= Project notes: Raspberry Pi ground control station =

I want a cheap headless GCS that speaks to me (possibly via CB radio), keeps logs, and provides a convenient place for me to tinker with agents and such (development time) with a maximally simple setup at the field. I will probably want a build system (for reflashing firmware at the field) and integration with FPV video, but those jobs are for later.

I started with a Raspberry pi (rpi) running debian squeeze, which is what I run on my field laptop, but that was a dead end. Ocaml on squeeze is 3.11.2 (with no backport available), and that version doesn't support ocamlopt on ARM architectures. So far I've learned that I should be on a wheeze-based distribution (ocaml > 3.11, supporting ocamlopt on ARM), and I probably want to utilise the hardware float so that means I'll move to raspbian next.

http://www.raspbian.org/

My plan is to mudde through and get it working, then publish an install script that makes the install process repeatable. After that I might look into packaging, but I don't know much about that (yet).

= About me =

I'm an open source UAV enthusuiast from Canberra (Australia), with a penchant for paparazzi and the guy behind [http://aerofu.com aerofu.com].

[[image:aerofu_logo.png]]

* My name is Chris Gough, some people call me Rufus (for reasons I don't fully understand).
* the best way to reach me is christopher (dot) d (dot) gough (at) gmail.com. But don't call me Christopher, only my mum does that (and then only when I'm in trouble) so it's creepy/weired. Call me Chris.
* my skype identity is christopher.d.gough, but it's not a good way to reach me.
* On GitHub I'm monkeypants, on eBay I'm monkeypants007.
* my phone number is (+61) 418441605 (a mobile).

I'm NOT this guy:

* http://www.sott.net/articles/show/205982-Meet-Lt-Col-Chris-Gough-Killing-by-Drone-and-Proud-of-It

I mostly fly fixed-wing planes and am slowly moving to STM32, but mostly still LPC.

2011-03-14T00:38:53Z

Rufus:

__NOTOC__
__NOEDITSECTION__

{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
|-valign="top"
|
<h3 style="-moz-border-radius-topright: 1em;-moz-border-radius-topleft: 1em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] Infrared Sensors
</h3>
<div style="padding:6px;">
{{Infrared_Sensors}}
</div>

| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5fffa;vertical-align:top"|
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"
|-valign="top"
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Hardware support for previous, currently in use and future infrared boards.</h2>
|-
|
<gallery>
Image:Ir_dual.jpg|IRH early design
Image:Ir_sensor_single_rotated.jpg|IRV early design
Image:Irsensors.jpg|New smaller and slimmer Paparazzi IRH and IRV sensor boards
</gallery>
|}
|}

Hardware:
* [[Infrared_Double_Small_Sensor_Board]]

== Infrared Stabilization Principle ==
The paparazzi autopilot uses infrared thermopiles for primary attitude sensing. The theory is that at zero bank or pitch angle, the difference in the heat between the two sensors should be zero, and at 90 degrees it should be maximum. From this relationship a linear regression is made and angles are calculated during flight.

[[Image:Infrared_Stabilisation_Principle_tilted.png|400px|Two axis infrared attitude measurement]]

Each pair of sensors measures one axis, a minimum of 2 pairs must be used to measure pitch and roll but best results are obtained thru the use of a 3rd pair on the vertical axis. Since the output signal from each sensor pair is proportional to both the attitude and the weather/terrain, systems with only x-y sensors require a ground calibration and may not provide accurate angle calculations as the aircraft travels over terrain with different IR radiation.

[[Image:Infrared_Stabilisation_Principle_tilted_with_Z.png|400px|Three axis infrared attitude measurement]]

== Hardware Architecture ==

=== Horizontal Board ===

[[Image:IR_Sensor_Board_Architecture_dual.jpg]]

=== Vertical Board ===

[[Image:IR_Sensor_Board_Architecture_single.jpg]]

== Thermopiles ==

The Thermopiles are:

Manufacturer Part Number: MLX90247-ESF-DSA ([http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=MLX90247ESF-DSA-ND Digi-Key])

Description: IC SENS THERMOPILE W/THERM TO-39

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

User:Rufus

2011-03-03T05:54:07Z

Rufus:

User:Rufus

2011-03-03T05:22:02Z

Rufus:

User:Rufus

2011-03-03T04:41:39Z

Rufus:

User:Rufus

2011-03-01T01:18:00Z

Rufus:

[[image:aerofu_logo.png]]

I'm a paparazzi enthusuiast from Canberra (Australia) and the guy behind [http://aerofu.com aerofu.com].

