PaparazziUAV - User contributions [en]

User:Soccercisco

2007-03-25T05:43:58Z

Soccercisco:

__NOTOC__

{| border="0" cellspacing="5" cellpadding="2" width="100%"
| style="border-top:2px solid blue; border-right:2px solid blue; border-bottom:2px solid blue; border-left:2px solid blue; text-align:center;" colspan="5" | Welcome to Paparazzi
|-
| style="border-top:2px solid blue; border-right:2px solid blue; border-bottom:2px solid blue; border-left:2px solid blue;" width="20%" align="center" | [[Overview|Overview]]
| style="border-top:2px solid blue; border-right:2px solid blue; border-bottom:2px solid blue; border-left:2px solid blue;" width="20%" align="center" | [[Hardware|Hardware]]
| style="border-top:2px solid blue; border-right:2px solid blue; border-bottom:2px solid blue; border-left:2px solid blue;" width="20%" align="center" | [[Software|Software]]
| style="border-top:2px solid blue; border-right:2px solid blue; border-bottom:2px solid blue; border-left:2px solid blue;" width="20%" align="center" | [[User:Soccercisco#Getting Started|Getting Started]]
| style="border-top:2px solid blue; border-right:2px solid blue; border-bottom:2px solid blue; border-left:2px solid blue;" width="20%" align="center" | [[User:Soccercisco#Frequently Asked Questions|FAQ]]
|}

== My Gallery ==
{|
|-valign="top"
|
<gallery caption="My UAV Projects">
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
</gallery>
|
=== Comments ===
* Sephiroth is my Pre-Paparazzi project.
|}

Comments about this page (or anything in particular): zabala.f[at]gmail[dot]com

==About Me==

Hello my fellow Paparazzi-ers! Here's a bit of info of who I am.

*Name: Francisco Zabala

*Nick: Cisco (used to play soccer a lot so sometimes soccercisco)

*Career: Electrical Engineer (Bachelor's degree Dec '06), emphasis in Control Systems and Robotics

*Career Goals: mainly academic, pursue a doctoral degree in Control, Robotics & Biosystems. Then, become a full-time Professor and Researcher.

*Current Projects: www.ecs.fullerton.edu/~zabala (I'm moving all this info into a wiki, so soon it will be updated)

*Paparazzi-status: "As newb as I can get" (Purchasing board)

*Paparazzi Goals: to become an active contributor to the project, and help on it's further development (as I gain the trust of fellow members).
**Abilities: Hardware design, PCB design and layout, soldering, basic Programming tasks (getting better everyday :-) ), Licensed RC Pilot (doesn't mean I'm a Pro :-) ).

=Getting Started=

==Objective==
The objective of this section is to document the basic steps for newcomers to the project. Being a newcomer myself, I can explain as I go along the do's and dont's from a newbie perspective. I believe I would help quite a lot with several aspects of the project, especially, having newcomers feel 'unwelcomed' or ''having to deal with questions frequently asked.'' I know what you are thinking, and the answer is yes! I will also develop---as I grow more accustomed to the project---a Frequently Asked Questions page, where I will collect the most common mistakes (based on my own experience) that are bound to happen in the development of the project. Additionally, I will keep a close overview of the mailing-list so I can monitor FAQs other than the ones I consider.

==Walkthrough (Rough Draft)==
*Purchase an aircraft and learn to fly it!
This step is self explanatory, you need to have something where to mount your autopilot. Additionally, you need to be comfortable enough to take control if something goes wrong in the air (like you forgot to charge the battery).

The following are models we have tried with positive results and a convenient price (free sponsorship):
**Microjet [ [ link + pics here ] ]
**Twinject [ [ link + pics here ] ]
** ...

*Purchase/Construct an autopilot Printed-Circuit Board from the available options.
While learning how-to-fly you could get started with the hardware (talk about multitasking!) by following one of the following options:

====Pre-assembled PCB====
No reason to not take this route (we are not doing to become millionaires, but because we like it). We will offer you, literally, the best possible deal that you could get (taken under consideration labor put into the boards, shipping, etc.). We want you to get started! If you are desiring a quick start then this is the option for you (remember that once you are comfortable with the project there will be no reason for you not to build your own boards! you have the schematics and PCB layout, and you would also have this board as a reference :-) )

====PCB-only (only for recommended for advanced users)====
If you have experience with soldering 0402, SOIC, etc. sized components get this option. Be aware that the components add up to '$300' [TBD]. Please refer to the hardware list [[link here | TBD]]. Keep in mind that this is a free open source project, thus, most of us do something else to pay the bills; so support at this point at time is handled through the IRC and the FAQs.

====DIY (only recommended for super-advanced users)====
The "there-is-no-stopping-you-now" option, you have everything you need to get started with the hardware (schematics, layouts, block diagrams, etc.). If you are a self-motivated individual, with tons of spare time on your hands (and no girl- and/or boy-friend), then a) You need to find your "better-half," and b) this is the option for you!

===Cameras===
http://www.futurehobbies.com/items.asp?id=14

http://www.boostervision.com

=Frequently Asked Questions=
Q. How can I get started?

A. Refer to the [ [ link here ] ] section

File:Wire Harness.jpg

2007-03-25T00:27:38Z

Soccercisco:

User:Soccercisco

2007-03-25T00:26:04Z

Soccercisco:

== Chenda's Automotive Projects ==
 
Hi! Welcome to my wiki.
 
This site contains information about some of my automotive projects. 
===Current Projects===
*I am currently designing and constructing a digital cluster display for my 1989 Honda CRX. The cluster will include a Speedometer, Temperature gauge, Fuel Level gauge, and an RPM gauge. [[EGEE-485]]. 
*Additionally, I am working on restoring a 1975 Honda [[CVCC_Project|CVCC]].

User:Soccercisco

2007-03-24T23:24:05Z

Soccercisco:

Sensors/GPS

2007-01-31T02:32:05Z

Soccercisco: /* Interfacing GPS to the Control Boards */

{| align=right
|-
| __TOC__
|}

==Overview==
[[Image:U-blox_color_warm_60.gif|100px]]

Paparazzi autopilots are designed around the popular [http://www.u-blox.com u-blox] brand of receivers.

