PaparazziUAV - User contributions [en]

Sensors/GPS

2016-06-03T13:49:02Z

Simmis: /* using U-Center */ What should one do if the ublox module doesn't work.

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Sensors</categorytree>
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=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-aquisition. 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 seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated 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 accomodate 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]

===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 calcuation 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 calcuation 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 reciever. 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

2016-06-01T20:41:26Z

Simmis: Wording. Adding tipps on AssistNow feature.

<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-aquisition. 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 seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated 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 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:
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 accomodate 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]

===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 calcuation 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 calcuation 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 reciever. 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]]

Elle0

2016-06-01T19:19:15Z

Simmis: Adding link to Wikipedia article on voltage divider.

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:Elle0-v1 2-in-hand-prototype.jpg |right|500px|Elle0 V1.2 In Hand]]</div>
<div style="float: right; width: 40%">__TOC__</div>

[http://1bitsquared.com/products/elle0-autopilot Elle0] is a low cost STM32F4 based autopilot. It was developed by [http://1bitsquared.com 1BitSquared] specifically to work with the Paparazzi UAV framework. [http://1bitsquared.com/products/elle0-autopilot Elle0] features a very powerful 32bit ARM Cortex M4 micro processor, and is still backwards compatible to the [[Lisa/M]] and [[Lisa/MX]] you know and love. The footprint of the board is a standard 30.5mm x 30.5mm that was made popular by the nano racer quad community. This makes it easy to replace the autopilot on your racer quad and benefit from the features and stability of the Paparazzi UAV framework. This hardware was developed as part of the Paparazzi UAV framework project and is fully integrated and very well tested. If you are a hobbyist, researcher or system integrator that wants flexibility and high quality at a low cost this is the best choice for you. Because [http://1bitsquared.com/products/elle0-autopilot Elle0] was developed by and for the Paparazzi UAV developer community it provides a vast library of modules and subsystems making your path to autonomous flight a breeze. This version of the board supports programming over the built in USB port (DFU bootloader). It automatically detects if you power the board via USB and starts in Bootloader mode, which is a great simplification. The JTAG pins are broken out and can optionally be populated with a standard Cortex 10pin connector. We recommend the [[G0]] GPS module and [[R0]] telemetry radio kit together with the [http://1bitsquared.com/products/elle0-autopilot Elle0 autopilot] when using it for autonomous aircraft.

= Features =

* STM32F4 168MHz ARM Cortex-M4 microcontroller with FPU
** 1 Mbyte of Flash memory
** 192+4 Kbytes of SRAM including 64-Kbyte of CCM (core coupled memory) data RAM
** Cryptographic acceleration: hardware acceleration for AES 128, 192, 256, Triple DES, HASH (MD5, SHA-1), and HMAC
** True random number generator
* 3 axis gyroscope (connected over SPI for high speed sampling and low latency)
* 3 axis accelerometer (connected over SPI for high speed sampling and low latency)
* 3 axis magnetometer (connected over SPI for high speed sampling and low latency)
* barometer (connected over dedicated SPI for low noise operation and low latency)
* 1 I2C auxilary sensor connection
* 2 TTL level serial ports for telemetry radio and GPS
* 2 serial input interfaces for remote control receivers (using Spektrum compatible JST connectors)
* 1 USB port for easy firmware upgrade
* 8 PWM outputs/inputs for servos or legacy PPM RC receivers
* 2 Analog inputs for system battery voltage and current measurement
* CAN TX and RX lines are accessible

Warning! The battery voltage measurement pin on the Elle0 does not have a built in [https://en.wikipedia.org/wiki/Voltage_divider voltage divider]! DO NOT CONNECT 12V to it!!! You need an external voltage divider depending on the type of battery you use. Please refer to the [[Elle0#Battery Monitoring | Battery Monitoring]] section for details!

<gallery widths=200px heights=200px>
Image:Elle0-v1 2-prototype.jpg|Elle0 V1.2 top view
Image:Elle0-v1 2-prototype-back.jpg|Elle0 V1.2 bottom view
</gallery>

= Pinout =
[[Image:Elle0-v1 2-top-labeled.png|900px]]
[[Image:Elle0 V1.2 top verbose labeled.png|900px]]
= Mechanical drawings =
[[Image:Elle0-top-mechanical.png|900px]]

= Videos =

{{#ev:youtube|yPNSzWRVHuA|200|left}} Introduction to the [[Elle0]] Autopilot - Video by the [[User:Esden | Esden from ]] [[1BitSquared]]
 

= Battery Monitoring =

Warning! The battery voltage measurement pin on the Elle0 does not have a built in [https://en.wikipedia.org/wiki/Voltage_divider voltage divider]! DO NOT CONNECT 12V to it!!! You need an external voltage divider depending on the type of battery you use.

The Elle0 does not provide a built in voltage divider for improved flexibility. Other autopilots like the Lisa/M come with a 10k Ohm - 2.2k Ohm voltage divider that is good for the use with 3s batteries. This setup does not have good resolution for smaller batteries and can not be used with larger batteries.

In the default value that an Elle0 airframe file will assume is the before mentioned 10k Ohm - 2.2k Ohm voltage divider. To recreate it you connect one side of the 10k Ohm resistor to the battery, the other side of the resistor is connected to the 2.2k Ohm resistor and the voltage measurement pin of the Elle0. The remaining end of the 2.2k Ohm resistor is connected to ground. You can easily modify your uBEC to include the additional voltage divider. To build it by hand you can use industry standard 1/4w through hole resistors.

If you want to measure a smaller battery with greater resolution you will have to adjust the resistor values to have a resulting voltage at the mid junction of not more than 3.3V. The nominal voltage of a fully charged LiPo cell is 4.2V. Also you will have to adjust the multiplication factor in your airframe file.

= Schematic =

= System set up examples =

= Related Hardware =

* Overview: [[Elle]]
* G0 GPS receiver: [[G0]]
* R0 Sub GHz telemetry radio modem: [[R0]]
* UU0 USB to UART adapter: [[UU0]]
= Where to Buy =

[http://1bitsquared.com/products/elle0-autopilot Elle0] is available for purchase at the [http://1bitsquared.com 1BitSquared] store.

[[Category:Hardware]] [[Category:Autopilots]]

Theory of Operation

2016-04-15T18:51:11Z

Simmis: Added link to Youtube video explaining PID.

== Control Loops Writeup ==
Excellent explanation of the [[Control Loops]] and some basics on [[ControlTheory|Control Theory]] behind it.

