2007-02-20T14:17:35Z

Yvest: /* Fixed the totals*/

The Paparazzi project began in 2003 with the goal of creating a free and open-source UAV guidance system which could be easily adapted to a wide variety of aircraft for a wide variety of applications. The system has since proved to be extremely successful and Paparazzi-based aircraft have won all top positions in every [[Gallery|flight contest]] in which they competed.

As an open-source project, all source code and hardware plans are freely available on the internet 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.

Paparazzi is currently being developed by several universities and a team of enthusiast volunteers from around the world. It is used by private corporations, universities and hobbyists for an ever-increasing number of applications.

One of the greatest challenges facing newcomers to the project has always been the fabrication of the airborne hardware - so with the rapidly increasing number of users and hardware requests, the team now feels the need for commercially-produced hardware to be made available at minimal cost to the public. Therefore this announcement has two purposes:

* To find a company interested and capable of manufacturing and distributing the Paparazzi hardware.
* To collect a list of committed buyers so that we may accurately predict the required manufacturing and sales volumes.
We ask all interested parties to add your name and hardware request to the list below by editing this page

ok after numerous requests i am working on supplying all pcb's , parts , gps etc and will be supporting fully the paparazzi projects now and in the future , so please bear with us whilst we gather stocks and manufacture pcb's etc , any direct enquirys can be made direct to paparazzi.pcb@ntlworld.com (cncbasher) , a web site is in the progress of being put together which will incorporate sales of everything papparazzi (details will follow) , we will even help in getting your own built projects going if you are stuck so long as it's paparazzi based ! too .

== Preliminary list of buying intentions ==
'''Pricing will be determined based on volume and announced when a first run quantity is determined.'''
{|
|-
||'''Name''' ||'''Tiny Autopilot w/ GPS''' ||'''Classix Autopilot''' ||'''GPS w/ Antenna''' ||'''IR/gyro Sensor''' ||'''5V Regulator'''
|-
|| ENAC || 10 || 10 || 10 || 20 || 10
|-
|| Poine || 3 || 3 || 2 || 6 || 3
|-
|| Yvest || 2 || 2 || 2 || 6 || 3
|-
|| elik || 2 || 2 || 0 || 0 || 2
|-
|| Supaero || 3 || 0 || 0 || 3 || 0
|-
|| the Pauls || 2 || 0 || 0 || 2 || 0
|-
|| JeffT11 || 1 || 0 || 1 || 1 || 1
|-
|| Miraterre || 5 || 0 || 0 || 5 || 5
|-
|| Martin || 3 || 3 || 2 || 1 || 3
|-
|| phaelicks || 0 || 1 || 0 || 0 || 1
|-
|| Chris || 0 || 2 || 2 || 2 || 2
|-
|| Filipe || 0 || 1 || 1 || 2 || 0
|-
|| Glen || 0 || 1 || 1 || 2 || 1
|-
|| Michel || 2 || 0 || 0 || 2 || 2
|-
|| Ben Hardy || 1 || 1 || 1 || 1 || 1
|-
|| Indelay || 1 || 1 || 1 || 1 || 1
|-
|| Secho || 1 || 1 || 1 || 1 || 1
|-
|| Miguaise || 0 || 0 || 0 || 2 || 0
|-
|| Johnstorm || 1 || 1 || 0 || 0 || 0
|-
|| Kevin B || 0 || 0 || 0 || 2 || 0
|-
|| RobertP || 0 || 1 || 1 || 0 || 0
|-
|| Ronald A || 0 || 1 || 1 || 1 || 1
|-
|| JöWi || 2 || 0 || 0 || 2 || 0
|-
|| Robert H || 2 || 2 || 2 || 2 || 2
|-
|| montaga || 2 || 2 || 2 || 2 || 2
|-
|| Ethan || 0 || 2 || 0 || 2 (gyro only) || 2
|-
|| Jruip || 2 || 2 || 2 || 2 || 2
|-
|| Dave Hylands || 2 || 2 || 2 || 2 || 2
|-
|| Vic || 2 || 0 || 0 || 2 || 2
|-
|| Reinhold || 2 || 2 || 2 || 4 || 2
|-
|| xinhuachen || 2 || 2 || 2 || 2 || 2
|-
|| Ciko || 1 || 0 || 0 || 1 || 1
|-
|| sullrich || 1 || 1 || 1 || 1 || 1
|-
|| dian || 2 || 0 || 0 || 2 (gyro) || 2
|-
|| Marko Thaler || 2 || 2 || 2 || 4 || 2
|-
|| Jeff Jacobs || 2 || 0 || 0 || 2 || 2
|-
|| helitron || 1 || 0 || 0 || 1 || 1
|-
|| SilaS || 2 || 0 || 2 || 2 || 2
|-
|| uthere || 0 || 0 || 1 || 1 || 1
|-
|| Opsis || 1 || 0 || 0 || 1 || 1
|-
|| keithp || 1 || 1 || 1 || 1 || 1
||'''Total''' ||'''66''' ||'''49''' ||'''45''' ||'''92''' ||'''68'''
|-
|}

Installation/Linux

2007-01-08T23:50:22Z

Yvest: /* APT Update */

== LiveCd ==

The LiveCD is the easiest way to start with Paparazzi: no installation is required and no changes are made to your computer. Simply burn the image as a boot CD and reboot! The LiveCD includes the complete paparazzi binary package (code source, tools and cross compilers). Usage is described in the next section.

The CD image is available from the [[Downloads|Downloads]] page.

The Paparazzi demo is launchable on the Live CD from the Paparazzi icon.

Knoppix allows for all the user data to be saved on a hard disk partition (most file systems are supported) or on a removable device (typically a USB pendrive). Note that this action is not destructive: the user data tree is compressed and stored on your file system as a single file (<tt>knoppix.img</tt>).
* From the Knoppix menu (second from bottom left), choose '''Configure''', '''Create a persistent KNOPPIX disk image'''
* Choose your media (be sure to connect your USB pendrive before booting!)
* Choose if you want an encrypted filesystem (to protect your flight plan designed for the next MAV competition :-) )
* Choose the size of your home directory (100Mb is recommended)
On the next reboot, this saved state will be automatically located and loaded.

Using this persistent feature, the Paparazzix Live CD can really be used to configure, simulate and fly an aircraft with the Paparazzi system.

The Live CD can also be used to install a Debian system on the hard disk, using the <tt>knoppix-installer</tt> command. Be sure to backup the hard disk before trying ...

== Installation on Debian ==

Paparazzi is packaged for debian as well as all of its dependencies. The [http://www.recherche.enac.fr/paparazzi/debian repository] hosted at ENAC holds their latest version.

==== Manual package installation ====
Just add
<tt>deb <nowiki>http://www.recherche.enac.fr/paparazzi/debian</nowiki> sarge main
#if needed deb <nowiki>http://www.recherche.enac.fr/paparazzi/debian etch main</nowiki></tt>
to your repository list (<tt>/etc/apt/sources.list</tt>). Then, update and install the package you are interested in:
<tt>apt-get update
apt-get install paparazzi-bin</tt>

==== GUI package installation ====
* Launch ''Synaptic Package Manager'' (''Applications/System'' Tools Menu)
* In '''Settings/Repositories''', add a new repository on URI = '''<nowiki>http://www.recherche.enac.fr/paparazzi/debian</nowiki>''', Distribution = '''sarge''', Section = '''main'''
* Search for paparazzi-bin package (To find it easily, use ''Search'' Button)
* Mark it for installation (Right-click on package name)
* Left-click on ''Apply''

=== System wide install ===

The <tt>paparazzi-bin</tt> package contains the airborne source code and the tools you need to configure and control the UAV. It provides 3 main commands:
* <tt>paparazzi-make</tt> to compile the aircraft (and run the demo);
* <tt>paparazzi</tt> to run the ground control station supervision;
* <tt>paparazzi-gcs</tt> to run the flight plan editor.

Start with <tt>paparazzi-make init</tt> to initialize your configuration directory (<tt>~/paparazzi</tt>) and
<tt>paparazzi-make demo</tt> to run the demo.

You will have to also install the
<tt>paparazzi-avr</tt> or <tt>paparazzi-arm7</tt> packages which contain the cross compiler and architecture dependent tools needed to produce and upload the airborne programs on avr or arm7 architectures.

=== Source code install ===

Users who want to look at and modify the source code can install the required dependencies and download the code independently.

Installation of the meta-package '''paparazzi-dev''' will pull along all required dependencies.

After the packages is installed the paparazzi source code needs to be downloaded.
This can be done using CVS. See the [http://savannah.nongnu.org/cvs/?group=paparazzi project page] at savannah for details:
<tt>cvs -z3 -d:pserver:anonymous@cvs.savannah.nongnu.org:/sources/paparazzi co paparazzi3</tt>

A nightly tarball can also be fetched from the [[Downloads|Downloads]] page.

After extraction, go to the root of the source code and comile it:

make

now that it is compiled you can run a demo with:

make demo

When you are running your own simulations and aircraft you will compile first

make AIRCRAFT=''aircraft_name''

then start the ground station with

/paparazzi_folder/sw/supervision/paparazzi.pl

If you receive a message similar to this:

Directory /home/mcurrie/paparazzi doesn't exist
This directory is needed to store user configuration and data
Shall I create it and populate it with examples? (Y/n)

you can either rename your paparazzi folder to paparazzi and move it to /home/your_user or add the following lines to your .bashrc file in /home/''your_user''

export PAPARAZZI_HOME=/home/''your_user''/''paparazzi_folder''
export PAPARAZZI_SRC=/home/''your_user''/''paparazzi_folder''

== Installation on non Debian GNU/Linux ==

You will have to compile and install the paparazzi package from the sources. Unfortunately no configure facilities is included in the package: you will have to figure out what is needed. The list of dependencies of the Debian package (listed in the <tt>debian/control</tt>) file is the best start.

== APT Update ==
Keeping your software up to date is easy with the CVS system. To download any updated files simply add the CVS server to your <tt>/etc/apt/sources.list</tt>:
<nowiki>deb http://www.recherche.enac.fr/paparazzi/debian sarge main</nowiki>
<nowiki>deb http://www.recherche.enac.fr/paparazzi/debian etch main</nowiki>

and run the following command from your <tt>paparazzi/</tt> folder:
apt-get update

Compiling

2007-01-08T23:49:07Z

Yvest:

Flight plans, tuning and configuration settings are compiled into a single binary image and transferred to the microcontroler flash rom through USB. Most tuning and flight plan parameters can be changed in-flight but after each power cycle, the autopilot reverts to the original settings. Permanent changes must be made in the source files, compiled, and uploaded to the autopilot.
== Environment Variables ==
Before compiling you must have the Paparazi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:
{{Box Code|/home/''your_username''/.bashrc|
export PAPARAZZI_HOME<nowiki>=</nowiki>/home/''your_username''/paparazzi
export PAPARAZZI_SRC<nowiki>=</nowiki>/home/''your_username''/paparazzi
}}
To manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:
export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`
You may wish to verify that your variables are set correctly with the following command:
env | grep PAPARAZZI

== USB flashing ==
If the autopilot senses a connected USB cable during power-on, it will wait to receive a firmware image rather than booting normally. The firmware can be compiled and flashed by several means, the most common being:
make AIRCRAFT=''myplane'' clean_ac ap.upload
(where ''myplane'' is the name of your airframe as defined in <tt>conf/conf.xml</tt>)

This command erases any compiled autopilot code from the PC, recompiles everything from scratch, and then sends it to the autopilot.
Variations include:
* make AIRCRAFT=''myplane'' sim
*: Compiles your code for use in the simulator - note that "clean_ac" will remove this code, so the simulator code must be rebuilt each time a clean has been performed.
* make AIRCRAFT=''myplane'' fbw.upload
*: This is needed when configuring the separate "fly by wire" MCU on the [[Classix]] autopilot.
* make AIRCRAFT=''myplane'' ap.upload
*: This will simply build the portions of autopilot code that have changed since the last compile, this may not detect certain changes (i.e. changes to the airframe makefile section or CVS updated code).
* make AIRCRAFT=''myplane'' ap.upload FLASH_MODE=IAP
*: Specifies USB flashing. This should be specified at the top of the makefile section of your airframe file but can be overridden here. Use FLASH_MODE=IAS for serial flashing.

=== Installing the USB Bootloader ===

The USB bootloader should only need to be installed once. It is loaded through the serial interface UART0 (Serial1) by holding pin P0.14 low during power-up. If you were supplied with a Tiny Autopilot it may have already had the USB bootloader installed, please check with your supplier.

You will need to convert the PC's RS232 Serial with voltage levels of +/-13V to 3.3V (or 5V) TTL in order to communicate directly with the device. This can be accomplished in multiple ways. The easiest and most convenient method is to purchase or build a USB -> Serial 3.3V adapter similar to this one [http://www.ftdichip.com/Products/EvaluationKits/TTL-232R-3V3.htm TTL-232R-3V3]
Here's a few other examples:
[http://www.sparkfun.com/commerce/product_info.php?products_id=199]
[http://www.sparkfun.com/commerce/product_info.php?products_id=718]
[http://www.pololu.com/products/pololu/0391/]
[http://www.hvwtech.com/products_view.asp?CatID=166&SubCatID=183&SubSubCatID=0&ProductID=409]
Users are strongly urged to use FTDI usb-serial converters as they are well supported by default in the linux kernel and since the Paparazzi ground station software is configured to look for modems on FTDI ports by default, the converter can likely serve as a modem interface after it's use in programming.

Make up a wiring harness similar to the following. You may vary the details however this is a working solution:

TINY RXD0 <-- PC SERIAL TX (5V or 3.3V) 
TINY TXD0 --> PC SERIAL RX (5V or 3.3V) 
TINY RESET --> ''optional'' wired to ground through a pushbutton so you can reset 
TINY P0.14 (SERIAL1-5) --> attach to ground, or wire through a pushbutton to ground 
TINY GND --> PC SERIAL ADAPTER GND 

Once this wiring is ready you will be ready to send the USB Bootloader to the Tiny from the PC.

To prepare the Tiny to accept programming over its serial port you must have pin P0.14 LOW for at least 3mS while it is powering up or resetting. While it is still powered up it is ready to accept code over serial. Proceed now to instructions to load it via software.

'''In Linux'''

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

This will begin compiling your USB Bootloader and then attempt to transfer it to the Autopilot. This will also assume you are using a USB -> Serial adapter for the connection. It uses /dev/ttyUSB0 by default. If your adapter is mapped to a different tty, you will need to modify the Makefile accordingly.

'''In Windows'''

If for some reason you need to program your Tiny's USB Bootloader in windows start grabbing the following utility from Philips [http://www.nxp.com/files/markets/microcontrollers/philips_flash_utility.zip Philips Flash Utility]. You will then prepare the Tiny and boot it into the ISP bootloader as mentioned above but program it with this utility. You will need to copy your compiled bl.hex file from Linux of course.

== Troubleshooting ==
As a rapidly evolving open-source project, on occasion your software may fail to compile after a [[Installation#CVS_Update|CVS Update]]. This is most likely due to a new or changed variable name that is now required in your airframe, flight plan, etc. Since the user-configured files are not updated automatically you may need to view the most recently changed sample airframe or flight plan files to find the required changes. 
See the [[Software_Troubleshooting|Software Troubleshooting]] page for help with common compiliation errors.