*Features:
**Small size
**Excellent performance
**4Hz position update rate

The '''[[Tiny]]''' features an onboard LEA series GPS receiver, while '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external receiver such as the SAM-LS. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. Additionally, the LEA series receivers require the use of an external antenna (as opposed to the SAM-LS, where the antenna is built into the module). Both modules have proven reliable and robust.

{|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)]]
|}

'''Note:''' Current configuration for the '''[[Tiny|Tiny 1.1]]''' board uses the LEA series GPS receiver and it incorporates a ground plane for a GPS antenna. Originally, the ground plane was designed for a 13mm ceramic antenna although an 18 or 20mm antenna would be better suited. Either one is fine, and more testing is under way to reach a final configuration. Please follow the discussion (below) on different antennas for further details.

'''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/gps_ubx.c</tt>. Other GPS brands would require a similar parsing file to be written for NMEA or other proprietary protocols.

==GPS Receivers==

===- u-Blox LEA Series===
[[Image:Lea big.jpg|100px|thumb|right|u-blox LEA]]
The '''[[Tiny]]''' currently uses the [http://www.u-blox.com/products/lea_4p.html u-blox LEA-4P] featuring [http://www.u-blox.com/technology/antaris4/index.html Antaris-4] technology and uses uBlox's more efficient UBX binary protocol. This module is a surface mount package which is soldered directly onto the target board (Tiny in this case). The Tiny also features a battery backup (capacitor) that allows the GPS to retain data while powered off for significantly faster signal re-aquisition.

*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]

[[Image:TINY_1.3_MCU_BOTTOM.JPG|thumb|center|250px|LEA-4P installed on the Tiny]]
 

===u-Blox SAM-LS GPS Smart Antenna===
[[Image:Ublox_SAM-LS.jpg|100px|thumb|right|u-blox SAM-LS]]
The '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards use a stand alone module from u-blox called the SAM-LS. It is an integrated TIM-LP module with a ceramic patch antenna. This processor also runs on 4hz and must be configured to use the UBX protocol. With battery backup (3V watch battery) they show hot starts of around a couple seconds. The LEA-LA processor weighs a couple grams and the complete the SAM-LS module with antenna and shielding weighs about 20grams.

'''Note:''' Effective 12/2006 u-blox has begun to phase out the SAM-LS product. No replacement has been announced.

===Sourcing from u-blox===

u-blox keeps tight control over the distribution of their products. They must be obtained DIRECTLY from their own reseller offices. These offices may not be available in your area, for example Canada does not have a reseller. Sample quantities can be obtained from uBlox but overnight or 2 day shipping is required which drives the cost up considerably. While it is a large hassle obtaining these devices, it is undoubtedly worth it.

===Paparazzi Stand-alone GPS Receivers===
Additionally, there are currently two (LEA-based) stand-alone, GPS receiver + antenna, Prototype Boards in development; the first one is based on the Sangshin 13mm patch antenna. The second is based on the Sarantel helix antenna. Drawings for both are available from the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/ CVS]

==GPS receivers & Control Boards==

===Tiny AP===

This board is designed to have both the GPS receiver and antenna soldered directly to it. The LEA-LA, LEA-4P, and LEA-4H receivers have all been used with great success though any receiver from the LEA series should work. Keep in mind that if you are not using a GPS model with flash (LEA-4A) you will need to configure the AP to send boot commands to the GPS on start up. The programmable models include Flash EEPROM internally and save their configurations indefinitely.

===Classix, 1.2.1 AVR, Lite, and RoboStix AP===

These boards are configured to connect to an externally mounted u-blox module such as the Paparazzi stand-alone receivers or the commercially available but obsolete SAM-LS. The u-blox receivers require 3.3v power and all current models have 5V tolerant data lines. The best way to connect to the SAM-LS is to remove the bottom case and solder the 4 wires directly to the TIM-LL module (GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) check the TIM-LL datasheet for pinout diagrams. The Classix and Lite boards feature a 3.3V regulator to power the GPS.

==GPS configuration using U-Center==

[[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 Windows freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/products/u_center.html Download u-center] (password protected download, use ''paparazzi'' for username & password)

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

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] or [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.
 [[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-v5.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]

===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:

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''19200bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 19200bps if the connection is lost at this point
5. UBX->CFG->RATE(Rates) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
6. UBX->CFG->RXM(Receiver Manager) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
7. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
8. UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
9. 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.

===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.environmental-studies.de/Precision_Farming/EGNOS_WAAS__E/3E.html WAAS, EGNOS, and MSAS] though only WAAS is officially operational. 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.

====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.
====EGNOS issues====
EGNOS is officially in "testing mode" and no claims of reliability are made. The [http://www.u-blox.com/customersupport/faq_antaris u-blox FAQ] states the following:
* "Do you see issues with EGNOS?"
*:"Yes. Although the data transmitted by the EGNOS satellites are usually good and valuable (e.g. during the solar storms in autumn 2003), they can sometimes be very unreliable, for example when system tests are performed. As an example, u-blox has noticed erroneous range information (up to three hundred kilometers) on various EGNOS satellite over the last few months [2006]."

===Further Reading===

The u-blox [http://www.u-blox.com/customersupport/antaris4_doc.html System Integration Manual] covers a lot of GPS theory as well as product specific topics.

== Antennas ==

=== Sangshin 13mm Patch ===

Part of interest: '''[http://www.sangshinec.com/eng/patch_spec.htm KSA-ST1580MS13]'''

[[image:Sangshin_13mm_onboard.jpg]]

The Tiny 0.99 (not 0.9) and 1.1 were designed for this antenna however this part has not been verified for best performance yet.

Size: 13 x 13 mm 
Center Frequency: 1580 MHz 
Bandwidth: 5 MHz 
@Fo: -15 dB 
GAIN (dBi): 0 dBi 
Ground Plane: 50 x 50 mm 

'''Available From'''

[http://www.systroninc.com/ Systronic INC.] - Alberta, Canada

=== 20mm Unknown Salvage Patch ===

Reportedly the best match for the Tiny 0.9 through 1.1. No source for this antenna has been found yet.