== PID ==
Paparazzi uses common Proportional Integral Derivative (PID) control for stability and navigation. PID is probably the most commonly used feedback control design as it is simple to implement and intuitive to operate. PID controllers use three terms operating on the measured error to produce a control output. If ''u(t)'' is the control signal sent to the system, ''y(t)'' is the measured output and ''r(t)'' is the desired output, and tracking error <math>e(t)=r(t)- y(t)</math>, a PID controller has the general form

:<math>u(t) = K_P e(t) + K_I \int e(t)dt + K_D \dot{e}(t)</math>

The desired closed loop dynamics are obtained by adjusting the three parameters <math> K_P</math>, <math> K_I</math> and <math> K_D</math>, often iteratively by "tuning" and without specific knowledge of a plant model. Stability can often be ensured using only the proportional term in well damped systems. The integral term compensates for steady long-term errors, and the derivative term is used to provide damping to reduce oscillation.

See more on Wikipedia: [http://en.wikipedia.org/wiki/PID_controller PID Controller]

PID explained by RC Model Reviews: [https://youtu.be/0vqWyramGy8 What PIDs do and how they do it]

Paparazzi uses PID controllers on all loops but many of the I and D terms are not fully implemented as they are often unnecessary or difficult to tune. Below are some examples of the PID implementations in Paparazzi. There is a [[Control Loops|graphical description of the control loops]] as well.

=== Roll Rate ===
{{Box Code|In sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c we define the roll rate loop:|
float cmd <nowiki>=</nowiki> throttle_dep_pgain * ( err + h_ctl_roll_rate_igain * roll_rate_sum_err / H_CTL_ROLL_RATE_SUM_NB_SAMPLES + h_ctl_roll_rate_dgain * d_err);
}}
Note that the roll Pgain is variable with throttle and multiplies through the entire equation affecting the I and D terms as well for ease of tuning.

=== Roll Attitude ===
{{Box Code|In sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c we define the roll attitude gain loop:|
float err <nowiki>=</nowiki> estimator_phi - h_ctl_roll_setpoint;
float cmd <nowiki>=</nowiki> - h_ctl_roll_attitude_gain * err- h_ctl_roll_rate_gain * estimator_p+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
}}

=== Pitch Angle ===
{{Box Code|In sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c we define the pitch angle loop:|
float err <nowiki>=</nowiki> estimator_theta - h_ctl_pitch_setpoint;
float d_err <nowiki>=</nowiki> err - last_err;
last_err <nowiki>=</nowiki> err;
float cmd <nowiki>=</nowiki> h_ctl_pitch_pgain * (err + h_ctl_pitch_dgain * d_err) + h_ctl_elevator_of_roll * fabs(estimator_phi);
}}

Here we use only Proportional as the Derivative is always set to zero. An integral term could prove useful here. Aircraft pitch response is normally very well damped. Those with "plank" style aircraft or other pitch-sensitive designs may benefit from implementing a gyro-based D term.

=== Navigation ===
{{Box Code|In sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c we define the navigation loop:|
float err <nowiki>=</nowiki> estimator_hspeed_dir - h_ctl_course_setpoint;
NormRadAngle(err);
float speed_depend_nav <nowiki>=</nowiki> estimator_hspeed_mod/NOMINAL_AIRSPEED;
Bound(speed_depend_nav, 0.66, 1.5);
float cmd <nowiki>=</nowiki> h_ctl_course_pgain * err * speed_depend_nav;
}}
Here we only use the Proportional term though a Derivative would be useful as navigation is not well damped. Note that an Integral term cannot be used for navigation without accurate and reliable wind information and the necessary implementation of wind data. Note however that we increase/reduce the commanded bank angle for navigation based on the ground speed. This reduces "hunting" on upwind legs, keeps the navigation tight on fast downwind legs and helps keep circles round in a crosswind.

=== Climb Rate ===
{{Box Code|In sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c we compute the desired climb rate:|
v_ctl_altitude_error <nowiki>=</nowiki> estimator_z - v_ctl_altitude_setpoint;
v_ctl_climb_setpoint <nowiki>=</nowiki> v_ctl_altitude_pgain * v_ctl_altitude_error + v_ctl_altitude_pre_climb;
}}
Here we only use the Proportional term though a Derivative would be useful as climb rate is not well damped. An integral term may prove useful if well-implemented. The last term <tt>v_ctl_altitude_pre_climb</tt> represents the desired constant climb rate needed to follow a 3-dimensional navigation path. This term is zero for level flight, altitude maintenance, and commanded altitude changes.
{{Box Code| Then we compute the throttle response:|
float err <nowiki>=</nowiki> estimator_z_dot - v_ctl_climb_setpoint;
float controlled_throttle <nowiki>=</nowiki> v_ctl_auto_throttle_cruise_throttle + v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain * (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err);
and pitch response
float v_ctl_pitch_of_vz <nowiki>=</nowiki> v_ctl_climb_setpoint * v_ctl_auto_throttle_pitch_of_vz_pgain;
}}

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

ADS-B

2015-11-08T10:01:42Z

Simmis: Small correction - wording

[[Image:Intruder.JPG|thumb|right|400px|ADSB Intruder in GCS]]
== General information ==

ADS-B is an addition to transponders of manned aircraft which transmits position and velocity data.
[http://en.wikipedia.org/wiki/Automatic_dependent_surveillance-broadcast link Wikipedia]

The idea is to use this information to stay clear of these aircraft.

'''WARNING:''' Not all aircraft are equipped with this system, it can just be an aid in situational awareness!

It can be used in conjunction with the TCAS functionality: '''[[MultiUAV#TCAS|Paparazzi TCAS]]'''

== Receiver and integration ==

Originally ADS-B receivers are expensive.

=== hackRF/rad1o ===

You can use a [https://rad1o.badge.events.ccc.de/ CCC rad1o badge] or hackRF together with GNURadio:

[https://rad1o.badge.events.ccc.de/sdr:adsb ADS-B with the rad1o badge]

Either use the commanline tool: <code>modes_rx -s osmocom -d</code>

Or a gui tool that also has a map: <code>modes_gui</code> and select Osmocom as source.

=== dump1090 ===

But now there is the opportunity to use DVB USB sticks as cheap software defined radios covering the required frequency.

Here we use the following projects:

*[http://sdr.osmocom.org/trac/wiki/rtl-sdr Osmocom rtl-sdr]
*[https://github.com/antirez/dump1090 Dump1090 ADS-B decoder]

Both need to be installed as documented on their homepages.

dump1090 is then started with the --net option to open a server supplying the information on port 30033
The option --interactive nicely shows which planes are received and in your browser at http://localhost:8080/ you can see it on a map.

The integration to paparazzi is realized through a module reading the port of dump1090 and forwarding it to the IVY bus. Additionally it reads the data of the corresponding UAV through IVY to calculate a distance.

