[[Hull Desing AR.Drone2]]
*[[Optical flow AR.Drone2]]
*[[Immage recognitionAR.Drone2]]

[[Category: TU Delft - Automonous Quadrotor]]

GPS/BU 353

2012-12-13T09:02:10Z

Remcovdplaats: moved GPS specifications to BU 353 specifications: GPS specifications is not a well-defined name.

[[Image:BU-353_gps_receiver.jpg|thumb|right|250px|BU-353 GPS receiver]]
Our goal is to adapt the USGlobalsat BU-353 GPS receiver to work with the Parrot AR.Drone 2.0. In this part some general specifications of the sensor are given.

== Type of GPS sensor ==
The GPS sensor we use for this project is as said before the BU-353 USB GPS Receiver from US Globalstat. This receiver is compatible with systems running Windows, MAC OS and Linux. Therefore the receiver is to use for each application. The receiver sends the data through the USB cable to the system. The data send by the receiver is SiRF binary or NMEA 0183.

== Configuration ==
To use the sensor the system must be configured to receive the sended data correctly. Because we use a Linux system the configuration for such a system is explained. The used Baudrate of GPS sensor is 4800. The receiver transmits no parity bit. The number of bits transmitted by the receiver is 8 followed by 1 stop bit. The system must be configured to receive correct data. The default settings of a Linux system are receiving no parity bit, 8 data bits and 1 stop bit. In most cases you only have to set the Baudrate to 4800.

== Data transmitted by GPS ==
The receiver tranmists data to your system. The default format sent by the receiver is the [http://www.gpsinformation.org/dale/nmea.htm NMEA 0183] standard. NMEA consists of sentences, the first word of which, called a data type, defines the interpretation of the rest of the sentence. Each Data type would have its own unique interpretation and is defined in the NMEA standard. There are many sentences but our receiver is only able to receive some of them. The types the receiver is able to handle are: [http://www.gpsinformation.org/dale/nmea.htm#GGA GGA], [http://www.gpsinformation.org/dale/nmea.htm#GSA GSA], [http://www.gpsinformation.org/dale/nmea.htm#GSV GSV], [http://www.gpsinformation.org/dale/nmea.htm#RMC RMC], [http://www.gpsinformation.org/dale/nmea.htm#VTG VTG] and [http://www.gpsinformation.org/dale/nmea.htm#GLL GLL]. The last two datatypes are optional.

Talk:TU Delft: AR Drone 2 - News

2012-11-30T13:02:53Z

Remcovdplaats: /* Build a driver for the AR Drone [30-11-2012] */

== TU Delft Robotics minor: AR Drone 2 project - News ==
Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Build a driver for the AR Drone [30-11-2012] ===
Today we finally managed to build and compile a driver for the AR Drone 2. As you may know, we want to connect a GPS sensor to the Drone and since there is not an USB-serial driver available on the Drone we have to make it by ourself. Today we finished the job and succesfully received GPS data on the AR Drone. Now we know how to make a driver for the Drone it will be easier to write other drivers if necessary.

=== Compiling the AP breakthrough! [26-11-2012] ===
Today we (finally) managed to compile the AR Drone 2 auto pilot without errors! Not all subsystems have been implemented yet so we can't test it on the drone for a while but at least we managed fix the linkage errors we were getting constantly.

[[Category: TU Delft - Automonous Quadrotor]]

Talk:TU Delft: AR Drone 2 - News

2012-11-30T12:43:47Z

Remcovdplaats:

== TU Delft Robotics minor: AR Drone 2 project - News ==
Here we will post breakthroughs, summaries of a page update and small facts that might be nice to know.

=== Build a driver for the AR Drone [30-11-2012] ===
Today we finally managed to build and compile a driver for the AR Drone 2. As you may know, we want to connect a GPS sensor to the Drone and since there is not a USB-serial driver available on the Drone we have to make it by ourself. Today we finished the job and succesfully received GPS data on the AR Drone. Now we know how to make a driver for the Drone it will be easier to write other drivers if necessary.

=== Compiling the AP breakthrough! [26-11-2012] ===
Today we (finally) managed to compile the AR Drone 2 auto pilot without errors! Not all subsystems have been implemented yet so we can't test it on the drone for a while but at least we managed fix the linkage errors we were getting constantly.