[[image:Salvaged_20mm_onboard.jpg]]

'''Availability'''

These antennas were salvaged from a batch of otherwise defective GPS/GSM car antennas. Availability is very limited. Manufacturing trends appear to be moving away from 20mm antennas and toward 18mm.

=== [http://www.transplantgps.com EMTAC] 18mm ===

The part number for the 1580MHz 18x18mm is ANA1580T18D40 and is not listed on their website.

[[image:Emtec_20mm.jpg]]

'''Availability'''

Direct from [http://www.transplantgps.com/modules.html TransplantGPS] in MN, USA. The antennas should be in stock at a cost of $3.55ea but they may want you to order > $50 USD per order.

=== Sangshin 18mm Patch ===
Sangshin antennas are available from [http://www.rfmw.com rfmw]

=== Sarantel GeoHelix-P2 ===

[http://www.sarantel.com/products/geohelix-p2 GeoHelix-P2] Passive GPS Antenna [[http://www.sarantel.com/downloads/specifications/geohelix-p2.pdf datasheet]]

[[image:Geohelix-p2.jpg]]

This antenna apparently works great with the u-blox series GPS receivers so is not tied to any version of the board. It does not mount directly to the board. Impedence is 50ohm so almost any radio coax will work. Remember the antenna is passive with no RF amplification done at the antenna so every inch of extra coax introduces loss. Adding a ground plane (tin foil even) near the base of the antenna with a target size of 50mm x 50mm should also increase the performance.

'''Availability'''

Direct from Sarantel @ cost of approx $18 USD each

Sensors/GPS

2007-01-31T02:29:57Z

Soccercisco: just making my contrib (partially done)

{| align=right
|-
| __TOC__
|}

==Overview==
[[Image:U-blox_color_warm_60.gif|100px]]

Paparazzi autopilots are designed around the popular [http://www.u-blox.com u-blox] brand of receivers.

*Features:
**Small size
**Excellent performance
**4Hz position update rate

The '''[[Tiny]]''' features an onboard LEA series GPS receiver, while '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards require an external receiver such as the SAM-LS. Please note that the receivers must be configured (prior to use with the autopilot) as indicated below. Additionally, the LEA series receivers require the use of an external antenna (as opposed to the SAM-LS, where the antenna is built into the module). Both modules have proven reliable and robust.

{|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)]]
|}

'''Note:''' Current configuration for the '''[[Tiny|Tiny 1.1]]''' board uses the LEA series GPS receiver and it incorporates a ground plane for a GPS antenna. Originally, the ground plane was designed for a 13mm ceramic antenna although an 18 or 20mm antenna would be better suited. Either one is fine, and more testing is under way to reach a final configuration. Please follow the discussion (below) on different antennas for further details.

'''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/gps_ubx.c</tt>. Other GPS brands would require a similar parsing file to be written for NMEA or other proprietary protocols.

==GPS Receivers==

===- u-Blox LEA Series===
[[Image:Lea big.jpg|100px|thumb|right|u-blox LEA]]
The '''[[Tiny]]''' currently uses the [http://www.u-blox.com/products/lea_4p.html u-blox LEA-4P] featuring [http://www.u-blox.com/technology/antaris4/index.html Antaris-4] technology and uses uBlox's more efficient UBX binary protocol. This module is a surface mount package which is soldered directly onto the target board (Tiny in this case). The Tiny also features a battery backup (capacitor) that allows the GPS to retain data while powered off for significantly faster signal re-aquisition.

*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]

[[Image:TINY_1.3_MCU_BOTTOM.JPG|thumb|center|250px|LEA-4P installed on the Tiny]]
 

===u-Blox SAM-LS GPS Smart Antenna===
[[Image:Ublox_SAM-LS.jpg|100px|thumb|right|u-blox SAM-LS]]
The '''[[Classix]]''' and '''[[Previous_Autopilots|AVR-based]]''' boards use a stand alone module from u-blox called the SAM-LS. It is an integrated TIM-LP module with a ceramic patch antenna. This processor also runs on 4hz and must be configured to use the UBX protocol. With battery backup (3V watch battery) they show hot starts of around a couple seconds. The LEA-LA processor weighs a couple grams and the complete the SAM-LS module with antenna and shielding weighs about 20grams.

'''Note:''' Effective 12/2006 u-blox has begun to phase out the SAM-LS product. No replacement has been announced.

===Sourcing from u-blox===

u-blox keeps tight control over the distribution of their products. They must be obtained DIRECTLY from their own reseller offices. These offices may not be available in your area, for example Canada does not have a reseller. Sample quantities can be obtained from uBlox but overnight or 2 day shipping is required which drives the cost up considerably. While it is a large hassle obtaining these devices, it is undoubtedly worth it.

===Paparazzi Stand-alone GPS Receivers===
Additionally, there are currently two (LEA-based) stand-alone, GPS receiver + antenna, Prototype Boards in development; the first one is based on the Sangshin 13mm patch antenna. The second is based on the Sarantel helix antenna. Drawings for both are available from the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/ CVS]

==Interfacing GPS to the Control Boards==

===Tiny AP===

This board is designed to have both the GPS receiver and antenna soldered directly to it. The LEA-LA, LEA-4P, and LEA-4H receivers have all been used with great success though any receiver from the LEA series should work. Keep in mind that if you are not using a GPS model with flash (LEA-4A) you will need to configure the AP to send boot commands to the GPS on start up. The programmable models include Flash EEPROM internally and save their configurations indefinitely.

===Classix, 1.2.1 AVR, Lite, and RoboStix AP===

These boards are configured to connect to an externally mounted u-blox module such as the Paparazzi stand-alone receivers or the commercially available but obsolete SAM-LS. The u-blox receivers require 3.3v power and all current models have 5V tolerant data lines. The best way to connect to the SAM-LS is to remove the bottom case and solder the 4 wires directly to the TIM-LL module (GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) check the TIM-LL datasheet for pinout diagrams. The Classix and Lite boards feature a 3.3V regulator to power the GPS.