== Use ==

* Start a Paparazzi Session, probably a simulation for the start...
* Start the "ADS-B intruders receiver" from the tools menu in [[Paparazzi_Center]] or run <code>sw/groud_segment/misc/sbs2ivy AC_ID</code>, with AC-ID being the ID of the flying UAV for distance calculations.

Some information is provided in a small window. Intruders (the external aircrafts) are shown in the GCS and their information sent to all Paparazzi aircrafts via ACINFO for [[MultiUAV#TCAS|TCAS]].

The tool recieves SBS-1 messages from localhost port 30003, if no dedicated SBS server and port is given.

== Demonstration Video ==

[http://www.youtube.com/watch?v=W2ufe_4vXis ADSB to Paparazzi Video]

The standard DVB antenna was standing in the middle of the room... These receivers are really sensitive.

== Possible extensions ==
* Output a warning if a non-ADS-B transponder is received at the UAV's altitude (many general aviation aircraft have only Mode C/S transponders)
* Additionally receive [http://en.wikipedia.org/wiki/FLARM FLARM] since this is widely used in gliders. This was already done badly coded. Drawback is, the receivers cost several hundred Euros.

Modems/xbee

2015-10-14T19:46:01Z

Simmis: Pairing makes the the communications error disappear.

Paparazzi supports the following modem protocols:
* Standard transparent serial (pprz protocol, AT mode) - compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.
* Digi (formerly Maxstream) API protocol (xbee) - compatible with all Digi modems including the 9XTend and Zigbee. This protocol enables hardware addressing through API mode, allowing multiple aircraft to be managed from a single ground modem.
 

== Introduction ==

=== Installation of X-CTU ===
The simplest way to configure the XBee modems is to use the [http://www.digi.com/support/productdetail?pid=3352 X-CTU] software from Digi. It runs under MacOS X, Windows, under Wine and since version 6 also natively under Linux.

==== Installation using Wine ====
Under Wine make sure you have the USB serial link connecting to XBee mapped to a com port (please consult [[Installation/Linux/udev | paparazzi linux device naming]]):

* First of all you should install wine.
* Then install winetricks (X-CTU requires MS Visual C++ Redistributable package so winetricks will make things much easier to get installed).
* Then ('''!important''') run wine configuration before doing something else, so wine can create ~/.wine
* Make symlink to your modem device.

$ sudo ln -s /dev/paparazzi/xbee ~/.wine/dosdevices/com4

* Set permissions for COM port (if you are not root):

$ sudo ls -l /dev/paparazzi/xbee
lrwxrwxrwx 1 root root 10 june 14 19:00 /dev/paparazzi/xbee -> /dev/ttyUSB0
$ sudo chown <your_user_name_here> /dev/ttyUSB0

* Run X-CTU setup and install it.
* Then run installed application. When window opens switch to "User Com Ports" tab and add com port "COM4. Note: This procedure have to be made every time you start X-CTU on Linux.
* Click "Test/Query" button. If you get some modem information (like serial, etc.) after a little time, then you have modem link established.

If X-CTU complains on com port connectivity, try adding theese strings to ~/.wine/system.reg
[hardware\\DEVICEMAP\\SERIALCOMM]
"COM1"="COM1"

If your X-CTU does not update its firmware correctely from the web, follow the steps described in the chapter "Manually Update the X-CTU firmware files" of [http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux this page].

=== Configuring XBee AT mode using X-CTU ===
This is the recommended way to start. With this firmware the modems basically act as a serial link replacement and don't do any mesh networking. The pprz protocol is based on this mode.
 
Basic approach:
# Connect your XBee to your PC. There are several vendors of [[Modems#GCS_Adaptation|USB boards]].
# Start the X-CTU programm and go to the modem configuration.
# Click on READ
# Select the appropriate function set with AT command set.
# set PAN ID, etc... depending on which XBee you use
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly. At a higher baudrate setting, transmission can only be done in one direction.
# Then write the firmware to the module.
If X-CTU asks you to reset the XBee, you have to connect the RST pin (5) to the GND pin (10) of the XBee. You can do this manually using tweezers or a short wire.

=== Configuring XBee using a terminal emulator ===

Alternatively you can configure your XBee using a text-based modem control and terminal emulation program, such as [http://en.wikipedia.org/wiki/Minicom Minicom] for Linux or [http://freeware.the-meiers.org CoolTerm] for Linux, Mac OSX, or Windows.

The xBee modules can be set to the following baud rates:

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Baud Code''!!''Baud Rate''!!''Notes''
|-
|0||1200||
|-
|1||2400||
|-
|2||4800||
|-
|3||9600||
|-
|4||19200|| Use with fixedwing aircraft and their GCSs
|-
|5||38400||
|-
|6||57600|| Use with rotorcraft or transitioning aircraft and their GCSs
|-
|7||115200||
|}

'''Minicom Instructions''':
* Connect XBee to your computer
* Setup minicom (by default XBee modems come set up for 9600 baud) 8-N-1
* Type Ctrl-A A in minicom this will set it up to add linefeeds to the stream
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.
** you get a confirmation: 'OK'
* Type "AT<enter>"
** you get a confirmation: 'OK'
* Type "ATBD<enter>"
** you get the current baudrate code: '3'
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":
* To store the new baudrate in the rom type "ATWR<enter>"
* Now you can close minicom
* Reconnect modem
* Restart minicom with the new baudrate
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation

'''CoolTerm Instructions''':
* Connect xBee to your computer
* Open CoolTerm and click 'Options.' From the 'Serial Port' tab select:
**Port: USB Serial (or as appropriate for your xBee carrier board)
**Baudrate: 9600
**Data Bits: 8
**Parity: None
**Stop Bits 1
*From the 'Terminal' tab enable Local Echo
*Click OK
*Click Connect
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.
** you get a confirmation: 'OK'
* Type "AT<enter>"
** you get a confirmation: 'OK'
* Type "ATBD<enter>"
** you get the current baudrate code: '3'
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":
* To store the new baudrate in the rom type "ATWR<enter>"
* Now you can close CoolTerm.
* Reconnect modem
* Restart CoolTerm, change options to new baudrate, and connect
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation

== XBee Pro ZB (AT command set) ==
This 2.4GHz modem uses ZigBee PRO Feature Set and is compatible with devices from other vendors using the ZigBee PRO Feature Set.

=== Flashing the airborne module ===
# Connect your XBee, start X-CTU, click READ
# Select the function set '''ZIGBEE END DEVICE AT''' (or ZIGBEE ROUTER AT).
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Flashing the ground station module ===
# Connect your XBee, start X-CTU, click READ
# Select the function set '''ZIGBEE COORDINATOR AT'''.
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Pairing your Modems ===

For maximum performance you can pair the ground modem to the airborne modem. Set the "DH - Destination Address High" and "DL - Destination Address Low" to the unique serial number "SH - Serial Number High" and "SL - Serial Number Low" of the other modem. Do so both on the ground modem and on the airborne modem. Failing to properly pair your modems will likely result in poor throughput and data loss between your airframe and your ground control station. If this is the case you may see errors on the Paparazzi Center console like <tt>Failure("Pprz.values_of_payload, wrong argument: 00 08 ")</tt> or <tt>Failure("Pprz.values_of_payload, too many bytes in message PONG: 00 03 02 2a 00 00 00 00 00 00 00 00 00 00 00 00 ")</tt>. Pairing does help and the error messages will disappear.

=== Reviving a non-responding Xbee Pro ===

To bring an apparently dead XBee Pro Series 2 back to life, do the following:

#Connect the USB device that holds the XBee to your laptop/desktop (without the XBee connected).
#Open X-CTU.
#In the tab used to program the device, select the proper modem (normally you would do a READ to get the values).
#Choose the option you want to program (i.e., "END DEVICE" or "COORDINATOR") as if you were programming it.
#With the XBee not in the device, click "WRITE". It will hang, timeout, and bring up a dialog box.
#Before you click OK to the dialog box, plug in the XBee module (carefully).
#Click OK to clear the message and it should start programming automatically.

=== Other tutorials ===

[http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee PixHawk: HowTo configure XBee]

[http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux openpilot: XBee RF modems]

== XBee Pro ZNet 2.5 (AT command set) ==
These are legacy modems and not recommended/sold by Digi anymore.
It is recommended to upgrade these to XBee Pro ZB with the [ftp://ftp1.digi.com/support/images/ZNet%202.5%20to%20ZB%20Conversion%20Kit.zip ZNet 2.5 to ZB Conversion Kit] from Digi.
 
If you want to use ZNet 2.5 feature set nevertheless, here is how to configure it:

=== Flashing the airborne module ===
# Connect your XBee, start X-CTU, click READ
# Select the function set '''ZNET 2.5 ROUTER/END DEVICE AT'''.
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Flashing the ground station module ===
# Connect your XBee, start X-CTU, click READ
# Select the function set '''ZNET 2.5 COORDINATOR DEVICE AT'''.
# Set the Destination Address Low (DL) to FFFF.
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Setup ===

For the ZigBee ZNet 2.5 and ZB modules to work one of the modules has to be flashed with the coordinator firmware. All the others in the same PAN can either run as routers or end-devices.
* Flash one module (ground station) with the coordinator AT firmware
* Flash aircraft module with router or end-device AT firmware
To allow modules to join any PAN set the PAN ID to zero (default setting). Then the coordinator will generate a random PAN ID and routers and end-devices will join the first PAN they find.

If you operate in an environment with multiple zigbee PANs it is recommended to set the PAN ID explicitly:
* Set PAN ID to some unique (but same) ID on both modules
* Set a Node Identifier for each module (e.g. ground, aircraft)
 

== XBee Pro DigiMesh / 802.15.4 ("Series 1") ==

=== Flashing the airborne module ===
# Connect your XBee, start X-CTU, click READ
# Leave the function set on '''XBEE PRO 802.15.4'''.
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Flashing the ground station module ===
# Connect your XBee, start X-CTU, click READ
# Leave the function set on '''XBEE PRO 802.15.4'''.
# '''Set Coordinator Enable to "1 - COORDINATOR".'''
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

(Tested on XBP24 Firmwareversion 10E6)

== XBee Pro 868 MHZ ==

=== Getting Them Working ===
Even with the xbee868.xml telemetry file, XBee868s will not last over 6 minutes. There is a special 868 build flag (in slayer1.xml), and matching option for the datalink but I could not get this to work. Eventually, I got them to work for about 20 minutes, which happily is the flight endurance of a heavily overloaded GWS Formosa.

I did this using a command window, but you could use X-CTU if you are a wuss or have Windows handy.

#Attach Xbee and start serial comm program (I use <code>screen /dev/ttyUSB0 <baud rate, just a number, no angled brackets></code>, you can also use pico- or microcom)
#Type AT and enter. You should get an OK back.
#ATMT and enter. You should get a number—this represents the number of extra times each packet will be broadcast. We now need to change this to zero.
#ATMT0 and enter => OK
#ATRR and enter. This number is the number of retries that will be sent if an ACK is not received. Disabling this will also have the side effect of disabling ACKs, giving us more packets to play with.
#ATRR0 and enter => OK
#Type ATWR to store the new stuff in the firmware. You should get an OK.
#Set the datalink to transparent mode both in your airframe file and on the datalink.

You may also want to drop the power level to 1mW for testing, or it won't actually work - they are just too damn powerful to talk to each other at a range of a couple of feet. I also used 1mW for flying - never lost the link, even after a mile. Didn't get round to range testing them though.

You probably want to do this to both XBees (at least I did). I personally had the baud rate at 57600 for legacy reasons, but it should work just as well at any other baud rate. '''Thanks to CheBuzz for this info''', and for helping me work all this out at 11pm the night before EMAV09.

== XBee 868LF ==

These relativly new modems use the whole spectrum allowed in your country to avoid Duty Cycle restrictions.

== XBee Pro XSC (900MHZ) ==

== Configuring XBee API mode (xbee protocol) ==

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

Module/GPS UBlox UCenter

2015-10-10T16:40:14Z

Simmis: Be quick when you want to capture the debug message.

__TOC__
<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>
If you use a µ-blox GPS without flash memory, this module will take over the task of initializing the GPS for you when you power your autopilot.

It has auto-baudrate to detect the current GPS baudrate, and configures all message rates and communication ports. The module will send a DEBUG message (ID 26) that indicates the firmware version in your GPS, the previous baudrate, and the reply for each configuration step. To enable and view the message, you will need to define DEBUG_GPS_UBX_UCENTER as TRUE in your [[Airframe_Configuration|airframe configuration]] file. See the example below for more details.

It will configure the following settings:
* set baudrate to GPS_BAUD (typically either 38400 or 57600)
* enable the NAV_POSLLH, NAV_VELNED, NAV_STATUS, NAV_SVINFO, NAV_SOL
* disable UTM on old Lea4P by not sending NAV_POSUTM
* enable SBAS
* configure it to 3D only fix
* set the internal dynamic model to Airborne 2G

== Basic ==

Add the gps_ubx_ucenter [[Modules|module]] to the "modules" section in your aircraft configuration file:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<modules>
...
<load name="gps_ubx_ucenter.xml"/>
</modules>
</source>
}}

== Advanced ==

You can specify to a different dynamic model for the u-blox.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<modules>
...
<load name="gps_ubx_ucenter.xml">
<define name="GPS_UBX_NAV5_DYNAMICS" value="NAV5_DYN_PORTABLE" />
</load>
</modules>
</source>
}}

'''Additional details on GPS_UBX_NAV5_DYNAMICS'''

The ublox GPS uses a dynamics model (motion model) to filter the noisy GPS readings and produce smoother results. The dynamics
model will affect what positions and speeds are accurately tracked by GPS. Generally, it is recommend to use NAV5_DYN_PORTABLE for quadcopters and NAV5_DYN_AIRBORNE_2G for fixed wings.

The follow is taken from the ublox protocol specification document:

u-blox positioning technology supports different dynamic platform models to adjust the navigation engine to
the expected application environment. These platform settings can be changed dynamically without performing
a power cycle or reset. The settings improve the receiver's interpretation of the measurements and thus provide
a more accurate position output. Setting the receiver to an unsuitable platform model for the given application
environment results in a loss of receiver performance and position accuracy.

{| border="1"
|+ '''Dynamic Platform Model'''
|-
! scope="row" | NAV5_DYN_PORTABLE
| Applications with low acceleration, e.g. portable devices. Suitable for most situations. MAX Altitude [m]: 12000, MAX Velocity [m/s]: 310, MAX Vertical Velocity [m/s]: 50, Sanity check type: Altitude and Velocity, Max Position Deviation: Medium
|-
! scope="row" | NAV5_DYN_STATIONARY
| Used in timing applications (antenna must be stationary) or other stationary applications. Velocity restricted to 0 m/s. Zero dynamics assumed. MAX Altitude [m]: 9000, MAX Velocity [m/s]: 10, MAX Vertical Velocity [m/s]: 6, Sanity check type: Altitude and Velocity, Max Position Deviation: Small
|-
! scope="row" | NAV5_DYN_PEDESTRIAN
| Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed. MAX Altitude [m]: 9000, MAX Velocity [m/s]: 30, MAX Vertical Velocity [m/s]: 20, Sanity check type: Altitude and Velocity, Max Position Deviation: Small
|-
! scope="row" | NAV5_DYN_AUTOMOTIVE
| Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed. MAX Altitude [m]: 6000 (5000 for firmware versions 6.00 and below), MAX Velocity [m/s]: 84 (62 for firmware versions 4.00 to 5.00), MAX Vertical Velocity [m/s]: 15, Sanity check type: Altitude and Velocity, Max Position Deviation: Medium
|-
! scope="row" | NAV5_DYN_SEA
| Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed. Sea level assumed. MAX Altitude [m]: 500, MAX Velocity [m/s]: 25, MAX Vertical Velocity [m/s]: 5, Sanity check type: Altitude and Velocity, Max Position Deviation: Medium
|-
! scope="row" | NAV5_DYN_AIRBORNE_1G
| Used for applications with a higher dynamic range and vertical acceleration than a passenger car. No 2D position fixes supported. MAX Altitude [m]: 50000, MAX Velocity [m/s]: 100, MAX Vertical Velocity [m/s]: 100, Sanity check type: Altitude, Max Position Deviation: Large
|-
! scope="row" | NAV5_DYN_AIRBORNE_2G
| Recommended for typical airborne environment. No 2D position fixes supported. MAX Altitude [m]: 50000, MAX Velocity [m/s]: 250, MAX Vertical Velocity [m/s]: 100, Sanity check type: Altitude, Max Position Deviation: Large
|-
! scope="row" | NAV5_DYN_AIRBORNE_4G
| Only recommended for extremely dynamic environments. No 2D position fixes supported. MAX Altitude [m]: 50000, MAX Velocity [m/s]: 500, MAX Vertical Velocity [m/s]: 100, Sanity check type: Altitude, Max Position Deviation: Large
|}

== Debug ==

You can specify to receive a DEBUG message over telemetry by enabling it in your airframe file:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<modules>
...
<load name="gps_ubx_ucenter.xml">
<define name="GPS_UBX_NAV5_DYNAMICS" value="NAV5_DYN_PORTABLE" />
<define name="DEBUG_GPS_UBX_UCENTER" value="TRUE" />
</load>
</modules>
</source>
}}

The DEBUG message has the following information:
* [0] Initial baudrate high
* [1] Initial baudrate low. For example if the baud rate is 9600 you will see 9,6
* [2] ublox software verision high
* [3] ublox software version low
* [4] ublox hardware version high
* [5] ublox hardware version low
* [6] Always 0
* [7] Success of setting CFG-NAV5. For all of these a value of 0 indicates no response, 1 is success and 2 is command rejected by GPS.
* [8] Success of enable NAV-POSLLH
* [9] Success of enable NAV-VELNED
* [10] Success of enable NAV-STATUS
* [11] Success of enable NAV-SVINFO
* [12] Success of enable NAV-SOL
* [13] Success of disabling NAV-POSUTM (typically fails to 0 for non LEA-4P modules)
* [14] Success of enable SBAS
* [15] Success of setting CFG-RATE
* [16] Success of setting RXM-RAW (typically disabled - see USE_GPS_UBX_RXM_RAW flag to enable)
* [17] Success of setting RXM-SFRB (typically disabled - see USE_GPS_UBX_RXM_SFRB flag to enable)
* [18] Success of saving configuration to ublox memory

The debug message is '''sent only once''' a few seconds after powering on. Make sure to have messages displayed before powering on to make sure to capture it. If you get all zeroes then check cabling and try again. Make sure RX from the GPS is connected to TX on the autopilot.

[[Category:User_Documentation]] [[Category:Modules]]

Modems/xbee

2015-08-30T17:45:52Z

Simmis: /* Installation of X-CTU */

Paparazzi supports the following modem protocols:
* Standard transparent serial (pprz protocol, AT mode) - compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.
* Digi (formerly Maxstream) API protocol (xbee) - compatible with all Digi modems including the 9XTend and Zigbee. This protocol enables hardware addressing through API mode, allowing multiple aircraft to be managed from a single ground modem.
 

== Introduction ==

=== Installation of X-CTU ===
The simplest way to configure the XBee modems is to use the [http://www.digi.com/support/productdetail?pid=3352 X-CTU] software from Digi. It runs under MacOS X, Windows, under Wine and since version 6 also natively under Linux.

==== Installation using Wine ====
Under Wine make sure you have the USB serial link connecting to XBee mapped to a com port (please consult [[Installation/Linux/udev | paparazzi linux device naming]]):

* First of all you should install wine.
* Then install winetricks (X-CTU requires MS Visual C++ Redistributable package so winetricks will make things much easier to get installed).
* Then ('''!important''') run wine configuration before doing something else, so wine can create ~/.wine
* Make symlink to your modem device.

$ sudo ln -s /dev/paparazzi/xbee ~/.wine/dosdevices/com4

* Set permissions for COM port (if you are not root):

$ sudo ls -l /dev/paparazzi/xbee
lrwxrwxrwx 1 root root 10 june 14 19:00 /dev/paparazzi/xbee -> /dev/ttyUSB0
$ sudo chown <your_user_name_here> /dev/ttyUSB0

* Run X-CTU setup and install it.
* Then run installed application. When window opens switch to "User Com Ports" tab and add com port "COM4. Note: This procedure have to be made every time you start X-CTU on Linux.
* Click "Test/Query" button. If you get some modem information (like serial, etc.) after a little time, then you have modem link established.

If X-CTU complains on com port connectivity, try adding theese strings to ~/.wine/system.reg
[hardware\\DEVICEMAP\\SERIALCOMM]
"COM1"="COM1"

If your X-CTU does not update its firmware correctely from the web, follow the steps described in the chapter "Manually Update the X-CTU firmware files" of [http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux this page].

=== Configuring XBee AT mode using X-CTU ===
This is the recommended way to start. With this firmware the modems basically act as a serial link replacement and don't do any mesh networking. The pprz protocol is based on this mode.
 
Basic approach:
# Connect your XBee to your PC. There are several vendors of [[Modems#GCS_Adaptation|USB boards]].
# Start the X-CTU programm and go to the modem configuration.
# Click on READ
# Select the appropriate function set with AT command set.
# set PAN ID, etc... depending on which XBee you use
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly. At a higher baudrate setting, transmission can only be done in one direction.
# Then write the firmware to the module.
If X-CTU asks you to reset the XBee, you have to connect the RST pin (5) to the GND pin (10) of the XBee. You can do this manually using tweezers or a short wire.

=== Configuring XBee using a terminal emulator ===

Alternatively you can configure your XBee using a text-based modem control and terminal emulation program, such as [http://en.wikipedia.org/wiki/Minicom Minicom] for Linux or [http://freeware.the-meiers.org CoolTerm] for Linux, Mac OSX, or Windows.

The xBee modules can be set to the following baud rates:

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Baud Code''!!''Baud Rate''!!''Notes''
|-
|0||1200||
|-
|1||2400||
|-
|2||4800||
|-
|3||9600||
|-
|4||19200|| Use with fixedwing aircraft and their GCSs
|-
|5||38400||
|-
|6||57600|| Use with rotorcraft or transitioning aircraft and their GCSs
|-
|7||115200||
|}

'''Minicom Instructions''':
* Connect XBee to your computer
* Setup minicom (by default XBee modems come set up for 9600 baud) 8-N-1
* Type Ctrl-A A in minicom this will set it up to add linefeeds to the stream
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.
** you get a confirmation: 'OK'
* Type "AT<enter>"
** you get a confirmation: 'OK'
* Type "ATBD<enter>"
** you get the current baudrate code: '3'
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":
* To store the new baudrate in the rom type "ATWR<enter>"
* Now you can close minicom
* Reconnect modem
* Restart minicom with the new baudrate
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation

'''CoolTerm Instructions''':
* Connect xBee to your computer
* Open CoolTerm and click 'Options.' From the 'Serial Port' tab select:
**Port: USB Serial (or as appropriate for your xBee carrier board)
**Baudrate: 9600
**Data Bits: 8
**Parity: None
**Stop Bits 1
*From the 'Terminal' tab enable Local Echo
*Click OK
*Click Connect
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.
** you get a confirmation: 'OK'
* Type "AT<enter>"
** you get a confirmation: 'OK'
* Type "ATBD<enter>"
** you get the current baudrate code: '3'
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":
* To store the new baudrate in the rom type "ATWR<enter>"
* Now you can close CoolTerm.
* Reconnect modem
* Restart CoolTerm, change options to new baudrate, and connect
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation

== XBee Pro ZB (AT command set) ==
This 2.4GHz modem uses ZigBee PRO Feature Set and is compatible with devices from other vendors using the ZigBee PRO Feature Set.

=== Flashing the airborne module ===
# Connect your XBee, start X-CTU, click READ
# Select the function set '''ZIGBEE END DEVICE AT''' (or ZIGBEE ROUTER AT).
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Flashing the ground station module ===
# Connect your XBee, start X-CTU, click READ
# Select the function set '''ZIGBEE COORDINATOR AT'''.
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Pairing your Modems ===

For maximum performance you can pair the ground modem to the airborne modem. Set the "DH - Destination Address High" and "DL - Destination Address Low" to the unique serial number "SH - Serial Number High" and "SL - Serial Number Low" of the other modem. Do so both on the ground modem and on the airborne modem. Failing to properly pair your modems will likely result in poor throughput and data loss between your airframe and your ground control station.

=== Reviving a non-responding Xbee Pro ===

To bring an apparently dead XBee Pro Series 2 back to life, do the following:

#Connect the USB device that holds the XBee to your laptop/desktop (without the XBee connected).
#Open X-CTU.
#In the tab used to program the device, select the proper modem (normally you would do a READ to get the values).
#Choose the option you want to program (i.e., "END DEVICE" or "COORDINATOR") as if you were programming it.
#With the XBee not in the device, click "WRITE". It will hang, timeout, and bring up a dialog box.
#Before you click OK to the dialog box, plug in the XBee module (carefully).
#Click OK to clear the message and it should start programming automatically.

=== Other tutorials ===

[http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee PixHawk: HowTo configure XBee]

[http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux openpilot: XBee RF modems]

== XBee Pro ZNet 2.5 (AT command set) ==
These are legacy modems and not recommended/sold by Digi anymore.
It is recommended to upgrade these to XBee Pro ZB with the [ftp://ftp1.digi.com/support/images/ZNet%202.5%20to%20ZB%20Conversion%20Kit.zip ZNet 2.5 to ZB Conversion Kit] from Digi.
 
If you want to use ZNet 2.5 feature set nevertheless, here is how to configure it:

=== Flashing the airborne module ===
# Connect your XBee, start X-CTU, click READ
# Select the function set '''ZNET 2.5 ROUTER/END DEVICE AT'''.
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Flashing the ground station module ===
# Connect your XBee, start X-CTU, click READ
# Select the function set '''ZNET 2.5 COORDINATOR DEVICE AT'''.
# Set the Destination Address Low (DL) to FFFF.
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Setup ===

For the ZigBee ZNet 2.5 and ZB modules to work one of the modules has to be flashed with the coordinator firmware. All the others in the same PAN can either run as routers or end-devices.
* Flash one module (ground station) with the coordinator AT firmware
* Flash aircraft module with router or end-device AT firmware
To allow modules to join any PAN set the PAN ID to zero (default setting). Then the coordinator will generate a random PAN ID and routers and end-devices will join the first PAN they find.

