PaparazziUAV - User contributions [en]

TU Delft - Search and Rescue with AR Drone 2

2013-01-26T11:08:35Z

SteveB: /* Autonomous flight */

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

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

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. Also because the programming developed by Parrot were not used, motor drivers has to be obtained. In order to get the quadrotor actually to fly, [http://paparazzi.enac.fr/wiki/Main_Page paparazzi] was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

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

== General project information==

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

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

* [[Github manual for Ubuntu]]

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

== Data acquisition==

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

=== Connecting===

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

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

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

*[[AR_Drone_2/FTP]]

=== NAV board===

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

*[[AR_Drone_2/NAV board]]

=== Motor driver===

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

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS/BU_353|BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

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

=== Using Paparazzi===

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

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

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

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

=== Paparazzi architecture===

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

*[[Insight of paparazzi architecture]]

== Simulation==

Now our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

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

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

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

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

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

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous; This process consists of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

TU Delft - Search and Rescue with AR Drone 2

2013-01-26T11:08:22Z

SteveB: /* Autonomous flight */

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

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

In order to achieve this goal we decided to work with raw data. The data was obtained by creating drivers capable of extracting and interpreting sensor data from the AR Drone2. Also because the programming developed by Parrot were not used, motor drivers has to be obtained. In order to get the quadrotor actually to fly, [http://paparazzi.enac.fr/wiki/Main_Page paparazzi] was used. For simulation JSBSim was used, which was then visualized using Flight Gear. The final section of the page will discuss the subject of making the quadrotor autonomous.

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

== General project information==

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

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

* [[Github manual for Ubuntu]]

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

== Data acquisition==

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

=== Connecting===

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

The connecting was done using Telnet.

*[[AR_Drone_2/Telnet]]

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

*[[AR_Drone_2/FTP]]

=== NAV board===

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

*[[AR_Drone_2/NAV board]]

=== Motor driver===

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

*[[AR_Drone_2/Motor driver]]

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS/BU_353|BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it.

*[[AR_Drone_2/GPS Driver]]

== Paparazzi==

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

=== Using Paparazzi===

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

*[[AR_Drone_2/Paparazzi_Integration]]

=== Compiling===

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

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

=== Paparazzi architecture===

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

*[[Insight of paparazzi architecture]]

== Simulation==

Now our drone was ready to go, simulation could begin. The simulation was done in JSBSim, which was then visualized using flightgear. More information on how to install JSBSim see [[JSBSim]]. For more information on how to install Flightgear and link it to Paparazzi see [[Simulation#View_the_simulation_in_Flight_Gear]].

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

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

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

*[[AR_Drone_2/JSBSIM .xml Configuration File]]

=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users. Implementation for this particular project can be read about on the [[AR_Drone_2/Flightgear]] wikipage. More on the software can be found on the [http://www.flightgear.org/ Flightgear website].

== Autonomous Search and Rescue Mission==

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

=== Autonomous flight===

One of the last parts of this project consist of making the AR.Drone2 Autonomous; This process consist of 5 branches:

*[[AR_Drone_2/Autonomous flight]]
*[[AR_Drone_2/Multidirectional distance measurement]]
*[[AR_Drone_2/Object Avoidance]]
*[[AR_Drone_2/Fail safe]]
*[[AR_Drone_2/Optical flow]]

=== Search and Rescue Features===

*[[AR_Drone_2/Mapping]]
*[[AR_Drone_2/Hull Desing]]
*[[AR_Drone_2/Image recognition]]

[[Category: TU Delft - Autonomous Quadrotor]]
[[Category: Minor Team 1]]
[[Category: AR Drone 2]]

AR Drone 2/NAV board

2013-01-21T11:46:49Z

SteveB: /* Internal Measurement Unit Calibration */

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

At the time we were investingating the NAV board we were also looking into drivers for the motor. From that research we found that the device name for the motors was /dev/ttyO1. Next in the AR.Drone SDK, which we don't use for programming, we found a file called ardrone_common_config.h[https://projects.ardrone.org/embedded/ardrone-api/d3/d19/ardrone__common__config_8h-source.html] in which the navboard command numbers are listed. This list does not give a lot of information, but does give us an indication to get started.