==GPS configuration using U-Center==

[[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 Windows freeware program intended for the configuration and evaluation of u-blox receivers.
* [http://www.u-blox.com/products/u_center.html Download u-center] (password protected download, use ''paparazzi'' for username & password)

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

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] or [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.
 [[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-v5.zip|LEA-4P]]
* [[Media:Tim-LL-V5.zip|TIM-LL]]

===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:

1. Right Click on the '''NMEA''' Icon and choose '''disable child'''
2. Choose UBX->CFG->NAV2(Navigation 2) - set it to use '''Airborne 4G''' (tells the Kalman filter to expect significant changes in direction)
3. UBX->CFG->PRT - set '''USART1''' to '''19200bps''' (must match the value in your [[Airframe_Configuration#Hardware_definitions_-_Makefile|Airframe file]])
4. Change the baudrate of U-Center to 19200bps if the connection is lost at this point
5. UBX->CFG->RATE(Rates) - change '''GPS Mode''' to '''3 - Auto''' (Enabling faster bootup only if signal levels are very good)
6. UBX->CFG->RXM(Receiver Manager) - change the '''Measurement Period''' to '''250ms''' (4 Hz position updates)
7. UBX->CFG->SBAS : '''Disable''' (SBAS appears to cause occasional severe altitude calcuation errors)
8. UBX->NAV (not UBX->CFG->NAV): double click on '''POSUTM, SOL, STATUS, SVINFO, VELNED.''' They should change from grey to black
9. 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.

===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.environmental-studies.de/Precision_Farming/EGNOS_WAAS__E/3E.html WAAS, EGNOS, and MSAS] though only WAAS is officially operational. 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.

====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.
====EGNOS issues====
EGNOS is officially in "testing mode" and no claims of reliability are made. The [http://www.u-blox.com/customersupport/faq_antaris u-blox FAQ] states the following:
* "Do you see issues with EGNOS?"
*:"Yes. Although the data transmitted by the EGNOS satellites are usually good and valuable (e.g. during the solar storms in autumn 2003), they can sometimes be very unreliable, for example when system tests are performed. As an example, u-blox has noticed erroneous range information (up to three hundred kilometers) on various EGNOS satellite over the last few months [2006]."

===Further Reading===

The u-blox [http://www.u-blox.com/customersupport/antaris4_doc.html System Integration Manual] covers a lot of GPS theory as well as product specific topics.

== Antennas ==

=== Sangshin 13mm Patch ===

Part of interest: '''[http://www.sangshinec.com/eng/patch_spec.htm KSA-ST1580MS13]'''

[[image:Sangshin_13mm_onboard.jpg]]

The Tiny 0.99 (not 0.9) and 1.1 were designed for this antenna however this part has not been verified for best performance yet.

Size: 13 x 13 mm 
Center Frequency: 1580 MHz 
Bandwidth: 5 MHz 
@Fo: -15 dB 
GAIN (dBi): 0 dBi 
Ground Plane: 50 x 50 mm 

'''Available From'''

[http://www.systroninc.com/ Systronic INC.] - Alberta, Canada

=== 20mm Unknown Salvage Patch ===

Reportedly the best match for the Tiny 0.9 through 1.1. No source for this antenna has been found yet.

[[image:Salvaged_20mm_onboard.jpg]]

'''Availability'''

These antennas were salvaged from a batch of otherwise defective GPS/GSM car antennas. Availability is very limited. Manufacturing trends appear to be moving away from 20mm antennas and toward 18mm.

=== [http://www.transplantgps.com EMTAC] 18mm ===

The part number for the 1580MHz 18x18mm is ANA1580T18D40 and is not listed on their website.

[[image:Emtec_20mm.jpg]]

'''Availability'''

Direct from [http://www.transplantgps.com/modules.html TransplantGPS] in MN, USA. The antennas should be in stock at a cost of $3.55ea but they may want you to order > $50 USD per order.

=== Sangshin 18mm Patch ===
Sangshin antennas are available from [http://www.rfmw.com rfmw]

=== Sarantel GeoHelix-P2 ===

[http://www.sarantel.com/products/geohelix-p2 GeoHelix-P2] Passive GPS Antenna [[http://www.sarantel.com/downloads/specifications/geohelix-p2.pdf datasheet]]

[[image:Geohelix-p2.jpg]]

This antenna apparently works great with the u-blox series GPS receivers so is not tied to any version of the board. It does not mount directly to the board. Impedence is 50ohm so almost any radio coax will work. Remember the antenna is passive with no RF amplification done at the antenna so every inch of extra coax introduces loss. Adding a ground plane (tin foil even) near the base of the antenna with a target size of 50mm x 50mm should also increase the performance.

'''Availability'''

Direct from Sarantel @ cost of approx $18 USD each

File:U-blox color warm 60.gif

2007-01-31T01:08:11Z

Soccercisco:

File:U-blox color warm 60.gif

2007-01-31T01:07:27Z

Soccercisco:

#REDIRECT [[''http://www.u-blox.com'' ]]

File:U-blox color warm 60.gif

2007-01-31T01:07:03Z

Soccercisco:

#REDIRECT [[''target page'' ]]

File:U-blox color warm 60.gif

2007-01-31T00:49:37Z

Soccercisco: u-blox logo

u-blox logo

User:Soccercisco

2007-01-19T19:21:24Z

Soccercisco:

User:Soccercisco

2007-01-19T18:09:39Z

Soccercisco:

__NOTOC__
{|style="border-spacing:8px;margin:0px -8px" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
|-
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:1px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2>
|}

{|style="border-spacing:8px;margin:0px -8px" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;font-weight:bold;"
|-
| width=20% align=center | [[Overview|Overview]]
| width=20% align=center | [[Hardware|Hardware]]
| width=20% align=center | [[Software|Software]]
| width=20% align=center | [[User:Soccercisco#Getting Started|Getting Started]]
| width=20% align=center | [[User:Soccercisco#Frequently Asked Questions|FAQ]]
|}

== My Gallery ==
{|
|-valign="top"
|
<gallery caption="My UAV Projects">
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
</gallery>
|
=== Comments ===
* Sephiroth is my Pre-Paparazzi project.
|}

Comments about this page (or anything in particular): zabala.f[at]gmail[dot]com

==About Me==

Hello my fellow Paparazzi-ers! Here's a bit of info of who I am.