If you operate in an environment with multiple zigbee PANs it is recommended to set the PAN ID explicitly:
* Set PAN ID to some unique (but same) ID on both modules
* Set a Node Identifier for each module (e.g. ground, aircraft)
 

== XBee Pro DigiMesh / 802.15.4 ("Series 1") ==

=== Flashing the airborne module ===
# Connect your XBee, start X-CTU, click READ
# Leave the function set on '''XBEE PRO 802.15.4'''.
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

=== Flashing the ground station module ===
# Connect your XBee, start X-CTU, click READ
# Leave the function set on '''XBEE PRO 802.15.4'''.
# '''Set Coordinator Enable to "1 - COORDINATOR".'''
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.
# Then write the firmware to the module.

(Tested on XBP24 Firmwareversion 10E6)

== XBee Pro 868 MHZ ==

=== Getting Them Working ===
Even with the xbee868.xml telemetry file, XBee868s will not last over 6 minutes. There is a special 868 build flag (in slayer1.xml), and matching option for the datalink but I could not get this to work. Eventually, I got them to work for about 20 minutes, which happily is the flight endurance of a heavily overloaded GWS Formosa.

I did this using a command window, but you could use X-CTU if you are a wuss or have Windows handy.

#Attach Xbee and start serial comm program (I use <code>screen /dev/ttyUSB0 <baud rate, just a number, no angled brackets></code>, you can also use pico- or microcom)
#Type AT and enter. You should get an OK back.
#ATMT and enter. You should get a number—this represents the number of extra times each packet will be broadcast. We now need to change this to zero.
#ATMT0 and enter => OK
#ATRR and enter. This number is the number of retries that will be sent if an ACK is not received. Disabling this will also have the side effect of disabling ACKs, giving us more packets to play with.
#ATRR0 and enter => OK
#Type ATWR to store the new stuff in the firmware. You should get an OK.
#Set the datalink to transparent mode both in your airframe file and on the datalink.

You may also want to drop the power level to 1mW for testing, or it won't actually work - they are just too damn powerful to talk to each other at a range of a couple of feet. I also used 1mW for flying - never lost the link, even after a mile. Didn't get round to range testing them though.

You probably want to do this to both XBees (at least I did). I personally had the baud rate at 57600 for legacy reasons, but it should work just as well at any other baud rate. '''Thanks to CheBuzz for this info''', and for helping me work all this out at 11pm the night before EMAV09.

== XBee 868LF ==

These relativly new modems use the whole spectrum allowed in your country to avoid Duty Cycle restrictions.

== XBee Pro XSC (900MHZ) ==

== Configuring XBee API mode (xbee protocol) ==

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

Sensors/GPS

2015-08-25T09:15:38Z

Simmis: Adding a few explanations to help with U-Blox GPS configuration.

<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 icw paparazzi. The list is by far not complete. A lot more devices will work flawlessly with Paparazzi. If you have a GPS receiver you used with Paparazzi and is not listed here, it would be great if you could add addtional information on this page.
 

=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|100px|thumb|left|Swiftnav Piksi]]
 

=LS20031 GPS Receiver=

[[Image:ls20031.jpg|100px|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|100px|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] which develops and delivers very good positioning modules. It produces the recommended GPS modules for use with Paparazzi autopilots from the popular brand of receivers.

Why uBlox:
*Low cost [[Sensors/GPS#u-blox_NEO-6M|NEO6-M]])
*Small size
*Excellent performance
*Up to 10Hz update rate
*Large amount of different modules
*5V tolerant UART

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]]. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below.

{|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. The protocol is parsed 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-aquisition. 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 Lisa, TWOG and Classix Autopilot board.
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 seperate PCB. The main PCB and antenna PCB are fixed with hot glue together and can be seperated 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.
 

==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 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:
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 the $20 [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R.htm FTDI USB-TTL converter cable] available from Digikey, Mouser, or direct from FTDI. 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 accomodate 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]

===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 calcuation 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 calcuation 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.

===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 reciever. 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]]

Tunnel

2015-08-14T17:44:19Z

Simmis: Making sure ppl will not repeat my mistake and will understand that they may need to add another firmware section when using the tunnel.

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware</categorytree>
|}

This completely replaces the normal autopilot code (leaving the USB bootloader intact) with a simple serial-to-serial pass-through that essentially connects the serial port (e.g. from the GPS) directly to the modem serial port or a USB-to-serial connection that creates a USB serial port that goes to GPS port or modem port. Use this only to gain direct access to the GPS for testing/configuration with [[GPS#GPS_configuration_using_U-Center|U-Center]] or other software.

You can either use a serial UART tunnel or USB tunnel:

You have to add the tunnel targets to your airframe file if you want to use them. The tunnel targets must be part of a firmware section of <code>name="setup"</code>. Add this too, if it doesn't already exist in your airframe file.
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
<target name="usb_tunnel_0" board="twog_1.0" />
</firmware>
Note, that you must replace the value of <code>board</code> with your board name.
== UART tunnel ==

Use this if you have a serial cable to connect. The LEDs will blink when data is transferred. Type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' tunnel.upload
Connect the USB cable and power on the autopilot to receive the code.

This can be done without the USB bootloader by appending ''FLASH_MODE=ISP'' to the command line (specifying ISP serial loading). This will require a serial cable connection (i.e. FTDI USB-to-TTL). '''WARNING!''' Installing tunnel code with the ISP method will erase any USB bootloader code. Make sure you are able to install a bootloader yourself.

== USB tunnel ==

This can be done without a serial cable just by having USB. The LEDs will blink when data is transferred. It can connect to either serial port on the autopilot (for Tiny 2.11: uart0=gps, uart1=modem). To connect USB to the gps type the following command from your paparazzi folder, substituting the name of your airframe and paying attention to case sensitivity:
make AIRCRAFT=''myplane'' usb_tunnel_0.upload
Connect the usb cable and power on the autopilot to receive the code. The code will switch the USB to emulate a serial port that you can access at '''/dev/ttyACMx'''. Windows user can extract the usbser.sys file from .cab file in C:\WINDOWS\Driver Cache\i386 and store it somewhere (C:\temp is a good place) along with the [[Media:Usbser.zip|usbser.inf]] file. Windows then creates an extra COMx port that you can use in a terminal program or with ucenter.
To use the USB tunnel make sure you first power the autopilot before connecting USB not to end up in the USB bootloader.

Required Cables:
<ol>
<li>USB cable
<li>USB to 8-pin Molex Picoblade Male-connector cable (optional, can use wireless link)
</ol>
Steps:
<ol>
<li>Connect USB Cable + 8-pin Molex adapter to USB on your laptop
<li>Connect 8-pin Molex Connector on the Adapter cable to "usb" on Tiny2.11
<li>Power on Tiny2.11
<li>Enter this command in a terminal: make AIRCRAFT=Twinjet tunnel.upload
</ol>
Success will show this in the last lines of the terminal window
<pre>
Found USB device
BootROM code: 2.12
Part ID: 0x0402FF25 (LPC2148, 512k Flash, 32k+8k RAM)
BootLoader version: 1.3
#
Starting software at 0x00004000
</pre>
Now your Tiny2.11 will tunnel UART1 from the GPS direct to the serial connector on the board. So, using the 8-pin Molex to FTDI cable adapter (or use the wireless link e.g. XBee) you can use your computer to interact with the GPS module. One example is using u-blox u-center program to configure your GPS module. Like the bootloader if you bought your Tiny2.11 assembled check with your 3rd party vendors configured your GPS. Good chance you won't need to use the tunnel or configure the GPS module. The required cable may included with 3rd party vendors!

[[Category:Firmware]] [[Category:User_Documentation]]

Gallery

2014-09-02T18:38:35Z

Simmis: /* User's Aircraft Gallery */

== User's Gallery ==
=== User's Aircraft Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindenberg
Image:microvertigo.png|Micro-Vertigo (3D SLS Printed) University of Arizona Span 20 cm, mass 100g
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:minivertigo.jpg|Mini-Vertigo II University of Arizona Span 30 cm, mass 100g
Image:Lelantos.jpg|Lelantos University of Arizona Span 15 cm, mass 200g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindenberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
Image:nirvana.jpg|Nirvana The 3 Minimag used at the LAAS-CNRS Laboratory
Image:Minimav.jpg| FJ1 The PPZUAV current project/ MAV 420mm / 85g
Image:Paparazzitelema1.jpg | Telemaster Autonomous platform to get used to the system
Image:Easystar cropped w800.JPG| John Burt tested and flying
Image:UAV.JPG|Luke Ionno over at rcgroups
Image:Mentor.JPG|Multiplex Mentor Joekadet, 7 flights, Auto2 working now.
Image:Azorean_UAV_01.jpg|Twinstar II [[Rui Costa]] Azores - Portugal.
Image:Y-UAV1.JPG|Y-UAV [http://www.y-uav.com Home Page] Meilen - Switzerland.
Image:UMARS.JPG|UMARS [http://www.imes.zhaw.ch/de/engineering/imes/projekte/leichtbautechnik/umars/projektbeschreibung.html Home Page] Winterthur - Switzerland.
Image:eHawk.JPG|eHawk R. Büttner Meilen - Switzerland.
Image:TwinStar_stspies1.JPG|TwinStar II [[User:Stspies|Steffen]] Germany.
Image:Cougar.JPG|Cougar R. Büttner Meilen - Switzerland.
Image:UofA_UAP1.jpg|Senior Telemaster [[UAlberta_UASGroup|U of A UAS Group]] Edmonton - Canada.
Image:High_Performance_Flying_Wing.JPG|Flying Wing T. Habermacher Zürich - Switzerland.
Image:SimcraftFunjet.jpg|SimCraft Simon Liebold Berlin - Germany.
</gallery>
|

|}

==Video==

[http://www.youtube.com/watch?v=M1k_TLcQ2ic Micro UAV climbing to 1500m on Spitsbergen/Arctic]

[http://www.youtube.com/user/aerovistapunktch#p/u/3/7OCcMA4vluM Desktop Record GCS Y-UAV]

[http://www.youtube.com/user/aerovistapunktch#p/u/1/o6auxzO93lU Bungee Launch Y-UAV]

[http://www.youtube.com/watch?v=7WyNxjZjn90 first parachute recovery testing of X8]

[http://www.youtube.com/watch?v=7B_F1CzGToM Easyglider goes for a bombing run]

[http://www.youtube.com/watch?v=qsYYL3EitQ8 Easyglider completely autonomous take off]

[http://www.youtube.com/watch?v=kEyfNS4qOyk&feature=plcp jet with paparazzi onboard]

== Flight competitions ==
=== [http://www.nal.res.in/MAV08/ MAV08] ===
; Agra, India, (March 10th -- 15th, 2008)
Best Mission Performance:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Paparazzi Slicer (ENAC)
* Paparazzi Glass One(s) (Martin Mueller Engineering)
* Paparazzi Dragonfly (University of Arizona)

Best Hover Performance/Rotorcraft:
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)
* Indian Institute of Technology, Bombay (IITB)

Best Autonomous Micro Air Vehicle:
* Paparazzi Slicer (ENAC)

Best Exotic Design Micro Air Vehicle:
* Paparazzi Dragonfly (University of Arizona)

Best UGV Performance:
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)

{|
|-valign="top"
|
<gallery caption="MAV08, Agra, India">
Image:Slicer.jpg|Slicer ENAC
Image:Glassone.jpg|Glass One 
Image:MAVSTAR.jpg|MAVSTAR 
</gallery>
|}

=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
Image:Redone.jpg|Red One/MAC 07 
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindenberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindenberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindenberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

== Scientific campaigns ==

=== FLOHOF 2007 ===
; Around the Hofsjökull glacier, Iceland, (August 2007)
{|
|-valign="top"
|
<gallery caption="FLOHOF 2007, Iceland">
Image:Kerlingafjoll.jpg|Flying southwest of the glacier
Image:High_alt.png|Climb slope
</gallery>
|}

=== THORPEX/Svalbard 2008 ===
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)
{|
|-valign="top"
|
<gallery caption="THORPEX 2008, Svalbard">
Image:Kv_svalbard_ice.jpg|KV Svalbard
Image:Hangar.jpg|The KV Svalbard hangar
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen
Image:Waves.jpg|Waves in rough sea
Image:Breaking_ice.jpg|Breaking the ice
Image:Longyearbyen.jpg|Preparing the aircraft
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen
</gallery>
|}

[[Category:Community]]

File:SimcraftFunjet.jpg

2014-09-02T18:28:39Z

Simmis: Close-up picture of another Funjet. Umarin Lite v2. AXI 2212/26 motor w/ APC 9x6E prop.

Close-up picture of another Funjet. Umarin Lite v2. AXI 2212/26 motor w/ APC 9x6E prop.