There are at least 3 commands that seem usefull:
00032 ADC_CMD_STARTACQ = 1, // to start the acquisition
00033 ADC_CMD_STOPACQ = 2, // to stop the acquisition
00034 ADC_CMD_RESYNC = 3, // to restart the acquisition

After starting the acquisition and performing a hexdump on the data read from /dev/ttyO1 we could see the data flowing in:

echo -e -n "\1" > /dev/ttyO1
dd if=/dev/ttyO1 count=1 bs=60 | hexdump -C

Returns a part of a stream that looks like this:

00000000 '''3a''' 00 85 2c fc 07 e8 07 e8 09 d8 ff 3e 00 fc ff |:..,........>...|
00000010 9b 00 d7 d9 6c 03 00 00 00 00 ae 0e 00 00 00 00 |....l...........|
00000020 00 00 00 00 01 00 ca 25 30 00 06 00 01 00 93 80 |.......%0.......|
00000030 00 00 6c e6 0c 00 fe ff 1a 00 14 c0 '''3a''' 00 86 2c |..l.........:..,|
00000040 fc 07 e8 07 e8 09 d9 ff 3c 00 fb ff 9b 00 d3 d9 |........<.......|
00000050 6c 03 00 00 00 00 ae 0e 00 00 00 00 00 00 00 00 |l...............|
00000060 01 00 ca 25 30 00 06 00 01 00 93 80 00 00 6c e6 |...%0.........l.|
00000070 0c 00 fe ff 1a 00 0f c0 '''3a''' 00 87 2c fc 07 e8 07 |........:..,....|
...

The stream of data consisted of 60 byte long sequences of which the first byte always seemed to be 3a = 58.
This number is the size of the payload, which are the bytes after 3a 00. We do not know the purpose of the 00 after 3a.

After this we realized that it would be hard to find the offsets of the sensor data by just looking at the stream above. We built a driver that logged the data in a tabular way.
By doing this we could then rotate the AR.Drone2 around one axis and then look what values were changing in the log file. For acceleration and gyroscope data we used a simmilar technique.

==Internal Measurement Unit Calibration==
In calibrating the Internal Measurement Unit (IMU) on the AR Drone, the Paparazzi [[ImuCalibration|IMU Calibration]] protocol was followed. Once these steps have been followed, having already initialized a ground control station, the AR Drone can produce an accurate Primary Flight Display (PFD) through Paparazzi. Issues that arise can stem from too slow a refresh rate and thusly a lagging PFD. This leads to a greater problem, namely, a reaction rate that is simply too slow; If the current state refreshes too slowly, naturally, the drone will react slowly and in most cases be very unstable. While moving the AR Drone through the air, by hand, the PFD will display these movements, albeit slowly; when placed back on the ground, or any other surface, the PFD will eventually display the corresponding attitude of the AR Drone.

[[Category: AR Drone 2]]

AR Drone 2/NAV board

2013-01-21T11:29:39Z

SteveB: /* Internal Measurement Unit Calibration */

AR Drone 2/NAV board

2013-01-21T11:29:08Z

SteveB: /* Internal Measurement Unit Calibration */

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

At the time we were investingating the NAV board we were also looking into drivers for the motor. From that research we found that the device name for the motors was /dev/ttyO1. Next in the AR.Drone SDK, which we don't use for programming, we found a file called ardrone_common_config.h[https://projects.ardrone.org/embedded/ardrone-api/d3/d19/ardrone__common__config_8h-source.html] in which the navboard command numbers are listed. This list does not give a lot of information, but does give us an indication to get started.

There are at least 3 commands that seem usefull:
00032 ADC_CMD_STARTACQ = 1, // to start the acquisition
00033 ADC_CMD_STOPACQ = 2, // to stop the acquisition
00034 ADC_CMD_RESYNC = 3, // to restart the acquisition

After starting the acquisition and performing a hexdump on the data read from /dev/ttyO1 we could see the data flowing in:

echo -e -n "\1" > /dev/ttyO1
dd if=/dev/ttyO1 count=1 bs=60 | hexdump -C

Returns a part of a stream that looks like this:

00000000 '''3a''' 00 85 2c fc 07 e8 07 e8 09 d8 ff 3e 00 fc ff |:..,........>...|
00000010 9b 00 d7 d9 6c 03 00 00 00 00 ae 0e 00 00 00 00 |....l...........|
00000020 00 00 00 00 01 00 ca 25 30 00 06 00 01 00 93 80 |.......%0.......|
00000030 00 00 6c e6 0c 00 fe ff 1a 00 14 c0 '''3a''' 00 86 2c |..l.........:..,|
00000040 fc 07 e8 07 e8 09 d9 ff 3c 00 fb ff 9b 00 d3 d9 |........<.......|
00000050 6c 03 00 00 00 00 ae 0e 00 00 00 00 00 00 00 00 |l...............|
00000060 01 00 ca 25 30 00 06 00 01 00 93 80 00 00 6c e6 |...%0.........l.|
00000070 0c 00 fe ff 1a 00 0f c0 '''3a''' 00 87 2c fc 07 e8 07 |........:..,....|
...

The stream of data consisted of 60 byte long sequences of which the first byte always seemed to be 3a = 58.
This number is the size of the payload, which are the bytes after 3a 00. We do not know the purpose of the 00 after 3a.

After this we realized that it would be hard to find the offsets of the sensor data by just looking at the stream above. We built a driver that logged the data in a tabular way.
By doing this we could then rotate the AR.Drone2 around one axis and then look what values were changing in the log file. For acceleration and gyroscope data we used a simmilar technique.

==Internal Measurement Unit Calibration==
In calibrating the Internal Measurement Unit (IMU) on the AR Drone, the [[ImuCalibration]] Paparazzi IMU Calibration protocol was followed

[[Category: AR Drone 2]]

AR Drone 2/NAV board

2013-01-21T11:26:45Z

SteveB:

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

At the time we were investingating the NAV board we were also looking into drivers for the motor. From that research we found that the device name for the motors was /dev/ttyO1. Next in the AR.Drone SDK, which we don't use for programming, we found a file called ardrone_common_config.h[https://projects.ardrone.org/embedded/ardrone-api/d3/d19/ardrone__common__config_8h-source.html] in which the navboard command numbers are listed. This list does not give a lot of information, but does give us an indication to get started.

There are at least 3 commands that seem usefull:
00032 ADC_CMD_STARTACQ = 1, // to start the acquisition
00033 ADC_CMD_STOPACQ = 2, // to stop the acquisition
00034 ADC_CMD_RESYNC = 3, // to restart the acquisition

After starting the acquisition and performing a hexdump on the data read from /dev/ttyO1 we could see the data flowing in:

echo -e -n "\1" > /dev/ttyO1
dd if=/dev/ttyO1 count=1 bs=60 | hexdump -C

Returns a part of a stream that looks like this:

00000000 '''3a''' 00 85 2c fc 07 e8 07 e8 09 d8 ff 3e 00 fc ff |:..,........>...|
00000010 9b 00 d7 d9 6c 03 00 00 00 00 ae 0e 00 00 00 00 |....l...........|
00000020 00 00 00 00 01 00 ca 25 30 00 06 00 01 00 93 80 |.......%0.......|
00000030 00 00 6c e6 0c 00 fe ff 1a 00 14 c0 '''3a''' 00 86 2c |..l.........:..,|
00000040 fc 07 e8 07 e8 09 d9 ff 3c 00 fb ff 9b 00 d3 d9 |........<.......|
00000050 6c 03 00 00 00 00 ae 0e 00 00 00 00 00 00 00 00 |l...............|
00000060 01 00 ca 25 30 00 06 00 01 00 93 80 00 00 6c e6 |...%0.........l.|
00000070 0c 00 fe ff 1a 00 0f c0 '''3a''' 00 87 2c fc 07 e8 07 |........:..,....|
...

The stream of data consisted of 60 byte long sequences of which the first byte always seemed to be 3a = 58.
This number is the size of the payload, which are the bytes after 3a 00. We do not know the purpose of the 00 after 3a.

After this we realized that it would be hard to find the offsets of the sensor data by just looking at the stream above. We built a driver that logged the data in a tabular way.
By doing this we could then rotate the AR.Drone2 around one axis and then look what values were changing in the log file. For acceleration and gyroscope data we used a simmilar technique.

==Internal Measurement Unit Calibration==
In calibrating the Internal Measurement Unit (IMU) on the AR Drone, the [ImuCalibration] Paparazzi IMU Calibration protocol was followed

[[Category: AR Drone 2]]

File:IR Sensor Distance v. Voltage.png

2013-01-21T10:24:09Z

SteveB: Sharp GP2Y0A710K0F Infrared Sensor. Distance versus voltage measurement graph.