Note to self - [[DevGuide/USB-Serial]]

I'm NOT this guy:

http://www.sott.net/articles/show/205982-Meet-Lt-Col-Chris-Gough-Killing-by-Drone-and-Proud-of-It

FunJet

2011-02-28T10:23:07Z

Rufus: undid some spam

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

{|
|-valign="top"
|[[Image:Funjet_flight_dawnron1.jpg|thumb|left|Multiplex FunJet]]
|
The MultiPlex FunJet is an electric pusher-prop jet made of very durable Elapor Particle Foam Construction. It offers plenty of room internally for avionics in an attractive package.
|}

== Features ==

* Suggested Retail Price of $65 USD
* Elapor Particle Foam construction
* Assembles in minutes with only Medium CA glue
* Fiberglass Wing Spar
* Moderately priced
* Detachable canopy for access to internals
* Plastic Motor Mount
* Wide flight speed envelope (slow without stalling, through fast)

== Specifications ==

* Wingspan: 31.29" (795mm)
* Wing Area: 232 sq in (15 sq dm)
* Weight: 21oz (620g) _all up_
* Weight w/o powerplant (for estimation): 330g
* Bare weight: 165g
* Length: 29.52" (750mm)
* Airfoils: Airfoil: Semi-symmetrical, mid wing at the fuselage sides

=== Payload Area ===

* Fuselage is 1.60" (40.6mm) wide x 20" long

== Recommended Setups ==

=== Manufacturer Recommendation ===

Remember this is a hot sport plane so the manufacturers recommendation reflects typical desired performance and may not be the best match for UAV operations.

* Motor: Himax HB2815-3000 Brushless Motor
* Battery: 3S1P 2100-3200mah LiPo
* Servos: 2 Nano sized (HS-55)

=== Group Member Setups ===

====Martin====

* Motor: AXI 2212/26
* Battery: 3S1P 2100mAh LiPo
* Prop: 9x6
 
====Matthew Currie====
{|
|[[Image:FJ_MC_ANGLE.jpg|thumb|left|Multiplex FunJet]]
|[[Image:FJ_MC_SIDE.jpg|thumb|left|Multiplex FunJet]]
|[[Image:FJ_UNDERSIDE.JPG|thumb|left|Multiplex FunJet]]
|}

* Motor: AXI 2212/26
* Battery: LiPower Lites 3S1P 2100mAh 18C LiPo
* Prop: APC 9x6E (checked to draw ~ 11.5A)
* Receiver: Berg 4L
* Servos: 2x Hitec HS-55
 
====ENAC Team====
{|
|[[Image:Funjet_2_DigIR_049.jpg|thumb|left|ENAC Team special setup Multiplex FunJet]]
|[[Image:Funjet_2_DigIR_033.jpg|thumb|left|ENAC Team special setup Multiplex FunJet]]
|}
 

=== Servos ===

Multiplex calls for 2 Hitec HS-55 or 2 HS-65 servos

=== Hitec HS-55 ===

* MSRP: $13 USD
* Torque: 13/16 oz/in @ 4.8/6.0v
* Speed: 0.09/0.08 seconds/ 60deg @ 4.8/6.0v
* Weight: 0.29 oz (7.8g)
* Size: 0.9 x 0.46 x 0.95"

=== Hitec HS-65HB ===

* MSRP:
* Motor Type: 3 Pole Ferrite
* Bearing Type: Top Ball Bearing
* Torque 4.8/6.0v: 22 / 26 oz (1.6 / 1.9 kg.)
* Speed 4.8/6.0v: 0.16 / 0.13 second
* Size: 0.9"x 0.5"x 0.9" (24 x 12 x 24m)
* Weigh : 0.39oz. 11.2 g.