*Name: Francisco Zabala

*Nick: Cisco (used to play soccer a lot so sometimes soccercisco)

*Career: Electrical Engineer (Bachelor's degree Dec '06), emphasis in Control Systems and Robotics

*Career Goals: mainly academic, pursue a doctoral degree in Control, Robotics & Biosystems. Then, become a full-time Professor and Researcher.

*Current Projects: www.ecs.fullerton.edu/~zabala (I'm moving all this info into a wiki, so soon it will be updated)

*Paparazzi-status: "As newb as I can get" (Purchasing board)

*Paparazzi Goals: to become an active contributor to the project, and help on it's further development (as I gain the trust of fellow members).
**Abilities: Hardware design, PCB design and layout, soldering, basic Programming tasks (getting better everyday :-) ), Licensed RC Pilot (doesn't mean I'm a Pro :-) ).

=Getting Started=

==Objective==
The objective of this section is to document the basic steps for newcomers to the project. Being a newcomer myself, I can explain as I go along the do's and dont's from a newbie perspective. I believe I would help quite a lot with several aspects of the project, especially, having newcomers feel 'unwelcomed' or ''having to deal with questions frequently asked.'' I know what you are thinking, and the answer is yes! I will also develop---as I grow more accustomed to the project---a Frequently Asked Questions page, where I will collect the most common mistakes (based on my own experience) that are bound to happen in the development of the project. Additionally, I will keep a close overview of the mailing-list so I can monitor FAQs other than the ones I consider.

==Walkthrough (Rough Draft)==
*Purchase an aircraft and learn to fly it!
This step is self explanatory, you need to have something where to mount your autopilot. Additionally, you need to be comfortable enough to take control if something goes wrong in the air (like you forgot to charge the battery).

The following are models we have tried with positive results and a convenient price (free sponsorship):
**Microjet [ [ link + pics here ] ]
**Twinject [ [ link + pics here ] ]
** ...

*Purchase/Construct an autopilot Printed-Circuit Board from the available options.
While learning how-to-fly you could get started with the hardware (talk about multitasking!) by following one of the following options:

====Pre-assembled PCB====
No reason to not take this route (we are not doing to become millionaires, but because we like it). We will offer you, literally, the best possible deal that you could get (taken under consideration labor put into the boards, shipping, etc.). We want you to get started! If you are desiring a quick start then this is the option for you (remember that once you are comfortable with the project there will be no reason for you not to build your own boards! you have the schematics and PCB layout, and you would also have this board as a reference :-) )

====PCB-only (only for recommended for advanced users)====
If you have experience with soldering 0402, SOIC, etc. sized components get this option. Be aware that the components add up to '$300' [TBD]. Please refer to the hardware list [[link here | TBD]]. Keep in mind that this is a free open source project, thus, most of us do something else to pay the bills; so support at this point at time is handled through the IRC and the FAQs.

====DIY (only recommended for super-advanced users)====
The "there-is-no-stopping-you-now" option, you have everything you need to get started with the hardware (schematics, layouts, block diagrams, etc.). If you are a self-motivated individual, with tons of spare time on your hands (and no girl- and/or boy-friend), then a) You need to find your "better-half," and b) this is the option for you!

===Cameras===
http://www.futurehobbies.com/items.asp?id=14

http://www.boostervision.com

=Frequently Asked Questions=
Q. How can I get started?

A. Refer to the [ [ link here ] ] section

User:Soccercisco

2007-01-19T00:38:54Z

Soccercisco:

__NOTOC__
== My Gallery ==
{|
|-valign="top"
|
<gallery caption="My UAV Projects">
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
</gallery>
|
=== Comments ===
* Sephiroth is my Pre-Paparazzi project.
|}

Comments about this page (or anything in particular): zabala.f[at]gmail[dot]com

==About Me==

Hello my fellow Paparazzi-ers! Here's a bit of info of who I am.

*Name: Francisco Zabala

*Nick: Cisco (used to play soccer a lot so sometimes soccercisco)

*Career: Electrical Engineer (Bachelor's degree Dec '06), emphasis in Control Systems and Robotics

*Career Goals: mainly academic, pursue a doctoral degree in Control, Robotics & Biosystems. Then, become a full-time Professor and Researcher.

*Current Projects: www.ecs.fullerton.edu/~zabala (I'm moving all this info into a wiki, so soon it will be updated)

*Paparazzi-status: "As newb as I can get" (Purchasing board)

*Paparazzi Goals: to become an active contributor to the project, and help on it's further development (as I gain the trust of fellow members).
**Abilities: Hardware design, PCB design and layout, soldering, basic Programming tasks (getting better everyday :-) ), Licensed RC Pilot (doesn't mean I'm a Pro :-) ).

=Getting Started=

==Objective==
The objective of this section is to document the basic steps for newcomers to the project. Being a newcomer myself, I can explain as I go along the do's and dont's from a newbie perspective. I believe I would help quite a lot with several aspects of the project, especially, having newcomers feel 'unwelcomed' or ''having to deal with questions frequently asked.'' I know what you are thinking, and the answer is yes! I will also develop---as I grow more accustomed to the project---a Frequently Asked Questions page, where I will collect the most common mistakes (based on my own experience) that are bound to happen in the development of the project. Additionally, I will keep a close overview of the mailing-list so I can monitor FAQs other than the ones I consider.

==Walkthrough (Rough Draft)==
*Purchase an aircraft and learn to fly it!
This step is self explanatory, you need to have something where to mount your autopilot. Additionally, you need to be comfortable enough to take control if something goes wrong in the air (like you forgot to charge the battery).