Sharp GP2Y0A710K0F Infrared Sensor. Distance versus voltage measurement graph.

File:Filter performance size20(2).png

2013-01-16T13:11:28Z

SteveB: Filter v. unfiltered performance.

Filter v. unfiltered performance.

File:Filter performance size20(1).png

2013-01-16T13:09:44Z

SteveB: Filter v. unfiltered performance.

Filter v. unfiltered performance.

File:LPCXpresso LPC1768 RevA.jpg

2013-01-14T11:40:45Z

SteveB:

TU Delft - Search and Rescue with AR Drone 2

2012-12-05T11:22:06Z

SteveB: /* General project information */

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

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

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

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

== General project information==

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

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

* [[Github manual for Ubuntu]]

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

== Data acquisition==

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

=== Connecting===

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

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

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

*[[FTP AR.Drone2]]

=== NAV board===

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

*[[NAV board AR.Drone2]]

=== Motor driver===

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

*[[Motor driver AR.Drone2]]

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

*[[GPS Driver AR.Drone2]]

== Paparazzi==

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

=== Using Paparazzi===

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

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

=== Compiling===

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

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

=== Paparazzi architecture===

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

*[[Insight of paparazzi architecture]]

== Simulation==

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

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

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

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

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

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

== Autonomous Search and Rescue Mission==

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

=== Autonomous flight===

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

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

=== Search and Rescue Features===

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

TU Delft - Search and Rescue with AR Drone 2

2012-12-05T11:21:11Z

SteveB: /* General project information */

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

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

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

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

== General project information==

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

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

* [[Github manual for Ubuntu]]

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

== Data acquisition==

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

=== Connecting===

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

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

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

*[[FTP AR.Drone2]]

=== NAV board===

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

*[[NAV board AR.Drone2]]

=== Motor driver===

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

*[[Motor driver AR.Drone2]]

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

*[[GPS Driver AR.Drone2]]

== Paparazzi==

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

=== Using Paparazzi===

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

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

=== Compiling===

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

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

=== Paparazzi architecture===

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

*[[Insight of paparazzi architecture]]

== Simulation==

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

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

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

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

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

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

== Autonomous Search and Rescue Mission==

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

=== Autonomous flight===

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

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

=== Search and Rescue Features===

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

TU Delft - Search and Rescue with AR Drone 2

2012-11-26T14:35:55Z

SteveB: /* Introduction */

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

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

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

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

== General project information==

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

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

* [[Github manual for Ubuntu]]

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

== Data acquisition==

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

=== Connecting===

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

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

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

*[[FTP AR.Drone2]]

=== NAV board===

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

*[[NAV board AR.Drone2]]

=== Motor driver===

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

*[[Motor driver AR.Drone2]]

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

*[[GPS Driver AR.Drone2]]

== Paparazzi==

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

=== Using Paparazzi===

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

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

=== Compiling===

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

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

=== Paparazzi architecture===

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

*[[Insight of paparazzi architecture]]

== Simulation==

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

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

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

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

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

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

== Autonomous Search and Rescue Mission==

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

=== Autonomous flight===

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

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

=== Search and Rescue Features===

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

File:Flightgear Screenshot indoor.png

2012-11-16T17:28:50Z

SteveB: A screenshot of a AR.DRONE2 flying in FlightGear

A screenshot of a AR.DRONE2 flying in FlightGear

TU Delft - Search and Rescue with AR Drone 2

2012-11-16T17:23:51Z

SteveB: /* Flightgear */

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

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

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

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

== General project information==

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

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

* [[Github manual for Ubuntu]]

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

== Data acquisition==

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

=== Connecting===

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

The connecting was done using Telnet.

*[[Telnet AR.Drone2]]

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

*[[FTP AR.Drone2]]

=== NAV board===

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

*[[NAV board AR.Drone2]]

=== Motor driver===

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

*[[Motor driver AR.Drone2]]

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

*[[GPS Driver AR.Drone2]]

== Paparazzi==

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

=== Using Paparazzi===

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

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

=== Compiling===

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

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

== Simulation==

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

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

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

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

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

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

== Autonomous==

TU Delft - Autonomous Quadrotor

2012-11-15T11:04:41Z

SteveB:

[[File:tudelft_logo.jpg|link=http://tudelft.nl/en/]]

== TU Delft - Autonomous Quadrotor ==

On 3 September 2012 two student teams of the Delft University of Technology started with a UAV robotics project, under guidance of M. Wisse and Ir. B. D. W. Remes. Each team would have a slightly different initial objective. After completing this objective each team will be free to set its own objectives for the next phase of this project.

