PaparazziUAV - User contributions [en]

Fixedwing Configuration

2012-10-18T16:48:33Z

TilmanBaumann: /* Control loops */ introduce control loop types syntax

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Airframe_Configuration</categorytree>
This page describes configuration options specific to the fixedwing firmware in the [[Airframe_Configuration|airframe file]].
== Firmware and Hardware definitions ==

=== Select your Board ===
Make sure you use the fixedwing [[Airframe_Configuration#Firmware|firmware]] and choose the correct board, e.g.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="twog_1.0"/>
...
</firmware>
</source>
}}

=== Infrared Sensors ===
To use the IR sensors for attitude estimation add the infrared module and ahrs infrared subsystem:
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11"/>
...
<subsystem name="ahrs" type="infrared"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
</source>
}}

See the [[Module/infrared|infrared module page]] for more details on configuration.

=== Control loops ===

The [[Control_Loops#Fixed-wing_autopilot|control loops]] can be divided in two largely independent groups : the vertical ones and the horizontal ones (standard files sw/airborne/firmwares/fixedwing/guidance/guidance_v.c and sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c ). Those loops can be commanded at different levels by either the R/C transmitter or the autonomous navigation routine.

Just specify the appropriate subsystem in your firmware section. You can currently choose between no type (see below) and the types '''adaptive''' and '''new'''.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11"/>
...
<subsystem name="control"/>


<subsystem name="control" type="adaptive"/>
<subsystem name="control" type="new"/>
<subsystem name="control" type="energy"/> 

</firmware>
</source>
}}

== XML Parameters ==

=== Commands ===

The <tt>commands</tt> lists the abstract commands you need to control the aircraft. In our example, we have only three:
<source lang="xml">
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
</source>

Each command is also associated with a failsafe value which will be used if no controller is active, for example during initialization of the autopilot board. The range of these values is [-9600:9600]. For <tt>"THROTTLE"</tt>, the range is [0, 9600] and in the corresponding <tt>servo</tt> definition the <tt>neutral</tt> and <tt>min</tt> are usually the same (see below). Note that these commands do not necessarily match the servo actuators. For example, the <tt>"ROLL"</tt> command is typically linked to two aileron actuators.

=== Servos ===

The above commands get translated to the <tt>servos</tt> here. In the example below we use two elevons and a motor. ([http://en.wikipedia.org/wiki/Elevon ''Elevons''] are surfaces used for both pitch and roll as on a flying wing.) These servos are listed in the <tt>servos</tt> section:
<source lang="xml">
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="ELEVON_LEFTSIDE" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVON_RIGHTSIDE" no="2" min="1000" neutral="1500" max="2000"/>
</servos>
</source>
Names are associated to the corresponding '''real physical connector''' to which a servo is connected '''on the autopilot board'''. For example no="2" means connector two on the board. Also the servo neutral value, total range and direction are defined. Min/max/neutral values are expressed in milliseconds. The direction of travel can be reversed by exchanging min with max (as in <tt>"ELEVON_LEFTSIDE"</tt>, above). The ''standard'' travel for a hobby servo is 1000ms - 2000ms with a 1500ms neutral. Trim can be added by changing this neutral value. Absolute servo travel limits can be increased or reduced with the min/max values. The <tt>"THROTTLE"</tt> servo typically has the same value for the <tt>neutral</tt> and <tt>min</tt>.

Note the following important tips:
* Reverse the servo direction by exchanging min/max
* Trim should always be adjusted mechanically if possible to avoid asymmetrical travel
* Any reduction of the total travel range should be done mechanically to maintain precision
* Many servos will respond well to values slightly outside the normal 1000-2000ms range but experiment carefully as the servo may not operate reliably outside this range and may even suffer permanent damage.
* Board connector numbering starts with zero (0) not with one
* Servos are also known under the synonym actuators

The <tt>servos</tt> are then linked to the commands in the <tt>command_laws</tt> section:
<source lang="xml">
<command_laws>
<let var="aileron" value="@ROLL * 0.3"/>
<let var="elevator" value="@PITCH * 0.7"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVON_LEFTSIDE" value="$elevator + $aileron"/>
<set servo="ELEVON_RIGHTSIDE" value="$elevator - $aileron"/>
</command_laws>
</source>

[[Image:airframe_sign_conventions.jpg|thumb|Sign conventions for flight dynamics]]
where the third line is the simplest: the throttle servo value equals throttle command value. The other lines define and control the pitch/roll mixing. Elevon values are computed with a combination of two commands, '''ROLL''' and '''PITCH'''. This ''mixer'' is defined with two intermediate variables '''aileron''' and '''elevator''' introduced with the <tt>let</tt> element. The '''@''' symbol is used to reference a command value in the <tt>value</tt> attribute of the <tt>set</tt> and <tt>let</tt> elements. In the above example, the servos are limited to +/- 70% of their full travel for pitch and 30% for roll, only in combination can the servos reach 100% deflection. Note that these numbers ''should add up 100% or more, never less''. For example, you may want 100% travel available for pitch - this means if a roll is commanded along with maximum pitch only one servo will respond to the roll command as the other has already reached its mechanical limit. If you find after tuning that these numbers add to less than 100% consider reducing the surface travel mechanically.

Note that the signs used in the description follow the standard convention.

=== Manual ===
The <tt>rc_command</tt> sections links the channels of the RC transmitter (defined in the [[Radio_Control|Radio Control]] file) to the <tt>commands</tt> defined above:
<source lang="xml">
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
</source>
This example looks trivial since the channel values have the same name than the commands.

=== RC commands in Auto ===
To control servos or other servo signal compatible devices by RC in Auto1 or Auto2, define them in the <auto_rc_commands> section.
If you have an airframe with a dedicated rudder (YAW channel) then it is still controllable in auto mode via RC. This is the default behavior and is equivalent to setting the YAW command in auto_rc_commands:
<source lang="xml">
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
</source>
To disable this behavior (meaning no RC control of the rudder in auto) define an empty auto_rc_commands section:
<source lang="xml">
<auto_rc_commands>
</auto_rc_commands>
</source>

=== Autopilot Only Commands ===
For certain missions it might be required to control servos (payload) from the autopilot (gcs) at all times (even during manual flight). These commands should not be in the <rc_commands> block but in the special <ap_only_commands> block. This allows for instance the pantilt operator to keep working when in manual flight, or safety logic to automatically close cameras below a certain altitude during manual landings.
<source lang="xml">
<ap_only_commands>
<copy command="PAN"/>
<copy command="TILT"/>
<copy command="SHOOT"/>
</ap_only_commands>
</source>

=== Auto1 ===
The next section, named <tt>AUTO1</tt>, gives the maximum roll and pitch (in radians) allowed for the augmented stability mode.
<source lang="xml">
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="35" unit="deg"/>
<define name="MAX_PITCH" value="5" unit="deg"/>
</section>
</source>

''NOTE'': [[Units|automatic unit conversion]] using <tt>unit="deg"</tt> is supported since v3.9, if you have an older version set it in radians or using <tt>value="RadOfDeg(35)"</tt>
=== Infrared ===
The <tt>INFRARED</tt> section describes the configuration of the infrared sensors. For additional configuration to change the defaults, see the [[Module/infrared|infrared module page]].

The only mandatory definitions are the sensor neutral readings and how the IR sensors are mounted.

The electronic neutral of the sensors (a sensor here is a '''pair''' of thermopiles). A perfect sensor should give 512 if it measures the same value on both sides.
<source lang="xml">
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
</section>
</source>
These neutrals are tuned with the "cupboard test": Put the sensor in a close box (a cupboard) and read the values of the IR_SENSORS message (ir1, ir2 and vertical). Set the neutrals (they are subtracted from the measurement) to get null values. E.g. if you read 5 for the ir1 value with ADC_IR1_NEUTRAL equal to 512, change the latter to 517.

In the example above the horizontal sensor is connected to the airframe in ''aligned'' orientation. The other possibility is ''tilted''.
Define either
* '''HORIZ_SENSOR_ALIGNED''': ir1 is along the lateral axis (The axis that passes through the plane from wingtip to wingtip) and ir2 along the longitudinal one.
or
* '''HORIZ_SENSOR_TILTED''': the sensors are tilted by 45 degrees; ir1 is along rear-left -- front-right, and ir2 along rear-right -- front-left.
If the airframe construction allows choose an aligned sensor orientation since this gives the best stabilization response results.

=== Gyro ===
'''This section only applies to versions prior to v3.9 when using a gyro with IR sensors.'''
Defines the type of gyro installed, each axis neutral, and any required temperature compensation. If the gyro has two axes, the pitch neutral is defined as well. Many gyros output their internal temperature and require a temperature-dependent linear correction be made to the neutral value. No correction is done for the temperature in this example.(<tt>ADC_TEMP_SLOPE=0</tt>).
<source lang="xml">
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_COEFF" value="1"/>
<define name="ROLL_NEUTRAL" value="500"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
</section>
</source>

=== Horizontal Control ===
<source lang="xml">
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.4"/>
<define name="ROLL_MAX_SETPOINT" value="20" unit="deg"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500."/>
<define name="ROLL_RATE_GAIN" value="1500"/>
<define name="PITCH_PGAIN" value="8000."/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
</source>
The outer loop acts on the route. It will produce a roll command from a course setpoint and a course measurement. The COURSE_PGAIN parameter is the factor multiplied by the course error (in radian) to get a roll setpoint (in radian). So if the plane is expected to go north (course=0) and is actually flying to 57 degrees (course=1 radian, i.e. ENE), with a gain of '''0.4''', a roll of -0.4 (-23 degrees) will be set for the lower control loop.

The ROLL_ATTITUDE_GAIN is used to compute a ROLL command from the roll error (setpoint minus measurement). If a gyro in installed, the ROLL_RATE_GAIN to keep a null roll rate. So these two gains provide a P-D controller.

'''IMPORTANT''': Previous to v3.9 some of the gains need to be set with a '''negative sign''': ''COURSE_PGAIN'', ''ROLL_ATTITUDE_GAIN'', ''ROLL_RATE_GAIN'', ''PITCH_PGAIN''

''NOTE'': [[Units|automatic unit conversion]] using <tt>unit="deg"</tt> is supported since v3.9, if you have an older version set it in radians or using <tt>value="RadOfDeg(20)"</tt>

The [[Control_Loops#Fixed-wing_autopilot|graphical representation of the control loops]] can help you to visualize the effect of each gain.

===Vertical Control===
<source lang="xml">
<section name="VERTICAL CONTROL" prefix="V_CTL_">

<define name="ALTITUDE_PGAIN" value="0.1" unit="(m/s)/m"/>

<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>
</source>
These lines are associated with vertical control loops contained in sw/airborne/firmwares/fixedwing/guidance/guidance_v.c. These are outer loop parameters that calculate a desired climb rate based on altitude error. Here, if the altitude error is 10m, the climb setpoint will be set to 1m/s. ALTITUDE_MAX_CLIMB is a bounded value (in m/s) so that the outer loop does not calculate too large of a climb rate
<source lang="xml">
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35" unit="rad/(m/s)"/>
</source>

These lines are associated with vertical rate control loops contained in sw/airborne/firmwares/fixedwing/guidance/guidance_v.c and are used by default in most cases. The default vertical control law is for the vertical rate to be managed by a combination of throttle and pitch.
<source lang="xml">
<define name="AUTO_PITCH_PGAIN" value="0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="30" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="30" unit="deg"/>
</source>
These lines are associated with vertical control loops contained in sw/airborne/firmwares/fixedwing/guidance/guidance_v.c but are not used in default. The non-default vertical control law is for the vertical rate to be managed by the pitch.
<source lang="xml">
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</source>
THROTTLE_SLEW_LIMITER is the required time is seconds to change throttle from 0% to 100%.

'''IMPORTANT''': Previous to v3.9 some of the gains need to be set with a '''negative sign''': ''ALTITUDE_PGAIN'', ''AUTO_THROTTLE_PGAIN'', ''AUTO_PITCH_PGAIN'', ''''

''NOTE'': [[Units|automatic unit conversion]] using <tt>unit="deg"</tt> is supported since v3.9, if you have an older version set it in radians or using <tt>value="RadOfDeg(20)"</tt>

The [[Control_Loops#Fixed-wing_autopilot|graphical representation of the control loops]] can help you to visualize the effect of each gain.

=== Misc ===
<source lang="xml">
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value ="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
</section>
</source>
* The "NOMINAL_AIRSPEED" is mainly used in the simulator.
* "CARROT" gives the distance (in seconds, so ground speed is taken into account) between the carrot and the aircraft.
* "KILL_MODE_DISTANCE" is the threshold distance to switch the autopilot into KILL mode (defined descent with no throttle)
* "CONTROL_RATE" is the rate of the low level control loops in Hertz (60 or 20).

=== Simu ===
Values from this section can be used to tweak the software in the loop (SITL) simulation.
<source lang="xml">
<section name="SIMU">
<define name="WEIGHT" value ="1."/>
<define name="YAW_RESPONSE_FACTOR" value ="1."/>
<define name="ROLL_RESPONSE_FACTOR" value ="15."/>
</section>
</source>
* "YAW_RESPONSE_FACTOR" adapts the aircraft's turn rate corresponding to a bank angle; a larger value increases the turn radius
* "ROLL_RESPONSE_FACTOR" is basically your aileron efficiency; a higher value increases roll agility

If you want to use JSBSim as SITL simulator, you have to make some definitions in this section as well; see [[Simulation#JSBSim|here]].

[[Category:User_Documentation]] [[Category:Airframe_Configuration]]

Lisa

2012-07-16T16:06:17Z

TilmanBaumann: /* Description */ removed NOT YET UP TO DATE note. Lisa/M_v20 page is in a pretty good condition now

<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree>
__TOC__
Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.

The first members of the family are:

*Lisa/L, a design where the STM32 is associated to a gumstix [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html Overo].
*Lisa/M, a design focusing on cost and simplicity.
*Lisa/S, a design focusing on size and weight.