The following are models we have tried with positive results and a convenient price (free sponsorship):
**Microjet [ [ link + pics here ] ]
**Twinject [ [ link + pics here ] ]
** ...

*Purchase/Construct an autopilot Printed-Circuit Board from the available options.
While learning how-to-fly you could get started with the hardware (talk about multitasking!) by following one of the following options:

====Pre-assembled PCB====
No reason to not take this route (we are not doing to become millionaires, but because we like it). We will offer you, literally, the best possible deal that you could get (taken under consideration labor put into the boards, shipping, etc.). We want you to get started! If you are desiring a quick start then this is the option for you (remember that once you are comfortable with the project there will be no reason for you not to build your own boards! you have the schematics and PCB layout, and you would also have this board as a reference :-) )

====PCB-only (only for recommended for advanced users)====
If you have experience with soldering 0402, SOIC, etc. sized components get this option. Be aware that the components add up to '$300' [TBD]. Please refer to the hardware list [[link here | TBD]]. Keep in mind that this is a free open source project, thus, most of us do something else to pay the bills; so support at this point at time is handled through the IRC and the FAQs.

====DIY (only recommended for super-advanced users)====
The "there-is-no-stopping-you-now" option, you have everything you need to get started with the hardware (schematics, layouts, block diagrams, etc.). If you are a self-motivated individual, with tons of spare time on your hands (and no girl- and/or boy-friend), then a) You need to find your "better-half," and b) this is the option for you!

===Cameras===
http://www.futurehobbies.com/items.asp?id=14
hhtp://www.boostervision.com

=Frequently Asked Questions=
Q. How can I get started?

A. Refer to the [ [ link here ] ] section

User:Soccercisco

2007-01-18T01:42:51Z

Soccercisco: /* My Gallery */

__NOTOC__
== My Gallery ==
{|
|-valign="top"
|
<gallery caption="My UAV Projects">
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
</gallery>
|
=== Comments ===
* Sephiroth is my Pre-Paparazzi project.
|}

Comments about this page (or anything in particular): zabala.f[at]gmail[dot]com

==About Me==

Hello my fellow Paparazzi-ers! Here's a bit of info of who I am.

*Name: Francisco Zabala

*Nick: Cisco (used to play soccer a lot so sometimes soccercisco)

*Career: Electrical Engineer (Bachelor's degree Dec '06), emphasis in Control Systems and Robotics

*Career Goals: mainly academic, pursue a doctoral degree in Control, Robotics & Biosystems. Then, become a full-time Professor and Researcher.

*Current Projects: www.ecs.fullerton.edu/~zabala (I'm moving all this info into a wiki, so soon it will be updated)

*Paparazzi-status: "As newb as I can get" (Purchasing board)

*Paparazzi Goals: to become an active contributor to the project, and help on it's further development (as I gain the trust of fellow members).
**Abilities: Hardware design, PCB design and layout, soldering, basic Programming tasks (getting better everyday :-) ), Licensed RC Pilot (doesn't mean I'm a Pro :-) ).

=Getting Started=

==Objective==
The objective of this section is to document the basic steps for newcomers to the project. Being a newcomer myself, I can explain as I go along the do's and dont's from a newbie perspective. I believe I would help quite a lot with several aspects of the project, especially, having newcomers feel 'unwelcomed' or ''having to deal with questions frequently asked.'' I know what you are thinking, and the answer is yes! I will also develop---as I grow more accustomed to the project---a Frequently Asked Questions page, where I will collect the most common mistakes (based on my own experience) that are bound to happen in the development of the project. Additionally, I will keep a close overview of the mailing-list so I can monitor FAQs other than the ones I consider.

==Walkthrough (Rough Draft)==
*Purchase an aircraft and learn to fly it!
This step is self explanatory, you need to have something where to mount your autopilot. Additionally, you need to be comfortable enough to take control if something goes wrong in the air (like you forgot to charge the battery).

The following are models we have tried with positive results and a convenient price (free sponsorship):
**Microjet [ [ link + pics here ] ]
**Twinject [ [ link + pics here ] ]
** ...

*Purchase/Construct an autopilot Printed-Circuit Board from the available options.
While learning how-to-fly you could get started with the hardware (talk about multitasking!) by following one of the following options:

====Pre-assembled PCB====
No reason to not take this route (we are not doing to become millionaires, but because we like it). We will offer you, literally, the best possible deal that you could get (taken under consideration labor put into the boards, shipping, etc.). We want you to get started! If you are desiring a quick start then this is the option for you (remember that once you are comfortable with the project there will be no reason for you not to build your own boards! you have the schematics and PCB layout, and you would also have this board as a reference :-) )

====PCB-only (only for recommended for advanced users)====
If you have experience with soldering 0402, SOIC, etc. sized components get this option. Be aware that the components add up to '$300' [TBD]. Please refer to the hardware list [[link here | TBD]]. Keep in mind that this is a free open source project, thus, most of us do something else to pay the bills; so support at this point at time is handled through the IRC and the FAQs.

====DIY (only recommended for super-advanced users)====
The "there-is-no-stopping-you-now" option, you have everything you need to get started with the hardware (schematics, layouts, block diagrams, etc.). If you are a self-motivated individual, with tons of spare time on your hands (and no girl- and/or boy-friend), then a) You need to find your "better-half," and b) this is the option for you!

=Frequently Asked Questions=
Q. How can I get started?

A. Refer to the [ [ link here ] ] section

Gallery

2007-01-18T01:41:15Z

Soccercisco: /* User's Gallery */

== User's Gallery ==
=== User's 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 Lindberg
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
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 Lindberg
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
</gallery>
|

|}

== Flight competitions ==
=== 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 Muller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindberg
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 Lindberg''
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>
|
|}

User:Soccercisco

2007-01-16T23:05:50Z

Soccercisco: /* Walkthrough (Rough Draft) */

__NOTOC__
== My Gallery ==
{|
|-valign="top"
|
<gallery caption="My UAV Projects">
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board processing for horizon-based stabilization
</gallery>
|
=== Comments ===
* Sephiroth is my Pre-Paparazzi project.
|}

Comments about this page (or anything in particular): zabala.f[at]gmail[dot]com

==About Me==

Hello my fellow Paparazzi-ers! Here's a bit of info of who I am.

*Name: Francisco Zabala

*Nick: Cisco (used to play soccer a lot so sometimes soccercisco)

*Career: Electrical Engineer (Bachelor's degree Dec '06), emphasis in Control Systems and Robotics

*Career Goals: mainly academic, pursue a doctoral degree in Control, Robotics & Biosystems. Then, become a full-time Professor and Researcher.

*Current Projects: www.ecs.fullerton.edu/~zabala (I'm moving all this info into a wiki, so soon it will be updated)

*Paparazzi-status: "As newb as I can get" (Purchasing board)

*Paparazzi Goals: to become an active contributor to the project, and help on it's further development (as I gain the trust of fellow members).
**Abilities: Hardware design, PCB design and layout, soldering, basic Programming tasks (getting better everyday :-) ), Licensed RC Pilot (doesn't mean I'm a Pro :-) ).

=Getting Started=

==Objective==
The objective of this section is to document the basic steps for newcomers to the project. Being a newcomer myself, I can explain as I go along the do's and dont's from a newbie perspective. I believe I would help quite a lot with several aspects of the project, especially, having newcomers feel 'unwelcomed' or ''having to deal with questions frequently asked.'' I know what you are thinking, and the answer is yes! I will also develop---as I grow more accustomed to the project---a Frequently Asked Questions page, where I will collect the most common mistakes (based on my own experience) that are bound to happen in the development of the project. Additionally, I will keep a close overview of the mailing-list so I can monitor FAQs other than the ones I consider.

==Walkthrough (Rough Draft)==
*Purchase an aircraft and learn to fly it!
This step is self explanatory, you need to have something where to mount your autopilot. Additionally, you need to be comfortable enough to take control if something goes wrong in the air (like you forgot to charge the battery).

The following are models we have tried with positive results and a convenient price (free sponsorship):
**Microjet [ [ link + pics here ] ]
**Twinject [ [ link + pics here ] ]
** ...

*Purchase/Construct an autopilot Printed-Circuit Board from the available options.
While learning how-to-fly you could get started with the hardware (talk about multitasking!) by following one of the following options:

====Pre-assembled PCB====
No reason to not take this route (we are not doing to become millionaires, but because we like it). We will offer you, literally, the best possible deal that you could get (taken under consideration labor put into the boards, shipping, etc.). We want you to get started! If you are desiring a quick start then this is the option for you (remember that once you are comfortable with the project there will be no reason for you not to build your own boards! you have the schematics and PCB layout, and you would also have this board as a reference :-) )

====PCB-only (only for recommended for advanced users)====
If you have experience with soldering 0402, SOIC, etc. sized components get this option. Be aware that the components add up to '$300' [TBD]. Please refer to the hardware list [[link here | TBD]]. Keep in mind that this is a free open source project, thus, most of us do something else to pay the bills; so support at this point at time is handled through the IRC and the FAQs.

====DIY (only recommended for super-advanced users)====
The "there-is-no-stopping-you-now" option, you have everything you need to get started with the hardware (schematics, layouts, block diagrams, etc.). If you are a self-motivated individual, with tons of spare time on your hands (and no girl- and/or boy-friend), then a) You need to find your "better-half," and b) this is the option for you!

=Frequently Asked Questions=
Q. How can I get started?

A. Refer to the [ [ link here ] ] section

User:Soccercisco

2007-01-15T19:01:52Z

Soccercisco:

__NOTOC__
== My Gallery ==
{|
|-valign="top"
|
<gallery caption="My UAV Projects">
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board processing for horizon-based stabilization
</gallery>
|
=== Comments ===
* Sephiroth is my Pre-Paparazzi project.
|}

Comments about this page (or anything in particular): zabala.f[at]gmail[dot]com

==About Me==

Hello my fellow Paparazzi-ers! Here's a bit of info of who I am.

*Name: Francisco Zabala

*Nick: Cisco (used to play soccer a lot so sometimes soccercisco)

*Career: Electrical Engineer (Bachelor's degree Dec '06), emphasis in Control Systems and Robotics

*Career Goals: mainly academic, pursue a doctoral degree in Control, Robotics & Biosystems. Then, become a full-time Professor and Researcher.

*Current Projects: www.ecs.fullerton.edu/~zabala (I'm moving all this info into a wiki, so soon it will be updated)

*Paparazzi-status: "As newb as I can get" (Purchasing board)

*Paparazzi Goals: to become an active contributor to the project, and help on it's further development (as I gain the trust of fellow members).
**Abilities: Hardware design, PCB design and layout, soldering, basic Programming tasks (getting better everyday :-) ), Licensed RC Pilot (doesn't mean I'm a Pro :-) ).

=Getting Started=

==Objective==
The objective of this section is to document the basic steps for newcomers to the project. Being a newcomer myself, I can explain as I go along the do's and dont's from a newbie perspective. I believe I would help quite a lot with several aspects of the project, especially, having newcomers feel 'unwelcomed' or ''having to deal with questions frequently asked.'' I know what you are thinking, and the answer is yes! I will also develop---as I grow more accustomed to the project---a Frequently Asked Questions page, where I will collect the most common mistakes (based on my own experience) that are bound to happen in the development of the project. Additionally, I will keep a close overview of the mailing-list so I can monitor FAQs other than the ones I consider.

==Walkthrough (Rough Draft)==
*Purchase a Tini Board from the available options.
===PCB-only:===
If you have experience with soldering 0402, SOIC, etc. sized components get this option. Be aware that the components add up to '$300' [TBD]. Please refer to the hardware list [[link here | TBD]].
===Pre-assembled PCB:===
No reason to not take this route (we are not doing to become millionaires, but because we like it). We will offer you, literally, the best possible deal that you could get (taken under consideration labor put into the boards, shipping, etc.). We want you to get started! If still skeptical, compare the two options and I am sure you will agree. If you are desiring a quick start then this is the option for you (remember that once you are comfortable with the project there will be no reason for you not to build your own boards! you have the schematics and PCB layout, and you would also have this board as a reference :-) )

=Frequently Asked Questions=
Q. How can I get started?