[[Category: TU Delft - Automonous Quadrotor]]

GPS/BU 353

2012-11-14T08:49:54Z

Remcovdplaats:

[[Image:BU-353_gps_receiver.jpg|thumb|right|250px|BU-353 GPS receiver]]
Or goal is to adapt the USGlobalsat BU-353 GPS receiver to work with the Parrot AR.Drone 2.0. In this part some general specifications of the sensor are given.

== Type of GPS sensor ==
The GPS sensor we use for this project is as said before the BU-353 USB GPS Receiver from US Globalstat. This receiver is compatible with systems running Windows, MAC OS and Linux. Therefor the receiver is to use for each application. The receiver sends the data through the USB cable to the system. The data send by the receiver is SiRF binary or NMEA 0183.

== Configuration ==
To use the sensor the system must be configured to receive the sended data correctly. Because we use a Linux system the configuration for such a system is explained. The used Baudrate of GPS sensor is 4800. The receiver transmits no parity bit. The number of bits transmitted by the receiver is 8 followed by 1 stop bit. The system must be configured to receive correct data. The default settings of a Linux system are receiving no parity bit, 8 data bits and 1 stop bit. In the most cases you only have to set the Baudrate to 4800.

== Data transmitted by GPS ==
The receiver tranmists data to your system. The default format sended by the receiver is the [http://www.gpsinformation.org/dale/nmea.htm NMEA 0183] standard. NMEA consists of sentences, the first word of which, called a data type, defines the interpretation of the rest of the sentence. Each Data type would have its own unique interpretation and is defined in the NMEA standard. There are many sentances but our receiver is only able to receive some of them. The types the receiver is able to handle are: [http://www.gpsinformation.org/dale/nmea.htm#GGA GGA], [http://www.gpsinformation.org/dale/nmea.htm#GSA GSA], [http://www.gpsinformation.org/dale/nmea.htm#GSV GSV], [http://www.gpsinformation.org/dale/nmea.htm#RMC RMC], [http://www.gpsinformation.org/dale/nmea.htm#VTG VTG] and [http://www.gpsinformation.org/dale/nmea.htm#GLL GLL]. The last to datatypes are optional.

GPS/BU 353

2012-11-14T08:49:04Z

Remcovdplaats:

[[Image:BU-353_gps_receiver.jpg|thumb|right|250px|BU-353 GPS receiver]]
Or goal is to adapt the USGlobalsat BU-353 GPS receiver to work with the Parrot AR.Drone 2.0

== Progress ==
We wrote a small program to read a string data of the NMEA format. Next we have to manage is implement the GPS receiver on the AR.Drone running paparazzi.

== Type of GPS sensor ==
The GPS sensor we use for this project is as said before the BU-353 USB GPS Receiver from US Globalstat. This receiver is compatible with systems running Windows, MAC OS and Linux. Therefor the receiver is to use for each application. The receiver sends the data through the USB cable to the system. The data send by the receiver is SiRF binary or NMEA 0183.

== Configuration ==
To use the sensor the system must be configured to receive the sended data correctly. Because we use a Linux system the configuration for such a system is explained. The used Baudrate of GPS sensor is 4800. The receiver transmits no parity bit. The number of bits transmitted by the receiver is 8 followed by 1 stop bit. The system must be configured to receive correct data. The default settings of a Linux system are receiving no parity bit, 8 data bits and 1 stop bit. In the most cases you only have to set the Baudrate to 4800.

== Data transmitted by GPS ==
The receiver tranmists data to your system. The default format sended by the receiver is the [http://www.gpsinformation.org/dale/nmea.htm NMEA 0183] standard. NMEA consists of sentences, the first word of which, called a data type, defines the interpretation of the rest of the sentence. Each Data type would have its own unique interpretation and is defined in the NMEA standard. There are many sentances but our receiver is only able to receive some of them. The types the receiver is able to handle are: [http://www.gpsinformation.org/dale/nmea.htm#GGA GGA], [http://www.gpsinformation.org/dale/nmea.htm#GSA GSA], [http://www.gpsinformation.org/dale/nmea.htm#GSV GSV], [http://www.gpsinformation.org/dale/nmea.htm#RMC RMC], [http://www.gpsinformation.org/dale/nmea.htm#VTG VTG] and [http://www.gpsinformation.org/dale/nmea.htm#GLL GLL]. The last to datatypes are optional.

GPS/BU 353

2012-11-14T08:47:58Z

Remcovdplaats:

GPS/BU 353

2012-11-13T12:38:23Z

Remcovdplaats:

[[Image:BU-353_gps_receiver.jpg|thumb|right|250px|BU-353 GPS receiver]]
Or goal is to adapt the USGlobalsat BU-353 GPS receiver to work with the Parrot AR.Drone 2.0

== Progress ==
We wrote a small program to read a string data of the NMEA format. Next we have to manage is implement the GPS receiver on the AR.Drone running paparazzi.