== Recommended Motors ==
'''Himax HB2815-3000 Brushless Motor'''

[http://www.maxxprod.com/pdf/HB2815-xx00.pdf PDF Datasheet]

* MSRP $69.95 USD
* Dimensions: 27mm x 38mm
* Weight: 86g
* KV: 3000
* Max Amps: 30A
* Max Watts: 275W

'''AXI 2212/26'''

http://www.modelmotors.cz/index.php?page=61&product=2212&serie=26&line=GOLD

MSRP $69.95 USD
* Dimensions: 1-3/32" diameter, 1-3/16" case length, 3.17mm (1/8") shaft
* Weight: 57 g
* KV: 920
* Max Amps: 12A
* Max Watts: 275W
* Prop's:
9x6, 24.5 ounce thrust, 14:12 full throttle.

8x6, 19.5 ounce thrust, 19:38 full throttle.

== Funjet Back Plate Construction ==
{|
|[[Image:Funjet_Back_Plate_Components.jpg|thumb|left|Funjet back plate construction components]]
|}

* A suitable precursor for the back plate is 5mmx75mmx75mm balsa sandwiched by 1mmx75mmx75mm plywood. The laminating adhesive used was PVA glue. The sandwich was left to dry overnight clamped by similar size wooden plates in a vice.

* An outline of The 7mm elapor profile, cut from the back of the Funjet canopy, is drawn in a CAD/CAM program.
:*download ''[[Media:Funjet_Back_Plate_CADopia.pdf|Funjet back plate CADopia drawing (pdf)]]''

* A laser cutting firm transferred this outline to CorelDraw and cut an acrylic (Perspex) template.
:*download ''[[Media:Funjet_Back_Plate_CorelDraw .pdf|Funjet back plate CorelDraw drawing (pdf)]]''

* The balsa/plywood sandwich was attached by double sided tape to the acrylic template and the correct outline achieved by routing around the acrylic border.

{|
|[[Image:Funjet_Back_Plate_Fitted.jpg|thumb|left|Funjet back plate fitted]]
|[[Image:Tiny_v2_1_Funjet.jpg|thumb|left|Tiny v2.1 in a Funjet]]
|}
* The fitted plate looks remarkably similar to that displayed in the image on the right found on the main page of the wiki.

== Online Discussion on FunJet topics ==

* [http://www.rcgroups.com/forums/showpost.php?p=7257031&postcount=2856 Modifying the motor cowling to increase airflow]
* [http://www.rcgroups.com/forums/showthread.php?p=7593625#post7593625 Adding prop spacers to move prop further back]
* [http://www.rcgroups.com/forums/showpost.php?p=7081811&postcount=2582 Mounting a MicroDan 2505 Brushless Outrunner]

== Photos ==

{|
|-
|[[Image:Jet-motor-mount.jpg|thumb|Included Motor Mount]]
|[[Image:Funjet_highvis1_rycomm.jpg|thumb|Example of high visibility paint job]]
|[[Image:Funjet tipprotector sharkbyte.jpg|thumb|Idea for wing tip skid]]
|}

== Misc Notes ==

* [http://www.recherche.enac.fr/paparazzi/wiki_images/FunJet_Manual_English.pdf Multiplex FunJet Instruction Manual - English]
* [http://www.recherche.enac.fr/paparazzi/wiki_images/FunJet_Manual_Multilanguage.pdf Multiplex FunJet Instruction Manual - Original Multilanguage]
* Painting Elapor should be primed [http://www.phillsmodels.com/acatalog/index.html?http%3A//www.phillsmodels.com/acatalog/Online_Catalogue_Paint_882.html&CatalogBody primer]
* Fiberglass wing spar: 22.5" (571mm) x .25" (6.35mm)
* Motor Screws (to hold plastic motor plate to plastic motor cowl) are slot head and appear to be 3.0mm x 0.5mm (thread) x 16mm long
* Screws for AXI "outrunner" motor are 3.0mm Diameter x 0.5mm Thread x 6 mm Length

Contributing

2011-01-18T02:14:46Z

Rufus:

ATmega168 PPM Encoder Board

2011-01-09T23:52:23Z

Rufus: makefile edits so LED blinks correctly on ATmega168 hardware

Thanks to Chris we have a way to use virtually any RC receiver with Paparazzi without any modifications to the receiver.
This board plugs into the servo output ports on a R/C receiver and encodes them into a single PPM pulse suitable for the paparazzi autopilot. It is also possible to remap channels by changing the connection between the receiver and the encoder. Want Tx ch5 to be output on ch7 of the ppm stream? Just connect the Ch5 signal from the receiver to the Ch7 input on the encoder.
[[Image:Ppmencv3_sm.jpg|250px]]

Note: see the [[ATmega328_PPM_Encoder_Board]] page for the more recent hardware version. Wiki refactor in progress, these pages will be merged.