A. Refer to the [ [ link here ] ] section

Gallery

2007-01-15T18:51:33Z

Soccercisco: Added my Pre-paparazzi pic. Hope this is ok :-)

== User's 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 Lindberg
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
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 Lindberg
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 processing for horizon-based stabilization
</gallery>
|
=== User's Gallery ===
|}
== Flight competitions ==
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindberg
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>
|
=== 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 Muller Engineering)
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|
=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''
|-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 Lindberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|
=== 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"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|
=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 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>
|
=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''
|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''
|}

File:Sephiroth Pre-Paparazzi.jpg

2007-01-15T18:44:17Z

Soccercisco: Cisco, Fullerton, CA. My Pre-Paparazzi project

Cisco, Fullerton, CA. My Pre-Paparazzi project

User:Soccercisco

2007-01-13T01:15:52Z

Soccercisco:

__NOTOC__

Comments: zabala.f[at]gmail[dot]com

Hello my fellow Paparazzi-ers! Here's a bit of info of who I am.

*Name: Francisco Zabala

*Nick: Cisco (used to play soccer a lot so sometimes soccercisco)

*Career: Electrical Engineer (Bachelor's degree Dec '06), emphasis in Control Systems and Robotics

*Career Goals: mainly academic, pursue a doctoral degree in Control, Robotics & Biosystems. Then, become a full-time Professor and Researcher.

*Current Projects: www.ecs.fullerton.edu/~zabala (I'm moving all this info into a wiki, so soon it will be updated)

*Paparazzi-status: "As newb as I can get" (Purchasing board)

*Paparazzi Goals: to become an active contributor to the project, and help on it's further development (as I gain the trust of fellow members).
**Abilities: Hardware design, PCB design and layout, soldering, basic Programming tasks (getting better everyday :-) ), Licensed RC Pilot (doesn't mean I'm a Pro :-) ).

=Getting Started=

==Objective==
The objective of this section is to document the basic steps for newcomers to the project. Being a newcomer myself, I can explain as I go along the do's and dont's from a newbie perspective. I believe I would help quite a lot with several aspects of the project, especially, having newcomers feel 'unwelcomed' or ''having to deal with questions frequently asked.'' I know what you are thinking, and the answer is yes! I will also develop---as I grow more accustomed to the project---a Frequently Asked Questions page, where I will collect the most common mistakes (based on my own experience) that are bound to happen in the development of the project. Additionally, I will keep a close overview of the mailing-list so I can monitor FAQs other than the ones I consider.

==Walkthrough (Rough Draft)==
*Purchase a Tini Board from the available options.
===PCB-only:===
If you have experience with soldering 0402, SOIC, etc. sized components get this option. Be aware that the components add up to '$300' [TBD]. Please refer to the hardware list [[link here | TBD]].
===Pre-assembled PCB:===
No reason to not take this route (we are not doing to become millionaires, but because we like it). We will offer you, literally, the best possible deal that you could get (taken under consideration labor put into the boards, shipping, etc.). We want you to get started! If still skeptical, compare the two options and I am sure you will agree. If you are desiring a quick start then this is the option for you (remember that once you are comfortable with the project there will be no reason for you not to build your own boards! you have the schematics and PCB layout, and you would also have this board as a reference :-) )

=Frequently Asked Questions=
Q. How can I get started?

A. Refer to the [ [ link here ] ] section

User:Soccercisco

2007-01-13T00:51:47Z

Soccercisco:

User:Soccercisco

2007-01-13T00:50:58Z

Soccercisco: Getting started :-)

__NOTOC__

Comments: zabala.f@gmail.com

Hello my fellow Paparazzi-ers! Here's a bit of info of who I am.

*Name: Francisco Zabala

*Nick: Cisco (used to play soccer a lot so sometimes soccercisco)

*Career: Electrical Engineer (Bachelor's degree Dec '06), emphasis in Control Systems and Robotics

*Career Goals: mainly academic, pursue a doctoral degree in Control, Robotics & Biosystems. Then, become a full-time Professor and Researcher.

*Current Projects: www.ecs.fullerton.edu/~zabala (I'm moving all this info into a wiki, so soon it will be updated)

*Paparazzi-status: "As newb as I can get" (Purchasing board)

*Paparazzi Goals: to become an active contributor to the project, and help on it's further development (as I gain the trust of fellow members).
**Abilities: Hardware design, PCB design and layout, soldering, basic Programming tasks (getting better everyday :-) ), Licensed RC Pilot (doesn't mean I'm a Pro :-) ).

=Getting Started=

==Objective==
The objective of this section is to document the basic steps for newcomers to the project. Being a newcomer myself, I can explain as I go along the do's and dont's from a newbie perspective. I believe I would help quite a lot with several aspects of the project, especially, having newcomers feel 'unwelcomed' or ''having to deal with questions frequently asked.'' I know what you are thinking, and the answer is yes! I will also develop---as I grow more accustomed to the project---a Frequently Asked Questions page, where I will collect the most common mistakes (based on my own experience) that are bound to happen in the development of the project. Additionally, I will keep a close overview of the mailing-list so I can monitor FAQs other than the ones I consider.

==Walkthrough (Rough Draft)==
*Purchase a Tini Board from the available options.
===PCB-only:===
If you have experience with soldering 0402, SOIC, etc. sized components get this option. Be aware that the components add up to '$300' [TBD]. Please refer to the hardware list [[link here | TBD]].
===Pre-assembled PCB:===
No reason to not take this route (we are not doing to become millionaires, but because we like it). We will offer you, literally, the best possible deal that you could get (taken under consideration labor put into the boards, shipping, etc.). We want you to get started! If still skeptical, compare the two options and I am sure you will agree. If you are desiring a quick start then this is the option for you (remember that once you are comfortable with the project there will be no reason for you not to build your own boards! you have the schematics and PCB layout, and you would also have this board as a reference :-) )