=== Objectives ===
Our first objective is to enable the Parrot AR Drone v2.0 (from now on referred to as the AR Drone 2) to fly autonomously on the Paparazzi Software.
* Team one will work with the raw navigation data, creating their own software to retrieve and interpret the date. They will need to describe a new board configuration within for Paparazzi to work with.
* Team two will work with the programming as developed by parrot. They will need to interpret the data as provided by the program and determine what data to send back.

Furthermore each team has to add a GPS sensor to the AR Drone 2. We will use the US Globalsat BU-353 GPS receiver for this purpose.

=== Teams ===
* Team 1: [[TU Delft - Search and Rescue with AR Drone 2]]
* Team 2: [[TU Delft - Lasergame with Autonomous AR Drone]]

=== Project Contents ===
* [[AR.Drone 2 - Specifications]]
** [[Motor specicifcations]]
** [[Sensor specifications]]
** [[GPS specification]]

=== Installing Paparazzi on AR.Drone 2 ===
* [[Beginner page]]
* [[Developer page]]

TU Delft - Search and Rescue with AR Drone 2

2012-11-14T13:47:54Z

SteveB: /* JSBSim */

__TOC__

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

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

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

=== Drivers===

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it. That way we could extract the received data from the GPS and output it in our preferred format.
To create our own driver, we first needed to know how to retrieve the data from the GPS. We downloaded the [http://www.usglobalsat.com/s-122-bu-353-support.aspx Linux USB Driver] and learned from the readme that you could use the GPS with the following commando:
su root

stty -F /dev/ttyUSB0 ispeed 4800 && cat < /dev/ttyUSB0
With this we found out that we needed to create a program that opens the /dev/ttyUSB0 device and reads it at a baud rate of 4800. We had to pick a datatype since working with several datatypes at the same time would be confusing. Therefore we had to extract the right datatype string from the data strings output by the GPS and format that string into useful information.

=== NAV board===

== Paparazzi on Drone==

=== Connecting===

==== FTP====

==== Telnet====

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

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

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

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

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

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

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-14T13:40:54Z

SteveB: /* Conecting */

__TOC__

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

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

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

=== Drivers===

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it. That way we could extract the received data from the GPS and output it in our preferred format.
To create our own driver, we first needed to know how to retrieve the data from the GPS. We downloaded the [http://www.usglobalsat.com/s-122-bu-353-support.aspx Linux USB Driver] and learned from the readme that you could use the GPS with the following commando:
su root

stty -F /dev/ttyUSB0 ispeed 4800 && cat < /dev/ttyUSB0
With this we found out that we needed to create a program that opens the /dev/ttyUSB0 device and reads it at a baud rate of 4800. We had to pick a datatype since working with several datatypes at the same time would be confusing. Therefore we had to extract the right datatype string from the data strings output by the GPS and format that string into useful information.

=== NAV board===

== Paparazzi on Drone==

=== Connecting===

==== FTP====

==== Telnet====

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

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

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

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

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

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

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-14T13:39:20Z

SteveB: /* JSBSim */

__TOC__

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

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

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chapter 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

=== Drivers===

=== GPS===
The GPS we use with the AR.Drone2 is the [[GPS_specification | BU-353 GPS]]. To make good use of this GPS we had to create our own driver for it. That way we could extract the received data from the GPS and output it in our preferred format.
To create our own driver, we first needed to know how to retrieve the data from the GPS. We downloaded the [http://www.usglobalsat.com/s-122-bu-353-support.aspx Linux USB Driver] and learned from the readme that you could use the GPS with the following commando:
su root

stty -F /dev/ttyUSB0 ispeed 4800 && cat < /dev/ttyUSB0
With this we found out that we needed to create a program that opens the /dev/ttyUSB0 device and reads it at a baud rate of 4800. We had to pick a datatype since working with several datatypes at the same time would be confusing. Therefore we had to extract the right datatype string from the data strings output by the GPS and format that string into useful information.