= Programming the PPM encoder =
Programming the board can easily be accomplished using an AVR ISP (in-serial programming) programmer. These are inexpensive and can be found many places online. Once you have the ISP connected to the PPM encoder, simply use avrdude with the following command:
<code>avrdude -p atmega168 -P <Insert port here> -c <Insert ISP type here> -U lfuse:w:0b00100010:m -U efuse:w:0b111:m -U flash:w:servo2ppm+bootloader.hex</code>
-----
'''Source files'''
:*Link to firmware file: ''[[http://www.rcgroups.com/forums/showpost.php?p=14347844&postcount=2445 PPM Encoder Eagle and latest (4.3 Feb 2010) firmware (zip)]]''

The above link is to ATmega326 firmware. If you load that onto ATmega168 hardware, the LED won't blink as described in the users manual (but otherwise the PPM encoder seems to work). To build firmware that works correctly on the ATmega168 hardware, edit the makefile. Find this:

# The below fuse settings are for the 328p
#Low fuse is the same for the mega 328 and mega 168
LOW_FUSE_328 = 0xDF
#High fuse sets sets the bootsize on 328 and the bodlevel in 168
HIGH_FUSE_328 = 0xD8
#Extended fuse sets the bodlevel only on 328 but it sets the bootsize on 168
EXTENDED_FUSE_328 = 0xFC
LOCK_FUSE_328 = 0xFF

and replace with:

# The below fuse settings are for the mega168
#Low fuse is the same for the mega 328 and mega 168
LOW_FUSE_168 = 0xC2
#High fuse sets sets the bootsize on 328 and the bodlevel in 168
HIGH_FUSE_168 = 0xDC
#Extended fuse sets the bodlevel only on 328 but it sets the bootsize on 168
EXTENDED_FUSE_168 = 0xF8
LOCK_FUSE_168 = 0xFF

Then "make program" (to write the fllash) and "make fuse_write" (to write the fuses).

'''Gerber & Drill files'''
:*download "[[Media:Eagle_pcb.zip|PPM Encoder Eagle design files 4.3(zip)]]"
:*download ''[[Media:Gerber_for_PPM_Encoder.zip|PPM Encoder gerber & drill files (zip)]]''
:*download "[[Media:Servo2ppm_manual_v4_2.pdf|PPM Encoder manual (PDF)]]"

2009-09-04T00:36:47Z

Rufus:

Hi, I'm Chris Gough and I hail from from Canberra, Australia. Thank you for visiting my page here. I'm a software developer by trade, but I work as a manager for the Australian Government (Dept. of Environment). Among other things, my interest in Paparazzi is as a nice technical challenge to keep my sane after reading/writing documents and going to meetings all day.

I've not yet had any flights with paparazzi. I have acquired an EasyStar and had lots of practice - to the point where I can now launch/land reliably in adverse conditions, such as the tree-lined ridge across the road from my house. I also just finished assembling a "Boomerang 40" aileron trainer and converting it to electric power (~800W), and I intend to learn to fly that competently before using it (or something similar) as a UAV platform after the EasyStar .

I have a TWOG from CheBuzz, a pair of 2.4 Mhz zigbee modems and some 36MHz radio gear. With the help of [http://www.mannberg.co.uk/paparazzi/?p=5 this page] I seem to have my modems to working :). I plan to do AUTO1 and AUTO2 flights with the EasyStar by the end of the month (September 2009) or early October.

Longer term (hopefully by the end of Summer), I'd like to build a UAV that routinely patrols/surveys a moderately large area (farm) taking geo-referenced digital photographs, and develop a ground-based post-processing facility to stitch/authorectify/etc them to maintain raster layers in a geodatabase... machine learning is a bit of a hobby of mine, and I entertain the fantasy of eventually one day building an automated kangaroo/cow/plant detector.

I know a friendly farmer who will let me fly over their 300 Acre paddock, home to 90 cows (and probably as many kangaroos). I've started the process of learning what I have to do to make my surveys there safe and legal, and expect to have the necessary approvals in place by Christmas.

But for now, my "UAV" is a rather odd looking small cardboard box with a USB socket, a (power) switch and some IR sensors on a coreflute stalk.