== Type of GPS sensor ==
The GPS sensor we use for this project is as said before the BU-353 USB GPS Receiver from US Globalstat. This receiver is compatible with systems running Windows, MAC OS and Linux. Therefor the receiver is to use for each application. The receiver sends the data through the USB cable to the system. The data send by the receiver is SiRF binary or NMEA 0183.

== Configuration ==
To use the sensor the system must be configured to receive the sended data correctly. Because we use a Linux system the configuration for such a system is explained. The used Baudrate of GPS sensor is 4800. The receiver transmits no parity bit. The number of bits transmitted by the receiver is 8 followed by 1 stop bit. The system must be configured to receive correct data. The default settings of a Linux system are receiving no parity bit, 8 data bits and 1 stop bit. In the most cases you only have to set the Baudrate to 4800.

== Data transmitted by GPS ==
The receiver tranmists data to your system. The default format sended by the receiver is the [http://www.gpsinformation.org/dale/nmea.htm NMEA 0183] standard. NMEA consists of sentences, the first word of which, called a data type, defines the interpretation of the rest of the sentence. Each Data type would have its own unique interpretation and is defined in the NMEA standard. There are many sentances but our receiver is only able to receive some of them. The types the receiver is able to handle are: GGA, GSA, GSV, RMC, VTG and GLL. The last to datatypes are optional.
{| class="wikitable"
|+ '''Datatype with an example of the outputstring'''
! scope="col" | Type
! scope="col" | Outputstring
|-
| GGA
| $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
|-
| GSA
| $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39
|-
| GSV
| $GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75
|-
| RMC
| $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
|-
|}

== Implementation in AR.Drone 2.0 running paparazzi ==
We are currently working to implement paparazzi on the AR.Drone 2.0, when the software is compiled on the Drone we will also implement the GPS sensor.

GPS/BU 353

2012-11-13T12:38:09Z

Remcovdplaats:

[[Image:BU-353_gps_receiver.jpg|thumb|right|250px|BU-353 GPS receiver]]
Or goal is to adapt the USGlobalsat BU-353 GPS receiver to work with the Parrot AR.Drone 2.0

== Progress ==
We wrote a small program to read a string data of the NMEA format. Next we have to manage is implement the GPS receiver on the AR.Drone running paparazzi.

== Type of GPS sensor ==
The GPS sensor we use for this project is as said before the BU-353 USB GPS Receiver from US Globalstat. This receiver is compatible with systems running Windows, MAC OS and Linux. Therefor the receiver is to use for each application. The receiver sends the data through the USB cable to the system. The data send by the receiver is SiRF binary or NMEA 0183.

== Configuration ==
To use the sensor the system must be configured to receive the sended data correctly. Because we use a Linux system the configuration for such a system is explained. The used Baudrate of GPS sensor is 4800. The receiver transmits no parity bit. The number of bits transmitted by the receiver is 8 followed by 1 stop bit. The system must be configured to receive correct data. The default settings of a Linux system are receiving no parity bit, 8 data bits and 1 stop bit. In the most cases you only have to set the Baudrate to 4800.

== Data transmitted by GPS ==
== Data transmitted by GPS ==
The receiver tranmists data to your system. The default format sended by the receiver is the [http://www.gpsinformation.org/dale/nmea.htm NMEA 0183] standard. NMEA consists of sentences, the first word of which, called a data type, defines the interpretation of the rest of the sentence. Each Data type would have its own unique interpretation and is defined in the NMEA standard. There are many sentances but our receiver is only able to receive some of them. The types the receiver is able to handle are: GGA, GSA, GSV, RMC, VTG and GLL. The last to datatypes are optional.
{| class="wikitable"
|+ '''Datatype with an example of the outputstring'''
! scope="col" | Type
! scope="col" | Outputstring
|-
| GGA
| $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
|-
| GSA
| $GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39
|-
| GSV
| $GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75
|-
| RMC
| $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
|-
|}

== Implementation in AR.Drone 2.0 running paparazzi ==
We are currently working to implement paparazzi on the AR.Drone 2.0, when the software is compiled on the Drone we will also implement the GPS sensor.

GPS/BU 353

2012-11-13T12:07:21Z

Remcovdplaats:

GPS/BU 353

2012-11-13T12:01:41Z

Remcovdplaats:

[[image:BU-353_gps_receiver.jpg|right|BU-353 GPS receiver]]
Or goal is to adapt the USGlobalsat BU-353 GPS receiver to work with the Parrot AR.Drone 2.0

== Progress ==
We wrote a small program to read a string data of the NMEA format. Next we have to manage is implement the GPS receiver on the AR.Drone running paparazzi.

== Type of GPS sensor ==
The GPS sensor we use for this project is as said before the BU-353 USB GPS Receiver from US Globalstat. This receiver is compatible with systems running Windows, MAC OS and Linux. Therefor the receiver is to use for each application. The receiver sends the data through the USB cable to the system. The data send by the receiver is SiRF binary or NMEA 0183.

== Configuration ==
To use the sensor the system must be configured to receive the sended data correctly. Because we use a Linux system the configuration for such a system is explained. The used Baudrate of GPS sensor is 4800. The receiver transmits no parity bit. The number of bits transmitted by the receiver is 8 followed by 1 stop bit. The system must be configured to receive correct data. The default settings of a Linux system are receiving no parity bit, 8 data bits and 1 stop bit. In the most cases you only have to set the Baudrate to 4800.

== Data transmitted by GPS ==
Work in progress

== Implementation in AR.Drone 2.0 running paparazzi ==
We are currently working to implement paparazzi on the AR.Drone 2.0, when the software is compiled on the Drone we will also implement the GPS sensor.

GPS/BU 353

2012-11-13T12:01:25Z

Remcovdplaats:

[[image:BU-353_gps_receiver.jpg|right|BU-353 GPS receiver]]
Or goal is to adapt the USGlobalsat BU-353 GPS receiver to work with the Parrot AR.Drone 2.0

=== Progress ===
We wrote a small program to read a string data of the NMEA format. Next we have to manage is implement the GPS receiver on the AR.Drone running paparazzi.

== Type of GPS sensor ==
The GPS sensor we use for this project is as said before the BU-353 USB GPS Receiver from US Globalstat. This receiver is compatible with systems running Windows, MAC OS and Linux. Therefor the receiver is to use for each application. The receiver sends the data through the USB cable to the system. The data send by the receiver is SiRF binary or NMEA 0183.

== Configuration ==
To use the sensor the system must be configured to receive the sended data correctly. Because we use a Linux system the configuration for such a system is explained. The used Baudrate of GPS sensor is 4800. The receiver transmits no parity bit. The number of bits transmitted by the receiver is 8 followed by 1 stop bit. The system must be configured to receive correct data. The default settings of a Linux system are receiving no parity bit, 8 data bits and 1 stop bit. In the most cases you only have to set the Baudrate to 4800.

== Data transmitted by GPS ==
Work in progress

== Implementation in AR.Drone 2.0 running paparazzi ==
We are currently working to implement paparazzi on the AR.Drone 2.0, when the software is compiled on the Drone we will also implement the GPS sensor.

GPS/BU 353

2012-11-13T12:00:51Z

Remcovdplaats:

== GPS specification ==
[[image:BU-353_gps_receiver.jpg|right|BU-353 GPS receiver]]
Or goal is to adapt the USGlobalsat BU-353 GPS receiver to work with the Parrot AR.Drone 2.0

=== Progress ===
We wrote a small program to read a string data of the NMEA format. Next we have to manage is implement the GPS receiver on the AR.Drone running paparazzi.

== Type of GPS sensor ==
The GPS sensor we use for this project is as said before the BU-353 USB GPS Receiver from US Globalstat. This receiver is compatible with systems running Windows, MAC OS and Linux. Therefor the receiver is to use for each application. The receiver sends the data through the USB cable to the system. The data send by the receiver is SiRF binary or NMEA 0183.

== Configuration ==
To use the sensor the system must be configured to receive the sended data correctly. Because we use a Linux system the configuration for such a system is explained. The used Baudrate of GPS sensor is 4800. The receiver transmits no parity bit. The number of bits transmitted by the receiver is 8 followed by 1 stop bit. The system must be configured to receive correct data. The default settings of a Linux system are receiving no parity bit, 8 data bits and 1 stop bit. In the most cases you only have to set the Baudrate to 4800.

== Data transmitted by GPS ==
Work in progress

== Implementation in AR.Drone 2.0 running paparazzi ==
We are currently working to implement paparazzi on the AR.Drone 2.0, when the software is compiled on the Drone we will also implement the GPS sensor.