==Lisa/L==

=== Description ===

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]

=== Documentation ===

The documentation for Lisa/L is broken into several parts due to board complexity and Gumstix [[Overo]] integration.
* [[Lisa/L|Main Documentation]] - primary hardware documentation and intro to software
* [[Dev/LisaL|Additional Developer Documentation]] - additional advanced hardware and software documentation and notes
* [[LisaL_Gallery|Lisa/L Gallery]] - nice pictures of Lisa/L
* [[User/LisaL/Tutorial/Quadrocopter|Unfinished Rotorcraft Tutorial]] - rotorcraft tutorial, needs considerable work
* [[User/LisaL/Tutorial/FixedWing|Unfinished Fixedwing Tutorial]] - fixedwing tutorial, needs considerable work
* [[OMAP|Gumstix Integration Intro]] - intro and documentation listing for integrating a Gumstix Overo with Lisa/L, including for USB devices and cameras

== Lisa/M ==

=== Description ===

Lisa/M is a great general purpose small-footprint autopilot. There are currently two versions that have been produced. Detailed documentation can be found here:
* [[Lisa/M_v20|Lisa/M v2.0 (current) Documentation]]
* [[Lisa/M_v10|Lisa/M v1.0 Documentation]]

[[Image:lisa_m_top_small.png|360px|Lisa/M v1.0 Top View]]

=== Usage scenarios ===

There are many potential applications for the small, relatively inexpensive and flexible Lisa/M. For regular Autopilot boards a full Lisa/M board is needed. For some scenarios just a basic Lisa/M without [[Inertial_Measurement_Units|IMU]] and barometric pressure sensor is needed, which reduces board cost. Here are some ideas (not all have yet been implemented):

* As a basic Autopilot
** To use the Lisa/M as an autopilot, we need to attach a GPS receiver. A nice [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] or newer will perform great.
* As an advanced Autopilot
** Additional sensors for measuring airspeed, current, etc. would enhance a fixed-wing airframe.
* As a servo extender
** Sometimes being able to control seven actuators is just not enough. Large airframes may require flaps or an airbrake and automatic landing facilities. Maybe special ACL/Nav lights, or four cameras with zoom. By using a coupled second basic Lisa/M and connecting this to the master AP board we can extend the amount of servos. Large airframes can also benefit from remote and/or redundant servo drivers.
* As a Safety Pilot Device
** To provide an extra safety level required in some UAS challenges. A second Lisa board can make it easy to adhere to the rules for such a challenge.
* As a Data Logger
** Maybe you have a need only to log all kinds of data, like temperature, volts, amps, height, airspeed, and not control the aircraft. For this we can setup a Lisa/M board. Collecting this data can be to a storage medium like an micro SD card. Sometimes there is no need for realtime data collection through telemetry but just for storing a huge dataset.
* As a Camera controller
** On some models that do not require many servos (for example - flying wing with only 3 channels used), spare channels can be used for camera control. In addition, it could be used as an independent pan-tilt unit (PTU) controller.
* As a Airframe Tracker
** Tracking an airframe for an antenna or camera on a tripod is one of the many options to use a Lisa/M Board.

== Lia ==

Lia is a lower-cost variant of Lisa/M 2.0. The microcontroller, basic layout, servo outputs, and mounting holes are the same. Major differences:
* 0.1" through-hole connections for non-servo I/O instead of Molex picoblade
** PCB size increased slightly to (58x34mm) to accomodate throughholes
* CAN transceiver removed
* barometer removed
* I2C level shifter removed
* 5V voltage regulator removed
* Added provisions for multiple BEC input balancing on servo connectors

== Lisa/S ==

Lisa/S is only a project at the moment. The focus for this design is size, weight and power consumption. The intent is to produce an autopilot suited for the smallest airframes.
For now just a CAD rendering to whet your appetite compared to the Lisa/L, the S is the lower board.

[[Image:lisa_s_cad.png|360px]]

[[Category:Lisa]]

Bixler

2012-07-13T14:11:59Z

TilmanBaumann: /* Mods */ detachable wings

{|
|-valign="top"
|[[Image:Bixler Table.jpg|thumb|left|Bixler]]
|
The HobbyKing Bixler is a very inexpensive airframe with very easy flight characteristics and reasonable payload capacity. Its price and crash resistant EPO foam construction makes this a plane well suited for beginners.
|}

== Features ==

* Kit price $37 USD
* EPO Foam construction
* Detachable canopy for access to internals
* Easy access cockpit
* Nice and stable slow flight especially for RC beginners

== Specifications ==
* Material: EPO Foam
* Wingspan: 1400mm
* Length: 925mm
* Wing Area: 26dm2
* Wing Loading: 25g/dm2
* Flying Weight: 650g
* Motor: 2620-1900kv Brushless Outrunner
* ESC: 20A w/BEC
* Servo: 4 x 9g
* Propeller: 6x5.5 recommended.

== Buy ==

Can be bought directly at HobbyKing [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=16545]

== Airframe configuration ==
A simple, sample airframe configuration file can be found in conf/airframes/examples/bixler_lisa_m_2.xml [https://github.com/paparazzi/paparazzi/blob/v3.9/conf/airframes/examples/bixler_lisa_m_2.xml]

Attention: No tuning values in this file yet! It is an untested setup.

== Cockpit ==
{|
|-valign="top"
|[[Image:Bixler Cockpit.jpg|thumb|left|Cockpit]]
|HobbyKing also offers a very simple plywood FPV mount which can be used to mount the autopilot. [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22731]

Note the [[Lisa/M]] board is mounted at a right angle which is the natural orientation of the IMU. This layout also makes wiring much simpler.

This way the IMU is far from the planes' centre of gravity. Mounting the IMU under the wings would be better, but much more complex.

The camera mount for the keyhole camera seen here proved not to be crash resistant enough.
|}

== Mods ==
The plane flies well out of the box. But some modifications are popular:

* Rudder servo can be moved back into the rudder. The original long pushrod in tube setup is far from perfect. Moving the servo into the tail wing will increase accuracy but will also move the centre of gravity severely to the rear. A lot of counterweights in the front will be needed.
* Increase rudder size either by gluing some strong paper or cardboard on the rudder to make it bigger or by cutting the tail fin at the whole length following the hinge and attaching a full height rudder.
* Wings can be designed to be detachable. Just don't glue wings and carbon rod in, and hold wing halves together with Velcro. This makes the wings obviously much more fragile. The original carbon rod is not very strong, even if glued in.

Plenty of space is available inside, but much of this space is not very easy to access.
[[Image:Bixler Nose.jpg|thumb|left|Datalink antenna]]
Here the 2.4Ghz XBee telemetry antenna can be seen pushed out to one side. Pointing down in flight.

Large batteries can be fitted without problems.

== Build Tips ==

The foam hinges are very stiff and need to be exercised quite a bit by hand to make them move well.

Bixler

2012-07-05T15:26:42Z

TilmanBaumann: /* Cockpit */

{|
|-valign="top"
|[[Image:Bixler Table.jpg|thumb|left|Bixler]]
|
The HobbyKing Bixler is a very inexpensive airframe with very easy flying characteristics and reasonable payload capacity. Price and its crash resistant EPO foam construction make this a plane well suited for beginners.
|}

== Features ==

* Kit price $37 USD
* EPO Foam construction
* Detachable canopy for access to internals
* Easy access cockpit
* Nice and stable slow flight especially for RC beginners

== Specifications ==
* Material: EPO Foam
* Wingspan: 1400mm
* Length: 925mm
* Wing Area: 26dm2
* Wing Loading: 25g/dm2
* Flying Weight: 650g
* Motor: 2620-1900kv Brushless Outrunner
* ESC: 20A w/BEC
* Servo: 4 x 9g
* Propeller: 6x5.5 recommended.

== Buy ==

Can be bought directly at HobbyKing [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=16545]

== Airframe configuration ==
A simple sample airframe congiguration file can be found in conf/airframes/examples/bixler_lisa_m_2.xml [https://github.com/paparazzi/paparazzi/blob/v3.9/conf/airframes/examples/bixler_lisa_m_2.xml]

Attention, no tuning values in this file yet! Untested setup.

== Cockpit ==
{|
|-valign="top"
|[[Image:Bixler Cockpit.jpg|thumb|left|Cockpit]]
|HobbkyKing also offers a very simple plywood FPV mount which can be used to mount the autopilot. [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22731]

Note the [[Lisa/M]] board is mounted at right angle with is the natural orientation of the IMU. This layout also makes wiring much simpler.

This way the IMU is far from the planes centre of gravity. Mounting the IMU under the wings would be better, but much more complex.

The camera mount for the keyhole camera seen here proved not to be crash resistant enough.
|}

== Mods ==
The plane flies well out of the box. But some modifications are popular.

* Rudder servo can be moved back into the rudder. The original long pushrod in tube setup is far from perfect. Moving the servo into the tail wing will increase accuracy but will also move the centre of gravity severely to the rear. A lot of counterweights in the front will be needed
* Increase rudder size. Either by gluing some strong paper or cardboard on the rudder to make it bigger or by cutting the tail fin at the whole length following the hinge and attaching a full height rudder.

Plenty of space is available inside. But much of this space is not very easy to access.
[[Image:Bixler Nose.jpg|thumb|left|Datalink antenna]]
Here the 2.4Ghz Xbee telemetry antenna can be seen pushed out to one side. Pointing down in flight.

Large batteries can be fitted without problems.

== Build Tips ==

The foam hinges are very stiff and need to be exercised quite a bit by hand to make them move well.

Talk:Bixler

2012-07-05T15:24:15Z

TilmanBaumann: Created page with "Requested permission from HobbyKing to use their product photos."

Requested permission from HobbyKing to use their product photos.

RC Receivers and Radios

2012-07-05T14:58:38Z

TilmanBaumann: /* Flight mode switch */ Only available in v.3.9

== 2.4GHz Systems==
If using a Lisa/M or Lisa/L autopilot board the whole range of Specktrum/JR transmitters can be used with 1 or 2 Spektrum/JR/Hobbyking satellite receivers. For other autopilot boards to use a 2.4 GHz system a few requirements are necessary
# Must use [[PPM_Encoder | PPM Encoder]] board. (See [[Get_Hardware|Get Hardware]] page for suppliers) (Except for the Futaba FASST 7 channel receiver R617FS that has a 5 (not 7) channels combined pulse)
# Needs a three position switch
# Ability to set failsafe to any or at least 1 channel (pprz-mode) as desired
# At least one extra channel beyond those needed to control the servos and motor. (throttle-roll-pitch-mode)
=== Radios ===

====Futaba FASST 7-channel receiver====

[[Image:rs617fasst.jpg|thumb|right]]

* Pin 8 (upper right corner in picture) of the small IC on the right contains 5 PPM pulses and can go directly to paparazzi. Pulse 6 and 7 go directly to the servos.
* Best is to remove the resistors of one of the channels and connect a small wire to pin 8 to get the combined 5 pulses on the robust 1/10th inch header.
* Do not forget to use channel 3 (only failsafe channel) as mode switch with fail safe "throttle off" as mode 2.

====Robbe RASST 7 & 8 channed receivers ====
Robbe has produced line of Futaba FASST compatible receivers that can output only PPM which results ablility to plug into autopilot without encoder.
* [http://www.robbe.de/empfaenger-r-6007-sp-2-4-g-rasst.html R6007SP 2,4 GHz RASST] - 7 channel, for small aircraft
* [http://www.robbe.de/empf-r6107sp-2-4-ghz-rasst.html R6107SP 2,4 GHz RASST] - 7 channel, >1000m range
* [http://www.robbe.de/empf-r6008sp-2-4-ghz-rasst.html R6008SP 2,4 GHz RASST] - 8 channel, upto 3000m range

====Spektrum DX-7====
[[Image:DX7.jpg|thumb|left]]
*7 Channels
* 20-Model memory
* Airplane and Heli software
* Switch assignment
* P-mixes
* Includes 4 powerful DS821 digital servos with high-tech resin gears
* 3-axis dual rate & expo
* 3-position flap (Airplane)
* 5-point throttle curve (Heli)
* 3 flight modes plus hold (Heli)
* Gyro programming (Heli)
* CCPM, 2-servo 90°, 3-servo 90°, & 3-servo 120°
* Price $320-$350
 
===== Switch Assignment =====
To assign the three position switch to any other channel but channel 7 follow these steps:
# Set up aux2(refers to aux2 on rx not the switch on the tx. aka ch7) with its input selected as 3 pos switch.
# Set up this mix - Gear to Gear (Up=-100, Down=-100, Offset =0). This inhibits the gear switch.
# Set up another mix - Aux2 to Gear (Up=100, Down=100, Offset = 0).
Notes:
#Gear on a DX-7 Air is Channel 5 and AUX2 is CH7. Once again i am referring to the inputs which are labeled on the RX not what the switches are named on the TX. If your using a DX-7 heli please substitute the names for what the rx channels are named into this guide
# DX7 Heli the 3-pos switch is named "flight mode"
# DX7 Air the 3-pos switch is named "flaps"

===== Failsafe Setup =====
To set up the mode channel (3 pos switch) to default to auto2 if connection is lost between rx and tx follow these steps:
# Put 3 position Switch into AUTO2 Position
# Put in bind plug
# Power up
# REMOVE the bind plug
# Power up Tx while pushing bind button
# Wait until light becomes steady and not blinking (it may become steady right off but will then start blinking again so let it go at least 5 seconds)

===Receivers===
====Jeti Duplex 2.4 GHz Receiver Rsat 2====
[[Image:Jeti_Duplex_Rsat2.jpg|thumb|left|Jeti RSat 2]]
* Outputs PPM, no soldering or PPM board required
* Only 12 gramms
* Full duplex technology provides safe radio link and redundant telemetry to standard paparazzi telemetry.
* [http://www.jetimodel.cz/index.php?page=products&old=0&category=4 Transmitter module] can be installed in any receiver.
See the official [http://www.jetimodel.cz/index.php?page=product&id=165 Homepage of Jeti] or the [http://www.mikrokopter.de/ucwiki/JetiDuplex MikroKopter Wiki].
 
====Spektrum 2.4Ghz Satellite Receiver - Lisa/L implementation====
[[Image:Lisa l hex 1.jpg|thumb|right|Connection View]]
[[Image:SPM9545-250.jpg|thumb|left|Remote Receiver [SPM9545]]]
* [http://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM9545 Specifications]
* Lisa/L Radio_Control_Spektrum_Primary_Port = Uart 3
* Lisa/L Radio_Control_Spektrum_Secondary_Port = Uart 5
* arch files:~/paparazzi/sw/airborne/arch/stm32/subsystems/radio_control/spektrum-arch.h and .c
* Additional hardware -
[http://parts.digikey.com/1/parts/355490-conn-housing-5pos-1-25mm-51021-0500.html Molex CONN HOUSING 5POS 1.25MM - 51021-0500],

[http://parts.digikey.com/1/parts/355493-conn-housing-8pos-1-25mm-51021-0800.html Molex CONN HOUSING 8POS 1.25MM - 51021-0800],

[http://uk.rs-online.com/web/search/searchBrowseAction.html?method=getProduct&R=2799544 Molex Socket to free end crimped lead,300mm L],

[http://parts.digikey.com/1/parts/270897-conn-term-female-26-28awg-tin-50079-8000.html Molex CONN TERM FEMALE 26-28AWG TIN],

[http://parts.digikey.com/1/parts/1806245-hand-tool-26-32awg-crimp-638190300.html Molex HAND TOOL 26-32AWG CRIMP]
* Transmitter options - Spektrum DX6, DX7(see above), DX8, bind compatible JR units up to 12 channels and those bearing the Specktrum DM9 module - note these transmitters must be channel order compatible with Spektrum's protocol (in fact all transmitters that use Spektrum protocol have the same channel ordering regardless which stays consistent across different modes (ie throttle on left / right etc))) - [http://code.google.com/p/er9x/ here is an example]

=====Installation=====
# Cut off original receiver connector and crimp molex connector terminals to the three wires.
# Insert terminals into appropriate positions-[http://paparazzi.enac.fr/wiki_images/LisaL_v1_0_schematic_3.png CON_USART3]-of the 5 way connector - black to pos1 = GND, orange to pos3 = +3v3, grey to pos5 = STM_USART3_RX.

=====Bind plug=====
# Take the 8 way molex connecter and create a loop between pos1 = GND and pos4 = XXX_STM_SPARE_2. This plug is placed in the-[http://paparazzi.enac.fr/wiki_images/LisaL_v1_0_schematic_3.png CON_SPARE]-receptacle housing before power-up to enable the receiver binding state.

=====Configuration=====
* Set the spektrum radio parameters for Lisa/M or Lisa/L ap in ~/paparazzi/conf/airframes.xml file. Check 'esden' directory as a possible rotorcraft example. Refer to ~/paparazzi/sw/airborne/arch/stm32/subsystems/radio_control/spektrum-arch.h and .c for other options. Be sure to set actuators, rotor configuration/mixes and channel reversal parameters that are appropriate for the rotorcraft/aircraft (note "lisa_l_1.0" can also be "lisa_m_1.5" or "lisa_m_2.0"):

<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">

<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="telemetry" type="transparent"/>
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
</target>

<target name="stm_passthrough" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.2"/>
</target>
*Create a new transmitter 'airplane' model. Do not introduce any mixes or change the endpoints, subtrims etc. Note that a radio.xml file is not required for this implementation, unlike analogue RC directed autopilots.
*Upload ap software in the usual way.
*Unplug the aircraft battery. Turn transmitter off. Insert the bind plug (see above) in the 8 way CON_SPARE receptacle. Power up the aircraft - specktrum receiver LED should be flashing in readiness to bind. Press and hold bind button on transmitter while turning on. Receiver LED should stop flashing after a few moments to confirm it is bound. Turn everything off in preparation to start in the normal way. Note that the transmitter should now be turned on first to enable the spektrum receiver to acknowledge it.
*Should be ready to fly.
*Adding a second spektrum satellite receiver requires different wiring dependent on the Lisa board version. As the pinouts to uart5 differ between Lisa-L v1.0 and v1.1. Seek advice from the [http://lists.gnu.org/archive/html/paparazzi-devel/2011-01/index.html paparazzi mailing list] prior to making this addition.

To enable the use of the secondary satellite receiver you have to add two lines to your firmware section in the airframe file:

<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
<define name="OVERRIDE_UART5_IRQ_HANDLER"/>

== PCM Systems ==

Most of the known PCM transmitter also can be set to PPM mode. If this is set, then the regular description for PPM applies since the PCM receiver like a JR/Gaupner SMC16 Scan can output PPM perfectly.

If PPM out is not setable on your transmitter then the following applies:

# Must use ppm encoder board. (See [[Get_Hardware|Get Hardware]] page for suppliers)
# Needs a three position switch
# Ability to set failsafe to any channel as desired
# At least one extra channel beyond those needed to control the servos and motor.

== PPM Based Systems ==
=== Configuration ===
The [[Radio_Control]] page describes how to set up the radio.xml config file.

=== Requirements ===
To use a 26/27/35/40/41/72/ MHz **(uses PPM) system a few requirements are necessary
# Need a Transmitter with a three position switch
# At least one extra channel beyond those needed to control the servos and motor.
# A modified receiver which outputs a full ppm signal.

===Adding a 3 position switch===
===== Futaba T6EXAP =====
For this particular transmitter, the Potentiometer on channel 6 can be replaced with a 3 position switch. Channel 5 appears not to be connected to an ADC converter; therefore it will not support a 3 position switch.
#Disconnect the potentiometer being careful not to shorten the wires
#Solder the switch and resistors onto the wires using the wiring diagram as a reference. (Any two equal value resistors should work). I used 10k resistors.
[[Image:SwitchWiringDiagram.JPG|thumb|left|Switch wiring diagram]]
[[Image:3positionswitch.JPG|thumb|left|Switch installed in transmitter]]
 
Suitable 3 position switches: 
RS Components: [http://australia.rs-online.com/web/search/searchBrowseAction.html?method=getProduct&R=344-710 344-710] 
Mouser: [http://au.mouser.com/Search/Refine.aspx?Keyword=633-M202402-RO 633-M202402-RO]

=== R/C Receiver Interface===
All versions of the Paparazzi autopilot include a connector to interface with a standard R/C receiver for manual or semi-autonomous control during the testing and tuning phases. Two interface options exist:
# Tap into the PPM signal running between the RF section and the servo driver of your receiver and route it to the Paparazzi. Let the Paparazzi generate individual servo signals and connect all servos directly to the autopilot. This method requires only 3 wires to the receiver (power and PPM), is compatible with all Paparazzi autopilots, and provides 8 manual R/C channels and the potential for more autonomous channels regardless of the capability of the R/C receiver.
# Cut the PPM trace and route it thru the autopilot and back to the receiver, using the servo driver IC on your R/C receiver to drive the servos. This option requires 4 wires (Ground, PPM-in, PPM-out, Reset) and your receiver must have a supported servo driver IC. This allows you to use the large servo connectors on your R/C receiver and does not require any modification to your servos or ESC but does require you to cut a trace on your R/C receiver and limits the number of servos to the capacity of your receiver. Compatible with Classix and Tiny 1.1.
# Note that on the Classix the PPM_in pin is FOO2...
[[Image:RC_Receiver_Timing_Diagram.jpg|thumb|left|PPM Timing DiagramNote 1: Exact value not critical. Depending on RC Transmitter type & Manufacturer. Note 2: Depending on Transmitter number of Channels and t,,n,, durations. Note 3: Not critical. Depending on Synchro detection method.]]
[[Image:RC_Receiver_Tiny.jpg|thumb|left|3-Wire setup, driving servos from the autopilot]]
[[Image:RC_Receiver_classix.jpg|thumb|left|4-Wire setup, driving servos from the R/C receiver]]
 

=== Common demux chips ===

Typical used chips are the cmos [http://www.doctronics.co.uk/4015.htm 4015] and [http://www.doctronics.co.uk/4017.htm 4017].

The 4015 uses either pin 1 or pin 9 for the clock and the input is on 7 and 15. The 4017 has just one shift register and has its clock input on pin 14 and the enable on pint 13.

In most receivers you are after the clock; though some may be pulsed; in which case you need the enable. Note that the 4017 enable has inverted logic (low to be enabled) whereas the input on the 4015 can be either (typically high). If the enable pin is held low (4017) or if the input pin (4015) is held high always;e.g. connected to the ground or the Vcc - then it is fair to assume that the PPM signal is most propably on the clock input.

=== Recommended 35/40Mhz R/C Receivers ===

Note that there is information on modifying other receiver models at [http://mikrokopter.de/ucwiki/RC-Empf%C3%A4nger mikrokopter.de]. It's in German however the pictures contain most of the information or use google translate.
Shielded wire is recommended for receiver and autopilot connection, as unshielded one may cause noise in receiver.

=====Futaba FP-R116FB 6 Channel FM 35MHz receiver=====
[[Image:Rc_fut_web.jpg|thumb|left|Wiring of a Futaba R136]]
*Orange wire is connected to PPM signal
*Red wire is connected to VCC
*Brown wire is connected to GND
 

=====Futaba R136F 6 Channel FM receiver=====
[[Image:rx_futaba136.jpg|thumb|left|Wiring of a Futaba R136]]
*41 MHz
*White wire is connected to PPM signal
 
=====Futaba R168DF 8 Channel dual FM receiver=====
[[Image:rx_futaba168df.jpg|thumb|left|Wiring of a Futaba R168DF]]
*35 MHz
*PPM wire is connected to 862 receiver pin on the board. VCC and GND is on the 8/B original position.
 

=====ACT Micro-6 FM receiver=====
[[Image:rx_act_micro-6.jpg|thumb|left|Wiring of a ACT Micro-6]]
*Available in 35 or 40 MHz versions
*White wire is connected to PPM signal
*[http://www.acteurope.com/Micro_6anl.pdf Datasheet (German)]
 

=====ACT DSL-4top [http://www.mikrokopter.de/ucwiki/DSL4top mikrokopter.de] version=====
[[Image:DSL4top.jpg|thumb|left|DSL-4top mikrokopter.de version]]
* Special version for mikrokopter.de - Only available in their [https://www.mikrocontroller.com/index.php?main_page=product_info&products_id=215&zenid=8ce8bab70f3e9d684e01f724316d9690 shop]!
* '''Outputs PPM directly''' on the channel 1 connector!
* No soldering necessary
* ACT Lifetime warranty
* Sells for ~45 euro
 

=====Futaba R115F 5 Channel FM receiver=====
[[Image:pprz_rx115.jpg|thumb|left|Wiring of a Futaba R115]]
*Available in 35 and 40 MHz versions
*White wire is connected to PPM signal
 
=====JETI REX 5 plus (no MPD) receiver=====
[[Image:520_Jeti_5_plus.jpg|thumb|left|Wiring of a REX 5]]

*Popular Czech made micro r/c receiver, available in 35 or 40 MHz versions
*´folded´ PCB design with parts inside, mostly inaccessable
*Small grey wire is connected to via with PPM signal
*Unusual connector used for testing, soldering recommended
*shielded wire recommended, this one taken from PC parts recycling (former soundcard to m/b connector cable)
*[http://www.jetimodel.cz/eng/navody_en/rex5_eng.pdf Datasheet (English)]
 
[[Image:DSC02414.JPG|thumb|left|other Layout of REX 5]]
 

=====Receiver RX-7-SYNTH IPD receiver [http://www.multiplex-rc.de/hp/produkte/artikel_detail.jsp?lfdnr=55880&action=add2notice&qty=1&cachenepper=1227896925116 Multiplex-rc.de]=====
[[Image:RX-7-SYNTH_IPD.jpg|thumb|left|Wiring of RX-7-SYNTH IPD]]

*Available in 35, 36 and 40 MHz versions
*A compact, high-quality 7-channel single-conversion FM / PPM IPD receiver
*Easy modification through connectors, see pictures
 

==== Protech 5FM 35 mHz Receiver ====

The low cost Protech '5FM' receiver makes use of an SMD version of the standard 74AHC164[http://www.ic-on-line.cn/IOL/datasheet/74ahct164_18057.pdf] 8 bit shift register; you are after PIN 1 of this chip. The circuit board has a testpad for just this pin at the top side of the circuit board.

<gallery>
Image:protech-5fm.jpg|Figure 1. Protech 5FM 35 mHZ Receiver, mark 2
Image:protech-5fm-pad.jpg|Figure 2. PPM tap location for the Protech 5FM receiver, near the 74AHC164 shift register
Image:protech-5fm-scope.jpg|Figure 3. Protech 5FM PPM signal - not very clean/digital
</gallery>

Two physical versions exist; the older one [http://www.protech.be/Manuals/PRO205manual%20web.pdf] and a newer one pictured (fig 1). It has been distributed by protech with various ready-to-fly planes; such as the Skyraider[http://www.modelbouwforum.nl/forums/beginners/50677-protech-skyraider.html].

The solder/testpad you are after the one right next the 74x164 chip its pin 1. In this image it has a jellow wire soldered to it (the yellow wire at the top left is the normal antenna connector (fig 2). Note however that the signal is not very clean (1v/div) - which may cause issues - as shown in the above image (fig 3).

This is further compunded by the relatively noisy electrical engines; which are not brushless. A ferrite coil does not seem to help enough - Papparazi and GPS loose sync often through Xbee. Replacing the engine by a brushless outrunnen resolve the issue completely.

==== Profi Penta 35 MHz ====
[[Image:DSC00547.JPG]]
[[Image:DSC00545.JPG]]

=== Recommended 72Mhz R/C Receivers ===
====Castle Creations [http://www.castlecreations.com/products/berg_ms4l.html Berg 4L]====
[[Image:berg4L.jpg|thumb|Wiring of a Berg 4L]]
* Expect fantastic performance from these $40 USD parts but be warned that they are known to have unreliable crystal sockets and brittle antenna wire. The ''Berg 7'' channel receiver should work equally well and is known to have a better crystal socket - note that either receiver will provide '''8 channels''' in manual R/C mode when used with Paparazzi. Note: the rugged ''Berg 4'' cannot be modified, only the ''Berg 4L'' and ''Berg 7''.
To Modify a Berg4L, follow these instructions:
# Remove the shrink wrap. Use a good knife and be careful to not damage any of the components on the receiver. I would recommend that you cut on the sides (edge of the PCB) to be sure to avoid damaging the shielding
# Desolder the headers. We will not use them with tiny AP as the servos are connected directly to the AP. This is pretty easy to do when you have a hot air rework station. If you don't have one, your best bet is to cut the header off and remove the left over pins one by one with a regular iron. There is a piece of shielding material that is connected to one of the ground pins of the header. You need to remove it carefully from the header without damaging it and re-solder it to the gnd pad.
# You need to solder 3 wires to the receiver. Gnd, +5V and PPM. To locate the PPM signal, first locate the PIC micro controller close to the location of the headers. The PPM signal is on the corner pin closest to the corner of the receiver. Soldering a 28guage wire directly to the PIN isn't very difficult. For the power connection, use the pads that were used for the header. The outside pin is Gnd, the second pin is +5V. What I did is solder the wires on the pad going straight down, then I looped the 3 wires 360 degrees and glued them to the PCB with hot glue. This provides good strain relief.
# While you have the PCB in your hands, take the opportunity to remove the crystal connector and solder your crystal directly to the PCB for added reliability.
# I also used some hot glue to add more strain relief to the antenna
# Use some large shrink wrap to cover the entire receiver again
=====Hitec Electron 6 72MHz Reciever=====
This was written for MNAV from crossbow but is still usable with PPRZ.
 
[[Image:Electron6mod.jpg]]

=====Corona Synthesized Dual-Conv Receiver 8Ch=====
[http://www.corona-rc.com/coproductshowE.asp?ArticleID=63 manual] 

This receiver is available in 27,35,36,40,72 mhz and a Synthesized receiver, meaning you do not need to change frequency crystals.

How to modify for combined signal

# Cut the 8th channel PWM output pin near the PCB.
# Connected a pin from the Atmel (see picture) to the 8th channel PWM signal. (optionally, weaving the wire through some holes on the board.) Make sure you have a fine tip on your soldering iron and a magnifying glass strapped to your head!
# Glue the wire down (CA works)
# Be sure to glue the pin that you cut in place (previously, being soldered to the board was holding the pin in place)

It is maybe possible to reprogram the atmel with your own firmware. If you succeed in this plz add relevant info here.

That pin provides a 1V to 2V signal, it works with the PPRZ, although its a bit gittery (the slew rate is not real good).
[[Image:Corona_Synthesized_Receiver_72Mhz_bottom.jpg|thumb]]
[[Image:Corona_Synthesized_Receiver_72Mhz_top.jpg|thumb]]
[[Image:Corona_Synthesized_Receiver_72Mhz_top_atmel.jpg]]

 

==433MHz UHF Systems==

Note that in most countries an amateur radio license is required to use 433MHz UHF.

===Scherrer UHF===

[[Image:ScherrerUHF.jpg|thumb|left|Scherrer UHF Rx]]

The [http://www.webx.dk/rc/uhf-link3/uhf-link3.htm Scherrer UHF] is a high quality diversity radio control system. It has a PPM output and can be connected directely to Paparazzi. A ppm encoder board is not required. It has an RSSI output.

 

===ImmersionRC EzUHF===

[[Image:EzUHFTx.jpg|thumb|left|ImmersionRC Tx]]

The [http://www.immersionrc.com/products.htm ImmersionRC EzUHF] is a high quality diversity radio control system. It does not have a PPM output. A ppm encoder board is required to connect to Paparazzi. It connects directely to EzOSD and the TrackR2 which enables RSSI monitoring and head tracking for FPV.

 

== Flight mode switch ==

A important requirement is a three way flight mode switch to choose between the flight modes MANUAL, AUTO1 and AUTO2.

Cheap entry level radios often don't have this. As a workaround two two-position switches can be used.

The switch designated to RADIO_MODE will switch between MANUAL and AUTO
And a second switch designated to RADIO_AUTO_MODE one will select between the different AUTO MODES if the first switch is set to AUTO.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_AUTO_MODE" value="RADIO_AUX1"/>
</firmware>
</source>
}}

This feature is only available in the v3.9 branch.

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

RC Receivers and Radios

2012-07-05T14:56:30Z

TilmanBaumann: Flight mode switch requirement and workaround

== 2.4GHz Systems==
If using a Lisa/M or Lisa/L autopilot board the whole range of Specktrum/JR transmitters can be used with 1 or 2 Spektrum/JR/Hobbyking satellite receivers. For other autopilot boards to use a 2.4 GHz system a few requirements are necessary
# Must use [[PPM_Encoder | PPM Encoder]] board. (See [[Get_Hardware|Get Hardware]] page for suppliers) (Except for the Futaba FASST 7 channel receiver R617FS that has a 5 (not 7) channels combined pulse)
# Needs a three position switch
# Ability to set failsafe to any or at least 1 channel (pprz-mode) as desired
# At least one extra channel beyond those needed to control the servos and motor. (throttle-roll-pitch-mode)
=== Radios ===

====Futaba FASST 7-channel receiver====

[[Image:rs617fasst.jpg|thumb|right]]

* Pin 8 (upper right corner in picture) of the small IC on the right contains 5 PPM pulses and can go directly to paparazzi. Pulse 6 and 7 go directly to the servos.
* Best is to remove the resistors of one of the channels and connect a small wire to pin 8 to get the combined 5 pulses on the robust 1/10th inch header.
* Do not forget to use channel 3 (only failsafe channel) as mode switch with fail safe "throttle off" as mode 2.

====Robbe RASST 7 & 8 channed receivers ====
Robbe has produced line of Futaba FASST compatible receivers that can output only PPM which results ablility to plug into autopilot without encoder.
* [http://www.robbe.de/empfaenger-r-6007-sp-2-4-g-rasst.html R6007SP 2,4 GHz RASST] - 7 channel, for small aircraft
* [http://www.robbe.de/empf-r6107sp-2-4-ghz-rasst.html R6107SP 2,4 GHz RASST] - 7 channel, >1000m range
* [http://www.robbe.de/empf-r6008sp-2-4-ghz-rasst.html R6008SP 2,4 GHz RASST] - 8 channel, upto 3000m range

====Spektrum DX-7====
[[Image:DX7.jpg|thumb|left]]
*7 Channels
* 20-Model memory
* Airplane and Heli software
* Switch assignment
* P-mixes
* Includes 4 powerful DS821 digital servos with high-tech resin gears
* 3-axis dual rate & expo
* 3-position flap (Airplane)
* 5-point throttle curve (Heli)
* 3 flight modes plus hold (Heli)
* Gyro programming (Heli)
* CCPM, 2-servo 90°, 3-servo 90°, & 3-servo 120°
* Price $320-$350
 
===== Switch Assignment =====
To assign the three position switch to any other channel but channel 7 follow these steps:
# Set up aux2(refers to aux2 on rx not the switch on the tx. aka ch7) with its input selected as 3 pos switch.
# Set up this mix - Gear to Gear (Up=-100, Down=-100, Offset =0). This inhibits the gear switch.
# Set up another mix - Aux2 to Gear (Up=100, Down=100, Offset = 0).
Notes:
#Gear on a DX-7 Air is Channel 5 and AUX2 is CH7. Once again i am referring to the inputs which are labeled on the RX not what the switches are named on the TX. If your using a DX-7 heli please substitute the names for what the rx channels are named into this guide
# DX7 Heli the 3-pos switch is named "flight mode"
# DX7 Air the 3-pos switch is named "flaps"

===== Failsafe Setup =====
To set up the mode channel (3 pos switch) to default to auto2 if connection is lost between rx and tx follow these steps:
# Put 3 position Switch into AUTO2 Position
# Put in bind plug
# Power up
# REMOVE the bind plug
# Power up Tx while pushing bind button
# Wait until light becomes steady and not blinking (it may become steady right off but will then start blinking again so let it go at least 5 seconds)

===Receivers===
====Jeti Duplex 2.4 GHz Receiver Rsat 2====
[[Image:Jeti_Duplex_Rsat2.jpg|thumb|left|Jeti RSat 2]]
* Outputs PPM, no soldering or PPM board required
* Only 12 gramms
* Full duplex technology provides safe radio link and redundant telemetry to standard paparazzi telemetry.
* [http://www.jetimodel.cz/index.php?page=products&old=0&category=4 Transmitter module] can be installed in any receiver.
See the official [http://www.jetimodel.cz/index.php?page=product&id=165 Homepage of Jeti] or the [http://www.mikrokopter.de/ucwiki/JetiDuplex MikroKopter Wiki].
 
====Spektrum 2.4Ghz Satellite Receiver - Lisa/L implementation====
[[Image:Lisa l hex 1.jpg|thumb|right|Connection View]]
[[Image:SPM9545-250.jpg|thumb|left|Remote Receiver [SPM9545]]]
* [http://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM9545 Specifications]
* Lisa/L Radio_Control_Spektrum_Primary_Port = Uart 3
* Lisa/L Radio_Control_Spektrum_Secondary_Port = Uart 5
* arch files:~/paparazzi/sw/airborne/arch/stm32/subsystems/radio_control/spektrum-arch.h and .c
* Additional hardware -
[http://parts.digikey.com/1/parts/355490-conn-housing-5pos-1-25mm-51021-0500.html Molex CONN HOUSING 5POS 1.25MM - 51021-0500],

[http://parts.digikey.com/1/parts/355493-conn-housing-8pos-1-25mm-51021-0800.html Molex CONN HOUSING 8POS 1.25MM - 51021-0800],

[http://uk.rs-online.com/web/search/searchBrowseAction.html?method=getProduct&R=2799544 Molex Socket to free end crimped lead,300mm L],

[http://parts.digikey.com/1/parts/270897-conn-term-female-26-28awg-tin-50079-8000.html Molex CONN TERM FEMALE 26-28AWG TIN],

[http://parts.digikey.com/1/parts/1806245-hand-tool-26-32awg-crimp-638190300.html Molex HAND TOOL 26-32AWG CRIMP]
* Transmitter options - Spektrum DX6, DX7(see above), DX8, bind compatible JR units up to 12 channels and those bearing the Specktrum DM9 module - note these transmitters must be channel order compatible with Spektrum's protocol (in fact all transmitters that use Spektrum protocol have the same channel ordering regardless which stays consistent across different modes (ie throttle on left / right etc))) - [http://code.google.com/p/er9x/ here is an example]

=====Installation=====
# Cut off original receiver connector and crimp molex connector terminals to the three wires.
# Insert terminals into appropriate positions-[http://paparazzi.enac.fr/wiki_images/LisaL_v1_0_schematic_3.png CON_USART3]-of the 5 way connector - black to pos1 = GND, orange to pos3 = +3v3, grey to pos5 = STM_USART3_RX.

=====Bind plug=====
# Take the 8 way molex connecter and create a loop between pos1 = GND and pos4 = XXX_STM_SPARE_2. This plug is placed in the-[http://paparazzi.enac.fr/wiki_images/LisaL_v1_0_schematic_3.png CON_SPARE]-receptacle housing before power-up to enable the receiver binding state.

=====Configuration=====
* Set the spektrum radio parameters for Lisa/M or Lisa/L ap in ~/paparazzi/conf/airframes.xml file. Check 'esden' directory as a possible rotorcraft example. Refer to ~/paparazzi/sw/airborne/arch/stm32/subsystems/radio_control/spektrum-arch.h and .c for other options. Be sure to set actuators, rotor configuration/mixes and channel reversal parameters that are appropriate for the rotorcraft/aircraft (note "lisa_l_1.0" can also be "lisa_m_1.5" or "lisa_m_2.0"):

<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">

<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="telemetry" type="transparent"/>
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
</target>

<target name="stm_passthrough" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.2"/>
</target>
*Create a new transmitter 'airplane' model. Do not introduce any mixes or change the endpoints, subtrims etc. Note that a radio.xml file is not required for this implementation, unlike analogue RC directed autopilots.
*Upload ap software in the usual way.
*Unplug the aircraft battery. Turn transmitter off. Insert the bind plug (see above) in the 8 way CON_SPARE receptacle. Power up the aircraft - specktrum receiver LED should be flashing in readiness to bind. Press and hold bind button on transmitter while turning on. Receiver LED should stop flashing after a few moments to confirm it is bound. Turn everything off in preparation to start in the normal way. Note that the transmitter should now be turned on first to enable the spektrum receiver to acknowledge it.
*Should be ready to fly.
*Adding a second spektrum satellite receiver requires different wiring dependent on the Lisa board version. As the pinouts to uart5 differ between Lisa-L v1.0 and v1.1. Seek advice from the [http://lists.gnu.org/archive/html/paparazzi-devel/2011-01/index.html paparazzi mailing list] prior to making this addition.

To enable the use of the secondary satellite receiver you have to add two lines to your firmware section in the airframe file:

<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
<define name="OVERRIDE_UART5_IRQ_HANDLER"/>

== PCM Systems ==

Most of the known PCM transmitter also can be set to PPM mode. If this is set, then the regular description for PPM applies since the PCM receiver like a JR/Gaupner SMC16 Scan can output PPM perfectly.

If PPM out is not setable on your transmitter then the following applies:

# Must use ppm encoder board. (See [[Get_Hardware|Get Hardware]] page for suppliers)
# Needs a three position switch
# Ability to set failsafe to any channel as desired
# At least one extra channel beyond those needed to control the servos and motor.

== PPM Based Systems ==
=== Configuration ===
The [[Radio_Control]] page describes how to set up the radio.xml config file.

=== Requirements ===
To use a 26/27/35/40/41/72/ MHz **(uses PPM) system a few requirements are necessary
# Need a Transmitter with a three position switch
# At least one extra channel beyond those needed to control the servos and motor.
# A modified receiver which outputs a full ppm signal.

===Adding a 3 position switch===
===== Futaba T6EXAP =====
For this particular transmitter, the Potentiometer on channel 6 can be replaced with a 3 position switch. Channel 5 appears not to be connected to an ADC converter; therefore it will not support a 3 position switch.
#Disconnect the potentiometer being careful not to shorten the wires
#Solder the switch and resistors onto the wires using the wiring diagram as a reference. (Any two equal value resistors should work). I used 10k resistors.
[[Image:SwitchWiringDiagram.JPG|thumb|left|Switch wiring diagram]]
[[Image:3positionswitch.JPG|thumb|left|Switch installed in transmitter]]
 
Suitable 3 position switches: 
RS Components: [http://australia.rs-online.com/web/search/searchBrowseAction.html?method=getProduct&R=344-710 344-710] 
Mouser: [http://au.mouser.com/Search/Refine.aspx?Keyword=633-M202402-RO 633-M202402-RO]

=== R/C Receiver Interface===
All versions of the Paparazzi autopilot include a connector to interface with a standard R/C receiver for manual or semi-autonomous control during the testing and tuning phases. Two interface options exist:
# Tap into the PPM signal running between the RF section and the servo driver of your receiver and route it to the Paparazzi. Let the Paparazzi generate individual servo signals and connect all servos directly to the autopilot. This method requires only 3 wires to the receiver (power and PPM), is compatible with all Paparazzi autopilots, and provides 8 manual R/C channels and the potential for more autonomous channels regardless of the capability of the R/C receiver.
# Cut the PPM trace and route it thru the autopilot and back to the receiver, using the servo driver IC on your R/C receiver to drive the servos. This option requires 4 wires (Ground, PPM-in, PPM-out, Reset) and your receiver must have a supported servo driver IC. This allows you to use the large servo connectors on your R/C receiver and does not require any modification to your servos or ESC but does require you to cut a trace on your R/C receiver and limits the number of servos to the capacity of your receiver. Compatible with Classix and Tiny 1.1.
# Note that on the Classix the PPM_in pin is FOO2...
[[Image:RC_Receiver_Timing_Diagram.jpg|thumb|left|PPM Timing DiagramNote 1: Exact value not critical. Depending on RC Transmitter type & Manufacturer. Note 2: Depending on Transmitter number of Channels and t,,n,, durations. Note 3: Not critical. Depending on Synchro detection method.]]
[[Image:RC_Receiver_Tiny.jpg|thumb|left|3-Wire setup, driving servos from the autopilot]]
[[Image:RC_Receiver_classix.jpg|thumb|left|4-Wire setup, driving servos from the R/C receiver]]
 

=== Common demux chips ===

Typical used chips are the cmos [http://www.doctronics.co.uk/4015.htm 4015] and [http://www.doctronics.co.uk/4017.htm 4017].

The 4015 uses either pin 1 or pin 9 for the clock and the input is on 7 and 15. The 4017 has just one shift register and has its clock input on pin 14 and the enable on pint 13.

In most receivers you are after the clock; though some may be pulsed; in which case you need the enable. Note that the 4017 enable has inverted logic (low to be enabled) whereas the input on the 4015 can be either (typically high). If the enable pin is held low (4017) or if the input pin (4015) is held high always;e.g. connected to the ground or the Vcc - then it is fair to assume that the PPM signal is most propably on the clock input.

=== Recommended 35/40Mhz R/C Receivers ===

Note that there is information on modifying other receiver models at [http://mikrokopter.de/ucwiki/RC-Empf%C3%A4nger mikrokopter.de]. It's in German however the pictures contain most of the information or use google translate.
Shielded wire is recommended for receiver and autopilot connection, as unshielded one may cause noise in receiver.

=====Futaba FP-R116FB 6 Channel FM 35MHz receiver=====
[[Image:Rc_fut_web.jpg|thumb|left|Wiring of a Futaba R136]]
*Orange wire is connected to PPM signal
*Red wire is connected to VCC
*Brown wire is connected to GND
 

=====Futaba R136F 6 Channel FM receiver=====
[[Image:rx_futaba136.jpg|thumb|left|Wiring of a Futaba R136]]
*41 MHz
*White wire is connected to PPM signal
 
=====Futaba R168DF 8 Channel dual FM receiver=====
[[Image:rx_futaba168df.jpg|thumb|left|Wiring of a Futaba R168DF]]
*35 MHz
*PPM wire is connected to 862 receiver pin on the board. VCC and GND is on the 8/B original position.
 

=====ACT Micro-6 FM receiver=====
[[Image:rx_act_micro-6.jpg|thumb|left|Wiring of a ACT Micro-6]]
*Available in 35 or 40 MHz versions
*White wire is connected to PPM signal
*[http://www.acteurope.com/Micro_6anl.pdf Datasheet (German)]
 

=====ACT DSL-4top [http://www.mikrokopter.de/ucwiki/DSL4top mikrokopter.de] version=====
[[Image:DSL4top.jpg|thumb|left|DSL-4top mikrokopter.de version]]
* Special version for mikrokopter.de - Only available in their [https://www.mikrocontroller.com/index.php?main_page=product_info&products_id=215&zenid=8ce8bab70f3e9d684e01f724316d9690 shop]!
* '''Outputs PPM directly''' on the channel 1 connector!
* No soldering necessary
* ACT Lifetime warranty
* Sells for ~45 euro
 

=====Futaba R115F 5 Channel FM receiver=====
[[Image:pprz_rx115.jpg|thumb|left|Wiring of a Futaba R115]]
*Available in 35 and 40 MHz versions
*White wire is connected to PPM signal
 
=====JETI REX 5 plus (no MPD) receiver=====
[[Image:520_Jeti_5_plus.jpg|thumb|left|Wiring of a REX 5]]

*Popular Czech made micro r/c receiver, available in 35 or 40 MHz versions
*´folded´ PCB design with parts inside, mostly inaccessable
*Small grey wire is connected to via with PPM signal
*Unusual connector used for testing, soldering recommended
*shielded wire recommended, this one taken from PC parts recycling (former soundcard to m/b connector cable)
*[http://www.jetimodel.cz/eng/navody_en/rex5_eng.pdf Datasheet (English)]
 
[[Image:DSC02414.JPG|thumb|left|other Layout of REX 5]]
 

=====Receiver RX-7-SYNTH IPD receiver [http://www.multiplex-rc.de/hp/produkte/artikel_detail.jsp?lfdnr=55880&action=add2notice&qty=1&cachenepper=1227896925116 Multiplex-rc.de]=====
[[Image:RX-7-SYNTH_IPD.jpg|thumb|left|Wiring of RX-7-SYNTH IPD]]

*Available in 35, 36 and 40 MHz versions
*A compact, high-quality 7-channel single-conversion FM / PPM IPD receiver
*Easy modification through connectors, see pictures
 

==== Protech 5FM 35 mHz Receiver ====

The low cost Protech '5FM' receiver makes use of an SMD version of the standard 74AHC164[http://www.ic-on-line.cn/IOL/datasheet/74ahct164_18057.pdf] 8 bit shift register; you are after PIN 1 of this chip. The circuit board has a testpad for just this pin at the top side of the circuit board.

<gallery>
Image:protech-5fm.jpg|Figure 1. Protech 5FM 35 mHZ Receiver, mark 2
Image:protech-5fm-pad.jpg|Figure 2. PPM tap location for the Protech 5FM receiver, near the 74AHC164 shift register
Image:protech-5fm-scope.jpg|Figure 3. Protech 5FM PPM signal - not very clean/digital
</gallery>

Two physical versions exist; the older one [http://www.protech.be/Manuals/PRO205manual%20web.pdf] and a newer one pictured (fig 1). It has been distributed by protech with various ready-to-fly planes; such as the Skyraider[http://www.modelbouwforum.nl/forums/beginners/50677-protech-skyraider.html].

The solder/testpad you are after the one right next the 74x164 chip its pin 1. In this image it has a jellow wire soldered to it (the yellow wire at the top left is the normal antenna connector (fig 2). Note however that the signal is not very clean (1v/div) - which may cause issues - as shown in the above image (fig 3).

This is further compunded by the relatively noisy electrical engines; which are not brushless. A ferrite coil does not seem to help enough - Papparazi and GPS loose sync often through Xbee. Replacing the engine by a brushless outrunnen resolve the issue completely.

==== Profi Penta 35 MHz ====
[[Image:DSC00547.JPG]]
[[Image:DSC00545.JPG]]

=== Recommended 72Mhz R/C Receivers ===
====Castle Creations [http://www.castlecreations.com/products/berg_ms4l.html Berg 4L]====
[[Image:berg4L.jpg|thumb|Wiring of a Berg 4L]]
* Expect fantastic performance from these $40 USD parts but be warned that they are known to have unreliable crystal sockets and brittle antenna wire. The ''Berg 7'' channel receiver should work equally well and is known to have a better crystal socket - note that either receiver will provide '''8 channels''' in manual R/C mode when used with Paparazzi. Note: the rugged ''Berg 4'' cannot be modified, only the ''Berg 4L'' and ''Berg 7''.
To Modify a Berg4L, follow these instructions:
# Remove the shrink wrap. Use a good knife and be careful to not damage any of the components on the receiver. I would recommend that you cut on the sides (edge of the PCB) to be sure to avoid damaging the shielding
# Desolder the headers. We will not use them with tiny AP as the servos are connected directly to the AP. This is pretty easy to do when you have a hot air rework station. If you don't have one, your best bet is to cut the header off and remove the left over pins one by one with a regular iron. There is a piece of shielding material that is connected to one of the ground pins of the header. You need to remove it carefully from the header without damaging it and re-solder it to the gnd pad.
# You need to solder 3 wires to the receiver. Gnd, +5V and PPM. To locate the PPM signal, first locate the PIC micro controller close to the location of the headers. The PPM signal is on the corner pin closest to the corner of the receiver. Soldering a 28guage wire directly to the PIN isn't very difficult. For the power connection, use the pads that were used for the header. The outside pin is Gnd, the second pin is +5V. What I did is solder the wires on the pad going straight down, then I looped the 3 wires 360 degrees and glued them to the PCB with hot glue. This provides good strain relief.
# While you have the PCB in your hands, take the opportunity to remove the crystal connector and solder your crystal directly to the PCB for added reliability.
# I also used some hot glue to add more strain relief to the antenna
# Use some large shrink wrap to cover the entire receiver again
=====Hitec Electron 6 72MHz Reciever=====
This was written for MNAV from crossbow but is still usable with PPRZ.
 
[[Image:Electron6mod.jpg]]

=====Corona Synthesized Dual-Conv Receiver 8Ch=====
[http://www.corona-rc.com/coproductshowE.asp?ArticleID=63 manual] 

This receiver is available in 27,35,36,40,72 mhz and a Synthesized receiver, meaning you do not need to change frequency crystals.

How to modify for combined signal

# Cut the 8th channel PWM output pin near the PCB.
# Connected a pin from the Atmel (see picture) to the 8th channel PWM signal. (optionally, weaving the wire through some holes on the board.) Make sure you have a fine tip on your soldering iron and a magnifying glass strapped to your head!
# Glue the wire down (CA works)
# Be sure to glue the pin that you cut in place (previously, being soldered to the board was holding the pin in place)

It is maybe possible to reprogram the atmel with your own firmware. If you succeed in this plz add relevant info here.

That pin provides a 1V to 2V signal, it works with the PPRZ, although its a bit gittery (the slew rate is not real good).
[[Image:Corona_Synthesized_Receiver_72Mhz_bottom.jpg|thumb]]
[[Image:Corona_Synthesized_Receiver_72Mhz_top.jpg|thumb]]
[[Image:Corona_Synthesized_Receiver_72Mhz_top_atmel.jpg]]

 

==433MHz UHF Systems==

Note that in most countries an amateur radio license is required to use 433MHz UHF.

===Scherrer UHF===

[[Image:ScherrerUHF.jpg|thumb|left|Scherrer UHF Rx]]

The [http://www.webx.dk/rc/uhf-link3/uhf-link3.htm Scherrer UHF] is a high quality diversity radio control system. It has a PPM output and can be connected directely to Paparazzi. A ppm encoder board is not required. It has an RSSI output.

 

===ImmersionRC EzUHF===

[[Image:EzUHFTx.jpg|thumb|left|ImmersionRC Tx]]

The [http://www.immersionrc.com/products.htm ImmersionRC EzUHF] is a high quality diversity radio control system. It does not have a PPM output. A ppm encoder board is required to connect to Paparazzi. It connects directely to EzOSD and the TrackR2 which enables RSSI monitoring and head tracking for FPV.

 

== Flight mode switch ==

A important requirement is a three way flight mode switch to choose between the flight modes MANUAL, AUTO1 and AUTO2.

Cheap entry level radios often don't have this. As a workaround two two-position switches can be used.

The switch designated to RADIO_MODE will switch between MANUAL and AUTO
And a second switch designated to RADIO_AUTO_MODE one will select between the different AUTO MODES if the first switch is set to AUTO.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_AUTO_MODE" value="RADIO_AUX1"/>
</firmware>
</source>
}}

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

User:TilmanBaumann

2012-07-05T14:47:52Z

TilmanBaumann: /* Airframe */

== Tilman Baumann ==

No RC experience. I live in South East England. (Guildford)

== Airframe ==

[http://www.hobbyking.com/hobbyking/store/__16544__Hobbyking_Bixler_EPO_1400mm_ARF_.html Hobbyking Bixler]

Airframe details [[Bixler]]

== Autopilot ==

[[Lisa/M_v20]]

== Telemetry ==

XBee 2.4 Ghz

== GPS ==

[http://www.csgshop.com/product.php?id_product=62 UBLOX MAX-6Q]
[[File:GPS Eval MAX pinout.png]]

== RC ==

Spektrum DX5 with two Orangebox Satellites

This radio has no three-way mode switch. Only a channel 5 on-off toggle. I will have to think a bit on how to use that for MANUAL/AUTO1/AUTO2.
Any ideas anyone?

Hope I don't need a bigger transmitter. Expensive.

== Ground Station ==

Dell mini 9" laptop

== Future Plans ==

* IP telemetry WLAN/UMTS
* Lisa Servicebus module instead of clunky BEC https://github.com/tbaumann/Paparazzi-Lisa-Servicebus

== Buildlog ==

I will blog here http://tilman-ppz-uav.blogspot.co.uk/ but will also post a summary of all important technical findings here.

Bixler

2012-07-05T14:45:44Z

TilmanBaumann: /* Cockpit */

{|
|-valign="top"
|[[Image:Bixler Table.jpg|thumb|left|Bixler]]
|
The HobbyKing Bixler is a very inexpensive airframe with very easy flying characteristics and reasonable payload capacity. Price and its crash resistant EPO foam construction make this a plane well suited for beginners.
|}

== Features ==

* Kit price $37 USD
* EPO Foam construction
* Detachable canopy for access to internals
* Easy access cockpit
* Nice and stable slow flight especially for RC beginners

== Specifications ==
* Material: EPO Foam
* Wingspan: 1400mm
* Length: 925mm
* Wing Area: 26dm2
* Wing Loading: 25g/dm2
* Flying Weight: 650g
* Motor: 2620-1900kv Brushless Outrunner
* ESC: 20A w/BEC
* Servo: 4 x 9g
* Propeller: 6x5.5 recommended.

== Buy ==

Can be bought directly at HobbyKing [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=16545]

== Airframe configuration ==
A simple sample airframe congiguration file can be found in conf/airframes/examples/bixler_lisa_m_2.xml [https://github.com/paparazzi/paparazzi/blob/v3.9/conf/airframes/examples/bixler_lisa_m_2.xml]

Attention, no tuning values in this file yet! Untested setup.

== Cockpit ==
{|
|-valign="top"
|[[Image:Bixler Cockpit.jpg|thumb|left|Cockpit]]
|HobbkyKing also offers a very simple plywood FPV mount which can be used to mount the autopilot. [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22731]

Note the [[Lisa/M]] board is mounted at right angle with is the natural orientation of the IMU. This layout also makes wiring much simpler.

This way the IMU is far from the planes centre of gravity. Mounting the IMU under the wings would be better, but much more complex.
|}

== Mods ==
The plane flies well out of the box. But some modifications are popular.

* Rudder servo can be moved back into the rudder. The original long pushrod in tube setup is far from perfect. Moving the servo into the tail wing will increase accuracy but will also move the centre of gravity severely to the rear. A lot of counterweights in the front will be needed
* Increase rudder size. Either by gluing some strong paper or cardboard on the rudder to make it bigger or by cutting the tail fin at the whole length following the hinge and attaching a full height rudder.

Plenty of space is available inside. But much of this space is not very easy to access.
[[Image:Bixler Nose.jpg|thumb|left|Datalink antenna]]
Here the 2.4Ghz Xbee telemetry antenna can be seen pushed out to one side. Pointing down in flight.

Large batteries can be fitted without problems.

== Build Tips ==

The foam hinges are very stiff and need to be exercised quite a bit by hand to make them move well.

Bixler

2012-07-05T14:44:30Z

TilmanBaumann: Bixler Airframe

{|
|-valign="top"
|[[Image:Bixler Table.jpg|thumb|left|Bixler]]
|
The HobbyKing Bixler is a very inexpensive airframe with very easy flying characteristics and reasonable payload capacity. Price and its crash resistant EPO foam construction make this a plane well suited for beginners.
|}

== Features ==

* Kit price $37 USD
* EPO Foam construction
* Detachable canopy for access to internals
* Easy access cockpit
* Nice and stable slow flight especially for RC beginners

== Specifications ==
* Material: EPO Foam
* Wingspan: 1400mm
* Length: 925mm
* Wing Area: 26dm2
* Wing Loading: 25g/dm2
* Flying Weight: 650g
* Motor: 2620-1900kv Brushless Outrunner
* ESC: 20A w/BEC
* Servo: 4 x 9g
* Propeller: 6x5.5 recommended.

== Buy ==

Can be bought directly at HobbyKing [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=16545]

== Airframe configuration ==
A simple sample airframe congiguration file can be found in conf/airframes/examples/bixler_lisa_m_2.xml [https://github.com/paparazzi/paparazzi/blob/v3.9/conf/airframes/examples/bixler_lisa_m_2.xml]

Attention, no tuning values in this file yet! Untested setup.

== Cockpit ==
{|
|-valign="top"
|[[Image:Bixler Cockpit.jpg|thumb|left|Cockpit]]
|HobbkyKing also offers a very simple plywood FPV mount which can be used to mount the autopilot. [http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22731]

Note the [Lisa/M] board is mounted at right angle with is the natural orientation of the IMU. This layout also makes wiring much simpler.

This way the IMU is far from the planes centre of gravity. Mounting the IMU under the wings would be better, but much more complex.
|}

== Mods ==
The plane flies well out of the box. But some modifications are popular.

* Rudder servo can be moved back into the rudder. The original long pushrod in tube setup is far from perfect. Moving the servo into the tail wing will increase accuracy but will also move the centre of gravity severely to the rear. A lot of counterweights in the front will be needed
* Increase rudder size. Either by gluing some strong paper or cardboard on the rudder to make it bigger or by cutting the tail fin at the whole length following the hinge and attaching a full height rudder.

Plenty of space is available inside. But much of this space is not very easy to access.
[[Image:Bixler Nose.jpg|thumb|left|Datalink antenna]]
Here the 2.4Ghz Xbee telemetry antenna can be seen pushed out to one side. Pointing down in flight.

Large batteries can be fitted without problems.

== Build Tips ==

The foam hinges are very stiff and need to be exercised quite a bit by hand to make them move well.

File:Bixler Nose.jpg

2012-07-05T14:11:56Z

TilmanBaumann:

Airframes

2012-07-05T14:11:35Z

TilmanBaumann: Bixler

__TOC__

== NoVa Quadrotor ==
{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|Nova Quadrotor]]
|
The [[NoVa|NoVa]] is an attitude stabilized quadrotor. It utilizes paparazzi hardware as well as a 6DOF IMU.

'''[[NoVa|More details...]]'''
|}

== Multiplex FunJet ==
{|
|-valign="top"
|[[Image:Funjet_flight_dawnron1.jpg|thumb|left|Multiplex FunJet]]
|
The [[FunJet|FunJet]] is a new electric pusher-prop model from Multiplex made of durable and CA safe Elapor foam. It offers plenty of room internally for avionics in an attractive package.

'''[[FunJet|More details...]]'''
|}

== ENAC Solar Storm ==
{|
|
|-valign="top"
|[[Image:SolarStorm1.jpg|thumb|left|ENAC Solar Storm]]
|

The [[Solar-Storm]] is the result of a conceptual design study for a Hybrid-Solar cell powered MAV.
'''[[Solar-Storm|More details...]]'''
|}

== Mini Telemaster ==
{|
|-valign="top"
|[[Image:Paparazzitelema1.jpg|thumb|left|Telemaster]]
|
The [[Telemaster|Telemaster]] is a great platform for a new Paparazzi user. It provides a stable platform to help a new user to get used to the amazing Paparazzi system

'''[[Telemaster|More details...]]'''
|}

== Jet powered ==
{|
|-valign="top"
|[[Image:DSCF1855_small.JPG|thumb|left|Jet powered]]
|
The [[Jet powered|Jet powered]] is a special implementation of the Paparazzi system. The TWOG producing very stable flight only with IR sensor for this huge glider.

'''[[Jet powered|More details...]]'''
|}

== Hobbyking Bixler ==
{|
|-valign="top"
|[[Image:Bixler Table.jpg|thumb|left|Bixler]]
|
The Hobbyking Bixler is a cheap copy of the Multiplex EasyStar. It is very inexpensive, easy to obtain and provides superbly easy flying for beginners. Moderately high payloads are possible.

The Bixler is a five channel aircraft with Aileron, Rudder and Elevator.

'''[[Bixler|More details...]]'''
|}

== Hardware Installation ==

The installation of autopilot, sensors and modem is described [[Hardware_Installation|here]].

== Misc Airframe Notes ==

[http://www.motocalc.com MotoCalc] is an Electric Flight Performance Prediction program for Windows and is available for a 30 day free trial. MotoCalc has an internal database of thousands of motors/props/etc. and can make power/flight predictions based on data input.

[http://brantuas.com/ezcalc/dma1.asp Electric Motor Calculator] by Diversity Model Aircraft is a free online tool for matching props to motors to batteries.

[http://www.gobrushless.com/testing/thrust_calculator.php?prop=45&rb1=1&Value=9720&submit=Calculate+Now Propeller Thrust Calculator] is a free online calculator to give thrust from given propeller and RPM or vice versa.

[http://www.hanleyinnovations.com/multisurface MultiSurface Aerodynamics] is an airfoil and wing analysis software package. The software predicts lift and drag for multiple interacting wings.

=== Battery Specs ===

'''Nickel Cadmium (NiCd)'''

* Energy/Weight: 40-60 Wh/kg
* Nominal Cell Voltage: 1.2V
* Fully Charged Cell Voltage: 1.2V
* Depleted Cell Voltage: 0.8-1.0V

'''Nickel Metal Hydride (NiMh)'''

* Energy/Weight: 30-80 Wh/kg
* Nominal Cell Voltage: 1.2V
* Fully Charged Cell Voltage: 1.35-1.4 V (unloaded)
* Depleted Cell Voltage: 1.0V

'''Lithium-Ion'''

* Energy/weight: 160 Wh/kg
* Nominal Cell Voltage: 3.6 / 3.7 V
* Fully Charged Cell Voltage: 4.2V
* Lowest Cell Discharge Voltage Before Damage: 2.4v to 3.0v

'''Lithium-Ion Polymer (LiPo)'''

* Energy/weight: 130-200 Wh/kg
* Nominal Cell Voltage: 3.7V
* Fully Charged Cell Voltage: 4.23V
* Lowest Cell Discharge Voltage Before Damage: 3.0V

'''Typical Power Requirements'''

* 70W/kg (35W/lb) for sedate flying from hand launch
* 100W/kg (50W/lb) for ground take off
* 150W/kg (75W/lb) for performance / aerobatics

== Mass Figures ==

Provided below are some weights to aid in estimating an all up weight for your uav

* Tiny13 1.1 Weight: 25g (0.88oz)
* IR Sensor Head: 5g (0.18oz)
* XBee Pro: 4g (0.14oz)
* Hitec HS-55 Servo: 8g (0.28)
* Brushless Outrunner 250W: ~90g (~3oz)
* FunJet assembled, no hardware: 165g (5.82oz)
* FMA Encore 5ch Receiver: 11g (0.40oz)
* Castle Creations Phoenix 35: 24.5g (0.9oz)

[[Category:Airframes]]

File:Bixler Table.jpg

2012-07-05T14:10:10Z

TilmanBaumann:

File:Bixler Cockpit.jpg

2012-07-05T14:09:45Z

TilmanBaumann:

Talk:Get Hardware

2012-07-05T13:40:57Z

TilmanBaumann: /* Auxilary stuff */ new section

moved everything around...

Removed Halfbase to clean up the Get Hardware page. Discussion of his cons/pros can be made here.

Removed non-working links.

== Auxilary stuff ==

Should we put things here like good antenna trackers?
Or other things that a UAV pilot might want to have but where it is not obvious which to get. Like transport cases, or camera mounts that can hold autopilot boards as well.

I suppose there is a danger of turning into a advertisement billboard.

--[[User:TilmanBaumann|TilmanBaumann]] 13:40, 5 July 2012 (UTC)

Lisa/M v2.0

2012-07-05T09:10:06Z

TilmanBaumann: /* Hardware Change Requests */ Change power/CAN plug

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085]
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (6 w/ second I2C bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus (2 x when using only the first 6 Servo PPM outputs)
* 1 x Micro USB
* 4 x status LEDs with attached test point
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

With mounted Aspirin IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

A BMP085 pressure sensor is mounted directly on the board in the first batch of boards as this sensor is not provided by first batch of Aspirin IMU yet. It is however possible to solder a MS5611 sensor on the Aspirin 2.x . To be able to use this baromeric sensor software will be written and likely available late 2012. It would be great to help out if you are able to.

So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BAT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA. As such, SERVO7 and SERVO8 '''CAN NOT''' be used while the second I2C bus (I2C1) also needs to be used for some reason.

=== LEDs ===
Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs (LED_6, LED_7, LED_8) that are not populated by default (in favor of using ADC1-3 on the ANALOG1 connector).
By default the LEDs are use for:
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok
; LED_5, green : not set to anything by default

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BAT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BAT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
 

== Examples of Airborne Equipment Electrical Connections ==

=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===

[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]

When using cheap Chinese PWM motor controllers consider replacing their firmware with Simon Kirby firmware that you can find in his [https://github.com/sim-/tgy GitHub repository] to get useful performance of your multicopter!

=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===

[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]

This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.

=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]

=== Fixedwing, Spektrum Satellite Receivers ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]

=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===

[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]

Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example

=== R/C Receivers ===
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Also UART pins can be used as general purpose I/O to be used for PPM input. By default connect your PPM out able receiver to servo pin 6. If you do not have or cannot create a PPM out able receiver, additionally a [[PPM_Encoder | PPM encoder board]] can be used to avoid receiver hardware modification.

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
 
 

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Programming ==

Lisa/M v2.0 can be programmed via its micro-USB port using the luftboot bootloader or with a JTAG via the 10-pin Samtec connector.
All Lisa/M 2.0 from Transition Robotics Inc. come with luftboot preloaded.

=== Using luftboot ===

Paparazzi git dev branch already has support for the bootloader and will by default use the associated DFU loader to program the firmware. (Don't forget to check that your airframe file is set to use Lisa/M 2.0 as its target board)

Currently Paparazzi firmware does not contain the needed USB stack stub to switch into bootloader mode using software.
To force the bootloader to run, bridge ADC2 and GND by making up a connector.
This won't be necessary in the future once the USB stack stub is added to Paparazzi.

Once the bridge connector is attached, attach the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode, and the status LEDs will cycle up and down:

[[File:Luftboot.gif|320px]]

You can and should disconnect the bridge connector after enforcing the bootloader.
Assuming your build target uses the Lisa/M board, pressing upload should now load code onto the board.

If you overwrite/remove luftboot you can recover it by following the instructions below:

=== Uploading the Paparazzi USB Bootloader ===

This section describes the process on how to upload/recover the luftboot bootloader on your Lisa/M 2.0. It is not needed if you got your Lisa/M 2.0 from Transition Robotics Inc. as the boards come with luftboot preloaded.

[https://github.com/paparazzi/luftboot Luftboot] is a Paparazzi-compatible bootloader for STM32-based autopilots.
Depending on your vendor, your Lisa/M may already come with a bootloader, in which case you should skip to [[Lisa/M#Programming]]

==== Required components ====
*Floss-JTAG debugger
*Lisa/M
*PC

==== Procedure ====
<ol>
<li>
Checkout [https://github.com/paparazzi/luftboot Luftboot from Github]
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
</li>
<li>
Change directory into the luftboot/src folder
<source lang=bash>cd ./luftboot/src</source>
</li>
<li>
Build luftboot
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source>
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:
<source lang=bash>make clean && make flash DEV_SERIAL="LM2-020"</source>
</li>
</ol>

==== Connection Diagram ====

==== Boot Sequence ====

* Luftboot
** Check if ADC2 is configured as output pull down indicating software bootloader request
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode
** Setting the ADC2 pin to input pull up
** Checking if the ADC2 pin is low
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode
*** '''If ADC2 high:''' check if there is a payload at 0x8002000
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload
**** '''If payload not detected:''' initialize USB and stay in bootloader mode

==== Luftboot USB permissions ====

stm32_mem.py needs permission to write to the the Luftboot USB device. (The error message is quite obscure due to the way python-libusb accesses the device)

[[Installation/Linux#Udev_rules|Copy the udev-rules file]] get write permissions.

=== JTAG ===
If you are using the Lisa/M 2.0 target board you still can use JTAG for programming and debugging your paparazzi firmware. Using JTAG will not overwrite the bootloader by default. You need to set NO_LUFTBOOT config in your airframe file to force overwrite.

* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

==== Quick JTAG Upload Guide ====
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

=== Serial Firmware Upload ===
Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten Luftboot accidentally and don´t have access to JTAG.

Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads

Now a boot sequence works as follows:
#BOOT1 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS
#Power the board and activate the bootloader program

The according bootloader script can be found at :
[https://github.com/jsnyder/stm32loader stm32loader from Github]
<source lang=bash>git clone https://github.com/jsnyder/stm32loader.git</source>

To reload Luftboot, upload luftboot.bin

Serial upload can also be used directly from paparazzi Center by adapting the right path in [https://github.com/paparazzi/paparazzi/blob/dev/conf/Makefile.stm32 Makefile.stm32] for the LOADER argument and setting

<define name="FLASH_MODE" value="SERIAL"/>

in the target section of the airframe configuration.

== Detailed Hardware Revision History ==

=== Changes Between v1.1 and v2.0 ===
* Lots of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

=== Changes Between v1.0 and v1.1 ===
* Removed pull-ups on the USB gpio
* Removed pull-ups on the CAN gpio
* Connected usb_vbus to pa9 (needed by the USBotg)
* Removed USB pullup transistor as usbotg has a built in pullup
* Swapped UART1 with UART3 (uart1 was used for gps and pa9 was it's tx line, to be able to talk to the gps unit uart3 is a better choice, as uart1 only has an rx line now it is a better choice for spektrum RX modules)
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* Added voltage selector jumpers to the RC RX connector; to enable powering of 3v3 or an 5v receivers
* Replaced vertical board solution with through hole servo pin headers (easier assembly)
* Servo connectors are in groups of two; for easier assembly
* Servo VBUS is connected together on all four layers; for lower resistance
* Moved LED's from under the analog2 connector; to be able to populate LED's and the connector
* Moved the RC RX connector a bit; to prevent crashing with the jtag plug
* Added one additional servo connector; now we have all 8 accessible through the standard servo connectors
* Fixed servo channel labeling to start at '''S0''' as it is the case on TWOG and Tiny autopilot boards
* Added secondary through hole picoblade USB connector for easier routing of USB inside an airframe
* ...

=== Changes Between v0.1 and v1.0 ===
* Switched to stm32f105 to be able to use usb and can at the same time
* Added alternative use of the adc lines as led output
* ...

=== Hardware Change Requests ===
* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: This upgrade will be available through Aspirin v2.0 --[[User:Esden|Esden]] 22:54, 5 January 2012 (CET)

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly inject CAN Molex into SPI.

* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 to reduce thickness and mass once it becomes readily available, maybe around Lisa/M 3.0 ;)

* REQ: Separate CAN and Power plug. Put Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense) --[[User:TilmanBaumann|TilmanBaumann]] 09:10, 5 July 2012 (UTC)

[[Category:Lisa]] [[Category:User_Documentation]]

Lisa/M v2.0

2012-04-26T22:03:22Z

TilmanBaumann: /* Boot Sequence */ Luftboot USB permissions

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085]
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (6 w/ second I2C bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus (2 when using only 6 Servo PPM outputs)
* 1 x Micro USB
* 4 x status LEDs with attached test point
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

with mounted IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

The pressure sensor is mounted directly on the board as this sensor is not provided by Aspirin (''v0.1 - v1.1''). Except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||ADC4, by default connected to LED7 cathode (Remove LED/resistor to use as ADC)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||ADC6, by default connected to LED8 cathode (Remove LED/resistor to use as ADC)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BAT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA. As such, SERVO7 and SERVO8 '''CAN NOT''' be used while I2C1 is being used.

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BAT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BAT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
 

== Examples of Airborne Equipment Electrical Connections ==
=== Small Aircraft Connection Diagram ===
Need an Umarim_v1.0-style ([[Umarim_v10#Small_Aircraft_Connection_Diagram | here]]) small aircraft airborne equipment electrical connections here.
 

=== Large Aircraft Connection Diagram ===
Need an Umarim V1.0-style ([[Umarim_v10#Large_Aircraft_Connection_Diagram | here]]) large aircraft airborne equipment electrical connections diagram here.
 

=== R/C Receivers ===
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Also UART pins can be used as general purpose I/O to be used for PPM input. Additionally [[PPM_Encoder | PPM encoder]] can be used to avoid receiver hardware modification.

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
 
 

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Programming ==

Lisa/M v2.0 can be programmed via its micro-USB port using the luftboot bootloader or with a JTAG via the 10-pin Samtec connector.
All Lisa/M 2.0 from Transition Robotics Inc. come with luftboot preloaded.

=== Using luftboot ===

Paparazzi git dev branch already has support for the bootloader and will by default use the associated DFU loader to program the firmware. (Don't forget to check that your airframe file is set to use Lisa/M 2.0 as its target board)

Currently Paparazzi firmware does not contain the needed USB stack stub to switch into bootloader mode using software.
To force the bootloader to run, bridge ADC2 and GND by making up a connector.
This won't be necessary in the future once the USB stack stub is added to Paparazzi.

Once the bridge connector is attached, attach the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode, and the status LEDs will cycle up and down:

[[File:Luftboot.gif|320px]]

You can and should disconnect the bridge connector after enforcing the bootloader.
Assuming your build target uses the Lisa/M board, pressing upload should now load code onto the board.

If you overwrite/remove luftboot you can recover it by following the instructions below:

=== Uploading the Paparazzi USB Bootloader ===

This section describes the process on how to upload/recover the luftboot bootloader on your Lisa/M 2.0. It is not needed if you got your Lisa/M 2.0 from Transition Robotics Inc. as the boards come with luftboot preloaded.

[https://github.com/paparazzi/luftboot Luftboot] is a Paparazzi-compatible bootloader for STM32-based autopilots.
Depending on your vendor, your Lisa/M may already come with a bootloader, in which case you should skip to [[Lisa/M#Programming]]

==== Required components ====
*Floss-JTAG debugger
*Lisa/M
*PC

==== Procedure ====
<ol>
<li>
Checkout [https://github.com/paparazzi/luftboot Luftboot from Github]
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
</li>
<li>
Change directory into the luftboot/src folder
<source lang=bash>cd ./luftboot/src</source>
</li>
<li>
Build luftboot
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source>
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:
<source lang=bash>make clean && make flash DEV_SERIAL="LM2-020"</source>
</li>
</ol>

==== Connection Diagram ====

==== Boot Sequence ====

* Luftboot
** Check if ADC2 is configured as output pull down indicating software bootloader request
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode
** Setting the ADC2 pin to input pull up
** Checking if the ADC2 pin is low
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode
*** '''If ADC2 high:''' check if there is a payload at 0x8002000
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload
**** '''If payload not detected:''' initialize USB and stay in bootloader mode

==== Luftboot USB permissions ====

stm32_mem.py needs permission to write to the the Luftboot USB device. (The error message is quite obscure due to the way python-libusb accesses the device)

Add this rule to your paparazzi udev rules file
ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", GROUP="plugdev"

=== JTAG ===
If you are using the Lisa/M 2.0 target board you still can use JTAG for programming and debugging your paparazzi firmware. Using JTAG will not overwrite the bootloader by default. You need to set NO_LUFTBOOT config in your airframe file to force overwrite.

* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

==== Quick JTAG Upload Guide ====
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

=== Serial Firmware Upload ===
Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten Luftboot accidentally and don´t have access to JTAG.

Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads

Now a boot sequence works as follows:
#BOOT1 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS
#Power the board and activate the bootloader program

The according bootloader script can be found at :
[https://github.com/jsnyder/stm32loader stm32loader from Github]
<source lang=bash>git clone https://github.com/jsnyder/stm32loader.git</source>

To reload Luftboot, upload luftboot.bin

Serial upload can also be used directly from paparazzi Center by adapting the right path in [https://github.com/paparazzi/paparazzi/blob/dev/conf/Makefile.stm32 Makefile.stm32] for the LOADER argument and setting

<define name="FLASH_MODE" value="SERIAL"/>

in the target section of the airframe configuration.

== Detailed Hardware Revision History ==

=== Changes Between v1.1 and v2.0 ===
* Lots of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

=== Changes Between v1.0 and v1.1 ===
* Removed pull-ups on the USB gpio
* Removed pull-ups on the CAN gpio
* Connected usb_vbus to pa9 (needed by the USBotg)
* Removed USB pullup transistor as usbotg has a built in pullup
* Swapped UART1 with UART3 (uart1 was used for gps and pa9 was it's tx line, to be able to talk to the gps unit uart3 is a better choice, as uart1 only has an rx line now it is a better choice for spektrum RX modules)
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* Added voltage selector jumpers to the RC RX connector; to enable powering of 3v3 or an 5v receivers
* Replaced vertical board solution with through hole servo pin headers (easier assembly)
* Servo connectors are in groups of two; for easier assembly
* Servo VBUS is connected together on all four layers; for lower resistance
* Moved LED's from under the analog2 connector; to be able to populate LED's and the connector
* Moved the RC RX connector a bit; to prevent crashing with the jtag plug
* Added one additional servo connector; now we have all 8 accessible through the standard servo connectors
* Fixed servo channel labeling to start at '''S0''' as it is the case on TWOG and Tiny autopilot boards
* Added secondary through hole picoblade USB connector for easier routing of USB inside an airframe
* ...

=== Changes Between v0.1 and v1.0 ===
* Switched to stm32f105 to be able to use usb and can at the same time
* Added alternative use of the adc lines as led output
* ...

=== Hardware Change Requests ===
* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: This upgrade will be available through Aspirin v2.0 --[[User:Esden|Esden]] 22:54, 5 January 2012 (CET)

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly inject CAN Molex into SPI.

[[Category:Lisa]] [[Category:User_Documentation]]

User:TilmanBaumann

2012-04-16T10:05:43Z

TilmanBaumann:

== Tilman Baumann ==

No RC experience. I live in South East England. (Guildford)

== Airframe ==

[http://www.hobbyking.com/hobbyking/store/__16544__Hobbyking_Bixler_EPO_1400mm_ARF_.html Hobbyking Bixler]

== Autopilot ==

[[Lisa/M_v20]]

== Telemetry ==

XBee 2.4 Ghz

== GPS ==

[http://www.csgshop.com/product.php?id_product=62 UBLOX MAX-6Q]
[[File:GPS Eval MAX pinout.png]]

== RC ==

Spektrum DX5 with two Orangebox Satellites

This radio has no three-way mode switch. Only a channel 5 on-off toggle. I will have to think a bit on how to use that for MANUAL/AUTO1/AUTO2.
Any ideas anyone?

Hope I don't need a bigger transmitter. Expensive.

== Ground Station ==

Dell mini 9" laptop

== Future Plans ==

* IP telemetry WLAN/UMTS
* Lisa Servicebus module instead of clunky BEC https://github.com/tbaumann/Paparazzi-Lisa-Servicebus

== Buildlog ==

I will blog here http://tilman-ppz-uav.blogspot.co.uk/ but will also post a summary of all important technical findings here.

User:TilmanBaumann

2012-04-13T13:09:16Z

TilmanBaumann: /* GPS */

== Tilman Baumann ==

No RC experience. I live in South East England. (Guildford)

== Airframe ==

[http://www.hobbyking.com/hobbyking/store/__16544__Hobbyking_Bixler_EPO_1400mm_ARF_.html Hobbyking Bixler]

== Autopilot ==

[[Lisa/M_v20]]

== Telemetry ==

XBee 2.4 Ghz

== GPS ==

[http://www.csgshop.com/product.php?id_product=62 UBLOX MAX-6Q]
[[File:GPS Eval MAX pinout.png]]

== RC ==

Spektrum DX5 with two Orangebox Satellites

== Ground Station ==

Dell mini 9" laptop

== Future Plans ==

* IP telemetry WLAN/UMTS
* Lisa Servicebus module instead of clunky BEC https://github.com/tbaumann/Paparazzi-Lisa-Servicebus

== Buildlog ==

I will blog here http://tilman-ppz-uav.blogspot.co.uk/ but will also post a summary of all important technical findings here.

File:GPS Eval MAX pinout.png

2012-04-13T13:07:10Z

TilmanBaumann: UBLOX MAX-6Q GPS Eval board pinout. 3.3V logic level

UBLOX MAX-6Q GPS Eval board pinout.
3.3V logic level

User:TilmanBaumann

2012-04-13T10:38:13Z

TilmanBaumann: /* Buildlog */

== Tilman Baumann ==

No RC experience. I live in South East England. (Guildford)

== Airframe ==

[http://www.hobbyking.com/hobbyking/store/__16544__Hobbyking_Bixler_EPO_1400mm_ARF_.html Hobbyking Bixler]

== Autopilot ==

[[Lisa/M_v20]]

== Telemetry ==

XBee 2.4 Ghz

== GPS ==

[http://www.csgshop.com/product.php?id_product=62 UBLOX MAX-6Q]

== RC ==

Spektrum DX5 with two Orangebox Satellites

== Ground Station ==

Dell mini 9" laptop

== Future Plans ==

* IP telemetry WLAN/UMTS
* Lisa Servicebus module instead of clunky BEC https://github.com/tbaumann/Paparazzi-Lisa-Servicebus

== Buildlog ==

I will blog here http://tilman-ppz-uav.blogspot.co.uk/ but will also post a summary of all important technical findings here.

User:TilmanBaumann

2012-04-12T11:19:52Z

TilmanBaumann: links

User:TilmanBaumann

2012-04-12T10:19:49Z

TilmanBaumann: Created page with " == Tilman Baumann == No RC experience. I live in South East England. (Guildford) == Airframe == Hobbyking Bixler == Autopilot == Lisa/M_v20 == Telemetry == XBee 2.4 …"

== Tilman Baumann ==

No RC experience. I live in South East England. (Guildford)

== Airframe ==

Hobbyking Bixler

== Autopilot ==

[[Lisa/M_v20]]

== Telemetry ==

XBee 2.4 Ghz

== GPS ==

UBLOX MAX-6Q

== RC ==

Spektrum DX5 with two Orangebox Satellites

== Ground Station ==

Dell mini 9" laptop

== Future Plans ==

* IP telemetry WLAN/UMTS
* Lisa Servicebus module instead of clunky BEC https://github.com/tbaumann/Paparazzi-Lisa-Servicebus

== Buildlog ==

No entries yet

Get Hardware

2012-03-06T16:52:15Z

TilmanBaumann: /* DIYDrones */ buildyourowndrone.co.uk

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

We encourage the distribution of hardware for profit or otherwise and invite any users with paparazzi-related hardware to post links and purchasing information on this page. Please use the [[Talk:Get_Hardware&action=edit|Discussion Tab]] to describe your experiences with any of these vendors.

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

= [http://chebuzz.com/paparazzi [[Image:CheBuzzPprz.gif]] CheBuzz Paparazzi] =
Due to an unexpected change in my "real" job, I will regrettably be returning to the United States in the near future. As such, I will be closing my webshop for good. It has been a pleasure getting to know so many paparazzi users and an honor to supply hardware to you. Thanks for all the help and support I have received.

I apologize for the short notice. But I will be taking orders until Friday 24 September, so anybody wishing to purchase paparazzi equipment from my store will be able to do so until that time.

Thankfully somebody has offered to step up and take my place. I have been working with Chris and AeroFu (aerofu.com) and he has agreed to continue providing paparazzi hardware and to selling out the remainder of my inventory. I am confident he will continue to provide a high level of service and support for those looking to get into the hobby and into the paparazzi project.

Again, thanks to all and happy flying!

Buzz

 

= [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot JobyRobotics.com] =
[[Image:JobyRobotics.jpg]]
Please see [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot Transition Robotics Inc..]

 
 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware for your Paparazzi Projects since 2007</h2>

Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

We make it simple. Each autopilot is professionally assembled in a large factory by automated pick and place and reflow to ISO9000 standards.
To be sure yours will work we open every one and test before shipping. If it fails we don't sell it.
Our testing includes:
<ol>
<li>Burn in testing: We Power it with a current limited power supply to verify voltages and current draw</li>
<li>Load the usb bootloader so it can be programmed via USB</li>
</ol>


Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.


Visit the PPZUAZ [https://store.ppzuav.com WebStore] to see the latest offerings.


<h3>NEW ITEM: [https://store.ppzuav.com/osc/product_info.php?products_id=139 Umarim] Finally fully factory assembled Umarim! Taking pre-orders now.</h3>

 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:Lisa_M_V1_0_top_with_coin.jpg|thumb|Lisa/M V1.0 top view]][[Image:Lisa_M_V1_0_bottom_with_coin.jpg|thumb|Lisa/M V1.0 bottom view]] =
Transition Robotics Inc. is a young company developing new solutions for and with Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://thequadshot.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://thequadshot.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://thequadshot.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912 [DE]
*http://www.buildyourowndrone.co.uk/ [UK]

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

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

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://mouser.com/ (AU and other regions)

Get Hardware

2012-03-05T10:43:31Z

TilmanBaumann: /* Airspeed Sensors */ DIGI XBee telemetry modules

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

We encourage the distribution of hardware for profit or otherwise and invite any users with paparazzi-related hardware to post links and purchasing information on this page. Please use the [[Talk:Get_Hardware&action=edit|Discussion Tab]] to describe your experiences with any of these vendors.

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

= [http://chebuzz.com/paparazzi [[Image:CheBuzzPprz.gif]] CheBuzz Paparazzi] =
Due to an unexpected change in my "real" job, I will regrettably be returning to the United States in the near future. As such, I will be closing my webshop for good. It has been a pleasure getting to know so many paparazzi users and an honor to supply hardware to you. Thanks for all the help and support I have received.

I apologize for the short notice. But I will be taking orders until Friday 24 September, so anybody wishing to purchase paparazzi equipment from my store will be able to do so until that time.

Thankfully somebody has offered to step up and take my place. I have been working with Chris and AeroFu (aerofu.com) and he has agreed to continue providing paparazzi hardware and to selling out the remainder of my inventory. I am confident he will continue to provide a high level of service and support for those looking to get into the hobby and into the paparazzi project.

Again, thanks to all and happy flying!

Buzz

 

= [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot JobyRobotics.com] =
[[Image:JobyRobotics.jpg]]
Please see [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot Transition Robotics Inc..]

 
 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware for your Paparazzi Projects since 2007</h2>

Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

We make it simple. Each autopilot is professionally assembled in a large factory by automated pick and place and reflow to ISO9000 standards.
To be sure yours will work we open every one and test before shipping. If it fails we don't sell it.
Our testing includes:
<ol>
<li>Burn in testing: We Power it with a current limited power supply to verify voltages and current draw</li>
<li>Load the usb bootloader so it can be programmed via USB</li>
</ol>


Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.


Visit the PPZUAZ [https://store.ppzuav.com WebStore] to see the latest offerings.


<h3>NEW ITEM: [https://store.ppzuav.com/osc/product_info.php?products_id=139 Umarim] Finally fully factory assembled Umarim! Taking pre-orders now.</h3>

 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:Lisa_M_V1_0_top_with_coin.jpg|thumb|Lisa/M V1.0 top view]][[Image:Lisa_M_V1_0_bottom_with_coin.jpg|thumb|Lisa/M V1.0 bottom view]] =
Transition Robotics Inc. is a young company developing new solutions for and with Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://thequadshot.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://thequadshot.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://thequadshot.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

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

== DIGI XBee telemetry modules ==
For detailed shopping guide see [Modems]
*http://www.watterott.com/en/Digi (DE EU)
*https://store.diydrones.com/ (US See above for local distributors)
*http://mouser.com/ (AU and other regions)

Get Hardware

2012-03-05T10:37:17Z

TilmanBaumann: /* Sparkfun */ DIYDrones

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

We encourage the distribution of hardware for profit or otherwise and invite any users with paparazzi-related hardware to post links and purchasing information on this page. Please use the [[Talk:Get_Hardware&action=edit|Discussion Tab]] to describe your experiences with any of these vendors.

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

= [http://chebuzz.com/paparazzi [[Image:CheBuzzPprz.gif]] CheBuzz Paparazzi] =
Due to an unexpected change in my "real" job, I will regrettably be returning to the United States in the near future. As such, I will be closing my webshop for good. It has been a pleasure getting to know so many paparazzi users and an honor to supply hardware to you. Thanks for all the help and support I have received.

I apologize for the short notice. But I will be taking orders until Friday 24 September, so anybody wishing to purchase paparazzi equipment from my store will be able to do so until that time.

Thankfully somebody has offered to step up and take my place. I have been working with Chris and AeroFu (aerofu.com) and he has agreed to continue providing paparazzi hardware and to selling out the remainder of my inventory. I am confident he will continue to provide a high level of service and support for those looking to get into the hobby and into the paparazzi project.

Again, thanks to all and happy flying!

Buzz

 

= [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot JobyRobotics.com] =
[[Image:JobyRobotics.jpg]]
Please see [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot Transition Robotics Inc..]

 
 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware for your Paparazzi Projects since 2007</h2>

Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

We make it simple. Each autopilot is professionally assembled in a large factory by automated pick and place and reflow to ISO9000 standards.
To be sure yours will work we open every one and test before shipping. If it fails we don't sell it.
Our testing includes:
<ol>
<li>Burn in testing: We Power it with a current limited power supply to verify voltages and current draw</li>
<li>Load the usb bootloader so it can be programmed via USB</li>
</ol>


Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.


Visit the PPZUAZ [https://store.ppzuav.com WebStore] to see the latest offerings.


<h3>NEW ITEM: [https://store.ppzuav.com/osc/product_info.php?products_id=139 Umarim] Finally fully factory assembled Umarim! Taking pre-orders now.</h3>

 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:Lisa_M_V1_0_top_with_coin.jpg|thumb|Lisa/M V1.0 top view]][[Image:Lisa_M_V1_0_bottom_with_coin.jpg|thumb|Lisa/M V1.0 bottom view]] =
Transition Robotics Inc. is a young company developing new solutions for and with Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://thequadshot.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://thequadshot.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://thequadshot.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

== [https://store.diydrones.com/ DIYDrones] ==
Mainly focused on ArduPilot hardware. But carries Paparazzi compatible Telemetry and sensor boards.

'''DIYDrones distributors in Europe'''
*http://www.lipoly.de/index.php?main_page=index&cPath=880_1912

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

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

Get Hardware

2012-03-05T10:32:09Z

TilmanBaumann: /* Sparkfun */

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

We encourage the distribution of hardware for profit or otherwise and invite any users with paparazzi-related hardware to post links and purchasing information on this page. Please use the [[Talk:Get_Hardware&action=edit|Discussion Tab]] to describe your experiences with any of these vendors.

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

= [http://chebuzz.com/paparazzi [[Image:CheBuzzPprz.gif]] CheBuzz Paparazzi] =
Due to an unexpected change in my "real" job, I will regrettably be returning to the United States in the near future. As such, I will be closing my webshop for good. It has been a pleasure getting to know so many paparazzi users and an honor to supply hardware to you. Thanks for all the help and support I have received.

I apologize for the short notice. But I will be taking orders until Friday 24 September, so anybody wishing to purchase paparazzi equipment from my store will be able to do so until that time.

Thankfully somebody has offered to step up and take my place. I have been working with Chris and AeroFu (aerofu.com) and he has agreed to continue providing paparazzi hardware and to selling out the remainder of my inventory. I am confident he will continue to provide a high level of service and support for those looking to get into the hobby and into the paparazzi project.

Again, thanks to all and happy flying!

Buzz

 

= [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot JobyRobotics.com] =
[[Image:JobyRobotics.jpg]]
Please see [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot Transition Robotics Inc..]

 
 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware for your Paparazzi Projects since 2007</h2>

Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

We make it simple. Each autopilot is professionally assembled in a large factory by automated pick and place and reflow to ISO9000 standards.
To be sure yours will work we open every one and test before shipping. If it fails we don't sell it.
Our testing includes:
<ol>
<li>Burn in testing: We Power it with a current limited power supply to verify voltages and current draw</li>
<li>Load the usb bootloader so it can be programmed via USB</li>
</ol>


Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.


Visit the PPZUAZ [https://store.ppzuav.com WebStore] to see the latest offerings.


<h3>NEW ITEM: [https://store.ppzuav.com/osc/product_info.php?products_id=139 Umarim] Finally fully factory assembled Umarim! Taking pre-orders now.</h3>

 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:Lisa_M_V1_0_top_with_coin.jpg|thumb|Lisa/M V1.0 top view]][[Image:Lisa_M_V1_0_bottom_with_coin.jpg|thumb|Lisa/M V1.0 bottom view]] =
Transition Robotics Inc. is a young company developing new solutions for and with Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://thequadshot.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://thequadshot.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://thequadshot.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

'''Sparkfun distributors in Europe'''

Incomplete list.
*http://www.lipoly.de/index.php?main_page=index&cPath=880_883&language=en
*http://www.watterott.com/en/SparkFun

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

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

Get Hardware

2012-03-05T10:28:27Z

TilmanBaumann: /* u-Blox GPS receivers */ Added csgshop.com

As an open-source project, all source code and hardware plans are [https://github.com/paparazzi/paparazzi-hardware freely available on GitHub] for anyone to produce, use, modify, and redistribute in accordance with the [http://www.gnu.org/licenses/gpl.txt GPL License Agreement] which requires only that the open-source nature of the project be maintained by all who redistribute it.

We encourage the distribution of hardware for profit or otherwise and invite any users with paparazzi-related hardware to post links and purchasing information on this page. Please use the [[Talk:Get_Hardware&action=edit|Discussion Tab]] to describe your experiences with any of these vendors.

<hr>

 
 

= [http://aerofu.com [[image:aerofu_logo.png]] Aerofu.com ] =

Low cost Paparazzi hardware from Australia.
Licenced to export to [http://aerofu.com/index.php?main_page=page&id=2 33 countries], including Europe and North America. Recentry restocked with:
<ul>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=30 Tiny]
and
[http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=31 TWOG]
autopilots.
</li>
<li>
Complete Kits ([http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=48 Tiny] or [http://www.aerofu.com/index.php?main_page=product_info&cPath=11&products_id=49 TWOG] based).
</li>
<li>
[http://www.aerofu.com/index.php?main_page=product_info&cPath=10&products_id=20 PPM Encoders] and [http://www.aerofu.com/index.php?main_page=product_info&cPath=8&products_id=44 IR Sensors] from the Paparazzi project.
</li>
<li>
Inexpensive [http://www.aerofu.com/index.php?main_page=product_info&cPath=7&products_id=12 uBlox LEA-5H GPS units].
</li>
<li>various PCBs</li>
</ul>

= [http://chebuzz.com/paparazzi [[Image:CheBuzzPprz.gif]] CheBuzz Paparazzi] =
Due to an unexpected change in my "real" job, I will regrettably be returning to the United States in the near future. As such, I will be closing my webshop for good. It has been a pleasure getting to know so many paparazzi users and an honor to supply hardware to you. Thanks for all the help and support I have received.

I apologize for the short notice. But I will be taking orders until Friday 24 September, so anybody wishing to purchase paparazzi equipment from my store will be able to do so until that time.

Thankfully somebody has offered to step up and take my place. I have been working with Chris and AeroFu (aerofu.com) and he has agreed to continue providing paparazzi hardware and to selling out the remainder of my inventory. I am confident he will continue to provide a high level of service and support for those looking to get into the hobby and into the paparazzi project.

Again, thanks to all and happy flying!

Buzz

 

= [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot JobyRobotics.com] =
[[Image:JobyRobotics.jpg]]
Please see [http://paparazzi.enac.fr/wiki/Get_Hardware#Transition_Robotics_Inc.___Lisa.2FL_STM32.2FOvero_autopilot__Lisa.2FL_STM32.2FOvero_autopilot Transition Robotics Inc..]

 
 

= [http://www.ppzuav.com/ [[Image:Ppzuav.jpg]]] PPZUAV.com [[Image:All ppz autopilots med.jpg|thumb|400px|Paparazzi controllers]] =
<h2>Providing professionally assembled and tested hardware for your Paparazzi Projects since 2007</h2>

Confused what to buy? Just give us an email and we will help you decide ('''sales@ppzuav.com''').

We make it simple. Each autopilot is professionally assembled in a large factory by automated pick and place and reflow to ISO9000 standards.
To be sure yours will work we open every one and test before shipping. If it fails we don't sell it.
Our testing includes:
<ol>
<li>Burn in testing: We Power it with a current limited power supply to verify voltages and current draw</li>
<li>Load the usb bootloader so it can be programmed via USB</li>
</ol>


Please eMail with any questions or special requests before you place your orders. We return emails as quickly as possible. If it's an easy question within hours. More complex or longer explanation requests may take some time to read then write your answer so be patient.


Visit the PPZUAZ [https://store.ppzuav.com WebStore] to see the latest offerings.


<h3>NEW ITEM: [https://store.ppzuav.com/osc/product_info.php?products_id=139 Umarim] Finally fully factory assembled Umarim! Taking pre-orders now.</h3>

 
 

= [http://transition-robotics.com [[Image:Transition_Robotics_Logo.png|100px]] Transition Robotics Inc.] [[Image:Lisa_M_V1_0_top_with_coin.jpg|thumb|Lisa/M V1.0 top view]][[Image:Lisa_M_V1_0_bottom_with_coin.jpg|thumb|Lisa/M V1.0 bottom view]] =
Transition Robotics Inc. is a young company developing new solutions for and with Paparazzi UAV platform. Their core product is the [[Image:Quadshot_Logo.jpg|100px|link=http://thequadshot.com|Quadshot]], a VTOL transitioning aircraft.

Beside Quadshot itself they develop and provide hardware and software that is especially optimized for Paparazzi, such as the Lisa Autopilots, Aspirin IMUs and associated accessories.

They have a shop on their [http://thequadshot.com Quadshot product page].

As of February 2012, Transition Robotics, Inc. has acquired all IP and Paparazzi related inventory from Joby Robotics. We are thankful to Joby Robotics for their important and faithful support of Paparazzi related hardware projects, and hope to carry on this tradition. Hardware formerly supplied by Joby Robotics may now be purchased at the [http://thequadshot.com/collections/all Transition Robotics/Quadshot webstore.]

The [http://thequadshot.com/collections/all TRI/Quadshot Webstore] also stocks pre-crimped Molex Picoblade wires and connector housings.

 

= Other =

==[http://www.olimex.com/pcb/ Olimex]==
[[image:pcb-green.jpg|thumb|250px|Olimex PCBs]]
*Fast PCB Prototypes [http://www.olimex.com/pcb/ www.olimex.com/pcb]
*Development Boards [http://www.olimex.com/dev/index.html www.olimex.com/dev/]

 
 

==[http://www.sparkfun.com Sparkfun]==
[[image:P1030095.jpg|thumb|250px|Sparkfun]]
Sparkfun is a great source of miscellaneous electronics like:
* Development boards
* GPS
* Gyros
* Accelerometers
* Pressure sensors
* Ultrasonic distance sensors
* Temperature/humidity sensors
* USB to Serial converters
* LEDs
* Etc.
They also have an inexpensive PCB service, [http://batchpcb.com/index.php/Products BatchPCB].

 
 

==u-Blox GPS receivers==

There seems to be a few alternative source of u-Blox GPS out there. They are considerably cheaper then the samples u-Blox offers

If you do order from any of them, please update this page with your feedback.

Here's a few link worth exploring:

*[http://www.navilock.de/produkte/gruppen/13/Boards_und_Module Navilock] (also available on [http://www.amazon.de Amazon.de] by searching for Navilock)
*http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/Antaris-4-Modules.asp (Also [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-5-Modules.asp u-blox 5] and [http://www.rfdesign.co.za/pages/5645456/Products/GPS-Products/u-blox-6-Modules.asp u-blox 6] modules avialable)
*http://www.comet.srl.ro/shop/info.html?ID=6195 ( Link error, you can find them in this list: http://www.comet.srl.ro/shop/statements.html?Type=MOD&Subtype=GPS )
*http://www.expedienttech.com/ ( Singapore )
*http://www.csgshop.com/category.php?id_category=16 (US UBLOX MAX-6Q)

==Airspeed Sensors==

Eagle Tree Systems makes a small standalone airspeed sensor that can be connected via i2c. They also sell pitot tubes standalone for other differential pressure sensors. For integration, please see [[Sensors/Airspeed]].
*[http://www.eagletreesystems.com/Standalone/standalone.htm Eagle Tree Systems] (Also available from a number of distributors)

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