=== NAV board===

== Paparazzi on Drone==

=== Conecting===

==== FTP====

==== Telnet====

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

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

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

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

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

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

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T16:58:10Z

SteveB: /* Flightgear */

__TOC__

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

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

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chatper 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

=== Drivers===

=== GPS===

=== NAV board===

== Paparazzi on Drone==

=== Conecting===

==== FTP====

==== Telnet====

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

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

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

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]
=== Flightgear===
Without actually using the drone itself, and only the previously developed JSBSIM configuration file, a simulated drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users, more on the software can be found on the [http://www.flightgear.org/ Flightgear website]

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T16:56:37Z

SteveB: /* Flightgear */

__TOC__

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

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

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chatper 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

=== Drivers===

=== GPS===

=== NAV board===

== Paparazzi on Drone==

=== Conecting===

==== FTP====

==== Telnet====

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

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

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

*[[Creating a JSBSIM .xml Configuration File for AR.Drone2]]
=== Flightgear===
Without actually implementing the previously developed JSBSIM configuration file, the drone can be flown in Flightgear. To do so, a CAD model of the drone is implemented to give a visualization to the simulated model. Flightgear is the preeminent open-source flight simulator backed by a large community of active users, more on the software can be found on the [http://www.flightgear.org/ Flightgear website]

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T16:53:52Z

SteveB:

__TOC__

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

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

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chatper 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

=== Drivers===

=== GPS===

=== NAV board===

== Paparazzi on Drone==

=== Conecting===

==== FTP====

==== Telnet====

=== Integrating drone in Paparazzi===

""Paparazzi Autopilot System""
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

=== Compiling===

== Simulation==

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

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

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

== Autonomous==

== Creating an airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T16:52:34Z

SteveB:

__TOC__

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

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

How all the data was obtained is presented in chapter 2. In chapter 3 it is described how to get paparazzi working on the drone. Next in chatper 4 we present how simulation was done and finally the proces of making the drone autonomous is described in chapter 5.

== Data acquisition==

=== Drivers===

=== GPS===

=== NAV board===

== Paparazzi op Drone==

=== Conecting===

==== FTP====

==== Telnet====

=== Integrating drone in Paparazzi===

=== Compiling===

== Simulation==

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

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

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

== Autonomous==

== Paparazzi Autopilot System ==
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

== Creating a airframe ==
From the Paparazzi GCS we need to add an aircraft and attach an [[airframe]], flightplan, settings, radio and telemetry files.

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T11:17:01Z

SteveB:

__TOC__

== Team 1 Objective ==
We, team 1, will work with the raw navigation data, creating our own drivers to retrieve and interpret the sensor data. We will need to describe a new board configuration for Paparazzi to work with.

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

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

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

== Paparazzi Autopilot System ==
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T11:14:03Z

SteveB:

== Team 1 Objective ==
We, team 1, will work with the raw navigation data, creating our own drivers to retrieve and interpret the sensor data. We will need to describe a new board configuration for Paparazzi to work with.

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

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

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

== Paparazzi Autopilot System ==
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T11:05:55Z

SteveB:

== Team 1 Objective ==
We, team 1, will work with the raw navigation data, creating our own drivers to retrieve and interpret the sensor data. We will need to describe a new board configuration for Paparazzi to work with.

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

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

== Paparazzi Autopilot System ==
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T10:52:07Z

SteveB: /* Creating a Flight Dynamics Model */

== Team 1 Objective ==
We, team 1, will work with the raw navigation data, creating our own drivers to retrieve and interpret the sensor data. We will need to describe a new board configuration for Paparazzi to work with.

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

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

== Paparazzi Autopilot System ==
Throughout this project, on several different occasions, it will be apparent that the AR.Drone was never meant to be used in this fashion. In addition to this, Parrot SA has a vested interest in maintaining the exclusivity of its product, rightfully so. With what little information is publicly available it is the team's objective to load the open-source autopilot system, Paparazzi onto an otherwise copyright protected piece of hardware. In order to do so a few steps had to be taken to get Paparazzi onto the AR.Drone 2.

*[[Reverse engineering the AR.Drone2]]

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T10:29:11Z

SteveB:

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T10:22:55Z

SteveB:

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T10:21:59Z

SteveB:

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T10:20:07Z

SteveB:

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T10:13:45Z

SteveB:

TU Delft - Search and Rescue with AR Drone 2

2012-11-13T10:10:24Z

SteveB: